CN114389674B - Rapid automatic exposure method and system for space micro-nano large-field-of-view camera and storage medium - Google Patents

Rapid automatic exposure method and system for space micro-nano large-field-of-view camera and storage medium Download PDF

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CN114389674B
CN114389674B CN202111450014.XA CN202111450014A CN114389674B CN 114389674 B CN114389674 B CN 114389674B CN 202111450014 A CN202111450014 A CN 202111450014A CN 114389674 B CN114389674 B CN 114389674B
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exposure time
exposure
image
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CN114389674A (en
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孙忠涵
李伟
淡丽军
庞志海
成鹏飞
宋宗玺
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XiAn Institute of Optics and Precision Mechanics of CAS
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    • H04B7/14—Relay systems
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
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    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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Abstract

The invention provides a method, a system and a storage medium for quick automatic exposure of a space micro-nano large-field-of-view camera, which solve the problem that the balance between accurate acquisition of exposure time and power consumption cannot be realized by the existing automatic exposure technology. The method comprises the following steps: 1) Dividing the total interval of the image brightness weighted mean into M parts to obtain M image brightness weighted mean intervals which are sequentially arranged from small to large; the (M + 1)/2 image brightness weighted average interval is located in the total interval of 0-2 n -1 middle part; establishing a corresponding relation between M image brightness weighted mean value intervals and exposure time; 2) Dividing a current image of a focal plane of a camera detector into N strips according to a push-broom direction; 3) Obtaining a weighted average value of image brightness; 4) In the corresponding relation between the image brightness weighted average interval in the step 1) and the exposure time, searching the image brightness weighted average interval in which the image brightness weighted average in the step 3) is positioned, and obtaining the exposure time corresponding to the image brightness weighted average interval; 5) The next frame exposure time is determined.

Description

Rapid automatic exposure method and system for space micro-nano large-field-of-view camera and storage medium
Technical Field
The invention belongs to an automatic exposure control technology, and particularly relates to a rapid automatic exposure method and system for a space micro-nano large-field camera, and a computer readable storage medium, which are suitable for intermittent automatic exposure of space observation.
Background
For the micro-nano satellite, when the micro-nano satellite works in orbit, the conditions such as illumination of an imaging target, the reflectivity of a shooting main body and the like are difficult to obtain in real time, so that the exposure time cannot be accurately set in a mode of upcasting in advance. The short exposure time can cause the whole image to be dark and the details of the dark part of the image to be lost, and on the contrary, the long exposure time can cause the brightness of the image to be saturated and the details of the bright part of the image to be lost, so the exposure time needs to be estimated in real time by adopting an automatic exposure technology on the satellite, and the camera is ensured to obtain a high-quality image.
In addition, the micro-nano satellite is limited by volume, the satellite energy is relatively tense, the requirement on load power consumption is severe, particularly for the load of a camera with a large visual field, the micro-nano satellite has the characteristics of large width and low frame frequency, and the frame interval is more than 10s, so that in order to reduce the power consumption, the camera can enter a low power consumption state at the non-imaging moment, and except the normal work of a communication module, other modules including a CMOS (complementary metal oxide semiconductor transistor), a cache and the like all enter the low power consumption state, so that the power consumption of the camera can be effectively reduced, but the exposure time cannot be updated in real time in the low power consumption state.
In summary, the existing automatic exposure technology cannot be well adapted to the work of the micro-nano satellite, and the balance between the exposure time and the power consumption can be accurately obtained.
Disclosure of Invention
The invention provides a rapid automatic exposure method, a system and a storage medium for a space micro-nano large-field-of-view camera, aiming at solving the technical problem that the prior automatic exposure technology cannot achieve the balance between accurate acquisition of exposure time and power consumption.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a rapid automatic exposure method for a space micro-nano large-field-of-view camera is characterized by comprising the following steps:
1) Establishing the corresponding relation between the image brightness weighted mean interval and the exposure time and frame frequency
1.1 Total interval of 0-2 of image brightness weighted mean n 1, dividing M parts to obtain M image brightness weighted mean value intervals which are sequentially arranged from small to large;
wherein n is the image significant digit, n is more than or equal to 8, M is an odd number more than or equal to 5;
(M + 1)/2 image brightnessThe weighted mean interval is between 0 and 2 n -1 middle part;
1.2 M image brightness weighted mean intervals correspond to the exposure time as follows:
the exposure time t' = t corresponding to the (M + 1)/2 image brightness weighted average value interval, wherein t is the last exposure time;
from the (M + 1)/2 < th > image brightness weighted average interval to the 1 < st > image brightness weighted average interval, the corresponding exposure time is gradually increased, and the exposure frame frequency is increased;
from the (M + 1)/2 th image brightness weighted average interval to the Mth image brightness weighted average interval, the corresponding exposure time is gradually reduced, and the exposure frame frequency is increased;
2) Image segmentation
Dividing a current image of a focal plane of a camera detector into N strips according to a push-broom direction, wherein N is an odd number larger than 1;
3) Obtaining a weighted average of image brightness
Calculating the average brightness value of each strip, and performing weighted average on the average brightness values of the N strips according to the following formula to obtain an image brightness weighted average value aver _ gray:
Figure GDA0003814030610000021
wherein i =1,2, \8230, N; w is a i The weighting coefficient of the ith stripe; aver _ gray i Average brightness of the ith strip;
4) Obtaining exposure time
In the corresponding relation between the image brightness weighted average interval in the step 1) and the exposure time and the exposure frame frequency, searching the image brightness weighted average interval in which the image brightness weighted average aver _ gray in the step 3) is located, and obtaining the exposure time and the exposure frame frequency corresponding to the image brightness weighted average interval, namely obtaining the exposure time and the exposure frame frequency of the next frame of image;
5) Determining next frame exposure time
If the exposure time obtained in the step 4) is larger than the maximum value of the exposure time of the detector, taking the maximum value of the exposure time as the exposure time of the next frame;
if the exposure time obtained in the step 4) is less than the minimum exposure time of the detector, taking the minimum exposure time as the exposure time of the next frame;
if the exposure time obtained in the step 4) is between the maximum value and the minimum value of the exposure time of the detector, taking the exposure time obtained in the step 4) as the exposure time of the next frame.
Further, in step 1), n is 8 and M is 13.
Further, step 1.2) is specifically as follows:
the correspondence between the 13 image brightness weighted average intervals and the exposure time and frame rate is as follows:
the image brightness weighted mean interval is [0, 24)), the exposure time T' = T + T 1 ，T 1 =3t, exposure frame frequency f =2f 0 (ii) a Wherein, f 0 Defaulting a frame frequency for the camera;
the image brightness weighted mean interval is [24, 56)), the exposure time T' = T + T 2 ，T 2 = t, exposure frame rate f =1.5f 0 ；
The image brightness weighted mean interval is [56, 80%), the exposure time T' = T + T 3 ，T 3 = t/2, exposure frame frequency f =1.5f 0 ；
The image brightness weighted mean interval is [80,104 ]), the exposure time T' = T + T 4 ，T 4 = t/4, exposure frame frequency f = f 0 ；
The image brightness weighted mean interval is [104, 112)), the exposure time T' = T + T 5 ，T 5 = t/16, exposure frame rate f = f 0 ；
The image brightness weighted mean interval is [112, 116)), the exposure time T' = T + T 6 ，T 6 = t/32, exposure frame frequency f = f 0 ；
The image brightness weighted mean interval is [116,124 ]]Then exposure time t' = t, exposure frame frequency f = f 0 ；
The image brightness weighted mean interval is (124, 12)8]Then the exposure time T' = T-T 7 ，T 7 = t/32, exposure frame rate f = f 0 ；
The image luminance weighted mean interval is (128, 136)]Then the exposure time T' = T-T 8 ，T 8 = t/16, exposure frame rate f = f 0 ；
The image luminance weighted mean interval is (136, 152)]Then the exposure time T' = T-T 9 ，T 9 = t/8, exposure frame frequency f = f 0 ；
The image luminance weighted mean interval is (152, 200)]Then the exposure time T' = T-T 10 ，T 10 = t/4, exposure frame rate f =1.5f 0 ；
The image brightness weighted mean interval is (200, 232)]Then the exposure time T = T-T 11 ，T 11 = t/2, exposure frame rate f =1.5f 0 ；
The image luminance weighted mean interval is (232, 255)]Then exposure time T = T-T 12 ，T 12 =3t/4, exposure frame rate f =2f 0 。
Further, the step 4) is specifically as follows:
4.1 ) determining whether the weighted average averager _ gray of the image brightness in step 3) is in the weighted average interval [116,124 ] of the image brightness]If yes, the exposure time t' = t of the next frame image, and the exposure frame frequency f = f 0 And step 5) is executed; otherwise, executing step 4.2);
4.2 Determining whether the weighted average of image luminance aver _ gray of step 3) is in the weighted average interval of image luminance (124, 128)]If yes, the exposure time T' = T-T of the next frame image 7 ，T 7 = t/32, exposure frame rate f = f 0 And step 5) is executed; otherwise, executing step 4.3);
4.3 Determining step 3) whether the image luminance weighted mean aver _ gray is in the image luminance weighted mean interval (128, 136)]If yes, the exposure time T' = T-T of the next frame image 8 ，T 8 = t/16, exposure frame rate f = f 0 And step 5) is executed; otherwise, executing step 4.4);
4.4 ) determining whether the image brightness weighted mean aver _ gray of step 3) is weighted at the image brightnessMean interval (136, 152)]If yes, the exposure time T' = T-T of the next frame image 9 ，T 9 = t/8, exposure frame frequency f = f 0 And executing the step 5); otherwise, executing step 4.5);
4.5 Determining whether the weighted average of image luminance aver _ gray of step 3) is in the weighted average interval of image luminance (152, 200)]If yes, the exposure time T' = T-T of the next frame image 10 ，T 10 = t/4, exposure frame rate f =1.5f 0 And executing the step 5); otherwise, executing step 4.6);
4.6 Determining whether the weighted average of image luminance aver _ gray of step 3) is in the weighted average interval of image luminance (200, 232)]If yes, the exposure time T = T-T of the next frame image 11 ，T 11 = t/2, exposure frame frequency f =1.5f 0 And step 5) is executed; otherwise, performing step 4.7);
4.7 Judging step 3) whether the image brightness weighted average aver _ gray is in the image brightness weighted average interval (232, 255)]If yes, the exposure time T = T-T of the next frame image 12 ，T 12 =3t/4, exposure frame rate f =2f 0 And executing the step 5); otherwise, executing step 4.8);
4.8 ) determining whether the weighted average value aver _ gray of the image brightness in step 3) is within the weighted average value interval [112, 116), if yes, the exposure time T' = T + T of the next frame image 6 ，T 6 = t/32, exposure frame frequency f = f 0 And executing the step 5); otherwise, executing step 4.9);
4.9 ) determining whether the weighted average value aver _ gray of the image brightness in step 3) is in the weighted average value interval [104, 112), if yes, the exposure time T' = T + T of the next frame image 5 ，T 5 = t/16, exposure frame frequency f = f 0 And executing the step 5); otherwise, executing step 4.10);
4.10 ) judging whether the image brightness weighted mean value aver _ gray in the step 3) is in the image brightness weighted mean value interval [80, 104), if yes, the exposure time T' = T + T of the next frame image 4 ，T 4 = t/4, exposure frame rate f = f 0 And executing the step 5); otherwise, step 4.11) is executed;
4.11 ) judging whether the image brightness weighted mean value aver _ gray in the step 3) is in the image brightness weighted mean value interval [56,80 ], if yes, the exposure time T' = T + T of the next frame image 3 ，T 3 = t/2, exposure frame rate f =1.5f 0 And executing the step 5); otherwise, performing step 4.12);
4.12 ) judging whether the image brightness weighted mean value aver _ gray in the step 3) is in the image brightness weighted mean value interval [24, 56), if yes, the exposure time T' = T + T of the next frame image 2 ，T 2 = t, exposure frame frequency f =1.5f 0 And executing the step 5); otherwise, performing step 4.13);
4.13 Step 3) the weighted average value aver _ gray of the image brightness is in the weighted average value interval [0, 24) of the image brightness, the exposure time T' = T + T of the next frame image 1 ，T 1 =3t, exposure frame rate f =2f 0 Step 5) is performed.
Further, the method also comprises the step 6): if the exposure time determined in the step 5) is converged and the actual imaging time is not reached yet, imaging is continued according to the converged exposure time, the image brightness weighted average value is calculated by utilizing the processes of the step 2) and the step 3), whether the average value is within the range of the image brightness weighted average value interval [112,128] is judged, if yes, the next imaging is carried out within the converged exposure time, and if not, the exposure time is determined again by utilizing the steps 4) and the step 5) and the next imaging is carried out.
Further, in step 3), the weight coefficient w i The weight coefficients of the two strips taking the middle strip as a symmetry axis are equal.
Further, in step 2), N is the weight coefficient w of 5,5 bands 1 、w 2 、w 3 、w 4 、w 5 1/8, 3/16, 3/8, 3/16 and 1/8 respectively.
Meanwhile, the invention provides a rapid automatic exposure system of a space micro-nano large-view field camera, which is characterized in that: comprises an exposure control FPGA unit;
the exposure control FPGA unit comprises a processor and a memory, a computer program for processing the current image of the focal plane of the camera detector is stored in the memory, and the computer program is executed by the processor to realize the steps of the rapid automatic exposure method for the space micro-nano large-field-of-view camera.
In addition, the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer readable storage medium is characterized in that the program is executed by a processor to realize the steps of the rapid automatic exposure method for the space micro-nano large-field-of-view camera.
Compared with the prior art, the invention has the advantages that:
1. the rapid automatic exposure method automatically enters the low power consumption mode at the non-imaging time, the modules such as the communication module, the remote measurement module and the like all enter the low power consumption state except the normal work of the modules such as the communication module, the remote measurement module and the like, and the camera is automatically switched to the normal work mode from the low power consumption mode before the imaging time comes, so that the power consumption can be effectively reduced, and the problem of shortage of resources on the micro-nano satellite is solved.
2. The rapid automatic exposure method can dynamically adjust the frame frequency and the exposure step length according to the weighted average value of the image brightness, ensure that the rapid convergence of the exposure time is realized by a small number of exposure frames and time before the actual exposure moment comes, and adopt a strict widening strategy to ensure the stable convergence and inhibit the image flicker.
3. The rapid automatic exposure method divides the image into N strips according to the push-scanning direction, and the weight coefficient is gradually decreased from the middle strip to the two sides, so that the clear image with good brightness in each area can be ensured in the push-scanning process, particularly in a large dynamic range scene.
4. The hardware requirement of the rapid automatic exposure system is low, external cache resources are not needed, and the rapid automatic exposure system is easy to transplant; and the characteristics of the FPGA can be fully utilized to carry out pipeline type processing on the image, and the calculation response speed is high.
Drawings
FIG. 1 is a flow chart of a rapid automatic exposure method of a space micro-nano large-field-of-view camera according to the invention;
FIG. 2 is a schematic diagram of image stripe division and weight coefficients in an embodiment of a rapid automatic exposure method for a space micro-nano large-field-of-view camera according to the invention;
FIG. 3 is a diagram illustrating a relationship between an image brightness weighted mean interval and an exposure time and an exposure frame rate according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating the steps of finding the weighted average interval of the image luminance where the weighted average aver _ gray of the image luminance is located to obtain the exposure time of the next frame of image according to the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a rapid automatic exposure system of a space micro-nano large-field-of-view camera according to the invention;
wherein the reference numbers are as follows:
1-optical lens, 2-detector focal plane and 3-exposure control FPGA unit.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples.
As shown in fig. 1, according to the rapid automatic exposure method for the space micro-nano large-field-of-view camera, when the camera enters an imaging state from a low-power consumption state each time, exposure time convergence is rapidly realized, and ideal imaging at an actual exposure time is ensured, so that the low-power consumption requirement of on-board application is met. The automatic exposure method comprises the following steps:
1) Establishing the corresponding relation between the image brightness weighted mean interval and the exposure time
1.1 Total interval of 0-2 of image brightness weighted mean n 1, dividing M parts to obtain M image brightness weighted mean value intervals which are sequentially arranged from small to large;
wherein n is the image significant digit, n is more than or equal to 8, M is an odd number more than or equal to 5;
the (M + 1)/2 image brightness weighted average interval is located in the total interval of 0-2 n -1 middle part;
1.2 M image brightness weighted mean intervals correspond to the exposure time as follows:
the exposure time t' = t corresponding to the (M + 1)/2 th image brightness weighted average value interval, wherein t is the last exposure time;
the exposure time adjustment step length and the adjustment frequency are sequentially increased from the (M + 1)/2 th to the 1 st image brightness weighted average interval;
the exposure time adjustment step length and the adjustment frequency are sequentially increased from the (M + 1)/2 th to the Mth image brightness weighted mean interval;
for example, the image luminance weighted mean interval is 7, which are [0, G6 ], [ G6, G5 ], [ G5, G1 ], [ G1, G2] respectively]、(G2,G3]、(G3,G4]、(G4,2 n -1]；
If the image brightness weighted mean value interval [ G1, G2] is considered that the current exposure time can meet the requirement, taking the exposure time of the current frame as the exposure time of the next frame;
the image brightness weighted average value sections (G2, G3) reduce the exposure time, and the reduced step size is increased along with the increase of the current frame brightness weighted average value;
the image brightness weighted mean value intervals (G3, G4) are increased along with the increase of the brightness weighted mean value of the current frame, and the exposure frame frequency is correspondingly accelerated;
if the current frame is saturated, the image brightness weighted average interval (G4, 2) n -1]The reduced step length is increased along with the increase of the current frame brightness weighted average, the exposure frame frequency is further improved, and the rapid convergence of the exposure time is ensured;
the image brightness weighted mean value interval [ G5, G1), the exposure time is increased, and the increased step length is increased along with the reduction of the current frame brightness weighted mean value;
the image brightness weighted mean value interval [ G6, G5), the increased step length is increased along with the reduction of the current frame brightness weighted mean value, and the exposure frame frequency is correspondingly accelerated;
if the current frame tends to a dark field, and the image brightness weighted mean value interval [0, G6) is determined, the increased step length is increased along with the reduction of the current frame brightness weighted mean value, the exposure frame frequency is further improved, and the rapid convergence of the exposure time is ensured.
2) Image segmentation
Dividing a current image of a focal plane 2 of a camera detector into N strips according to a push-broom direction, wherein N is an odd number larger than 1;
3) Obtaining a weighted average of image brightness
Calculating the average brightness value of each strip, and performing weighted average on the average brightness values of the N strips according to the following formula to obtain an image brightness weighted average value aver _ gray:
Figure GDA0003814030610000081
wherein i =1,2, \8230, N; w is a i The weighting coefficient of the ith strip is decreased from the central strip to two sides, and in a step, the weighting coefficients of two strips taking the middle strip as a symmetry axis are equal; aver _ gray i Average brightness of the ith strip;
4) Obtaining the exposure time of the next frame image
In the corresponding relation between the image brightness weighted mean interval and the exposure time in the step 1), searching the image brightness weighted mean interval where the image brightness weighted mean aver _ gray in the step 3) is located, and obtaining the exposure time corresponding to the image brightness weighted mean interval, namely obtaining the exposure time of the next frame of image;
5) Determining the exposure time of the next frame
If the exposure time obtained in the step 4) is larger than the maximum value of the exposure time of the detector, taking the maximum value of the exposure time as the exposure time of the next frame;
if the exposure time obtained in the step 4) is less than the minimum exposure time of the detector, taking the minimum exposure time as the exposure time of the next frame;
if the exposure time obtained in the step 4) is between the maximum value and the minimum value of the exposure time of the detector, taking the exposure time obtained in the step 4) as the exposure time of the next frame.
Examples
This embodiment takes an 8-bit detector as an example, and allows the exposure minimum time t min 5 mus, maximum exposure time t max 1.5ms, the default iteration frame frequency f 0 Is 10f/s.
The method for the rapid automatic exposure of the space micro-nano large-view-field camera in the embodiment adaptively adjusts the exposure time according to the average brightness of the current frame image, dynamically adjusts the exposure frame frequency and the exposure step length according to the convergence condition in the iterative process of the exposure time, and realizes the convergence of the exposure time with the least power consumption, and comprises the following steps:
1) Establishing a corresponding relation between an image brightness weighted mean interval and exposure time and exposure frame frequency
1.1 N is 8 in this embodiment, the total range of the weighted mean value of the image brightness is 0-2 8 -1 (0-255) dividing 13 parts to obtain M image brightness weighted mean value intervals which are sequentially arranged from small to large;
1.2 The correspondence between the 13 image brightness weighted average intervals and the exposure time and the exposure frame rate is established, as shown in fig. 3, specifically as follows:
the image brightness weighted mean interval is [116,124 ]]If the current exposure time and the exposure frame frequency satisfy the conditions, the exposure time t' = t and the exposure frame frequency f = f 0 Taking the exposure time of the current frame as the exposure time of the next frame, and maintaining the exposure frame frequency f at a default frame frequency value of 10f/s; when the imaging system is awakened from the low power consumption state every time, the last exposure time is used as the exposure time of the current imaging, and if the imaging system is imaged for the first time, the default exposure time is 600 us;
if the image brightness weighted mean value
Figure GDA0003814030610000091
The exposure time is iterated to shorten the convergence time, and the exposure frame frequency and the exposure step length are adjusted according to the range of the image brightness weighted average value interval, which is specifically as follows:
the image brightness weighted mean interval is (124, 128)]The exposure time is reduced, the exposure time T' = T-T 7 ，T 7 = t/32, exposure frame frequency f maintains default frame frequency value 10f/s;
the image luminance weighted mean interval is (128, 136)]The exposure time is reduced, the exposure time T' = T-T 8 ，T 8 = t/16, exposure frame frequency f maintains default frame frequency value 10f/s;
the image luminance weighted mean interval is (136, 152)]The exposure time is reduced, the exposure time T' = T-T 9 ，T 9 = t/8, the exposure frame frequency f maintains a default frame frequency value of 10f/s;
the image luminance weighted mean interval is (152, 200)]The exposure time is reduced, the exposure time T' = T-T 10 ，T 10 T/4, the exposure frame frequency is changed to be 1.5 times of the default frame frequency value, and is 15f/s;
the image brightness weighted mean interval is (200, 232)]Then reduce the exposure time, the exposure time T = T-T 11 ，T 11 T/2, the exposure frame frequency is changed to be 1.5 times of the default frame frequency value, and is 15f/s;
the image luminance weighted mean interval is (232, 255)]The exposure time is reduced, the exposure time T = T-T 12 ，T 12 =3t/4, the exposure frame frequency f becomes 2 times the default frame frequency value, 20f/s;
the image brightness weighted mean interval is [112, 116)), the exposure time is increased, the exposure time T' = T + T 6 ，T 6 = t/32, exposure frame frequency f maintains default frame frequency value 10f/s;
the image brightness weighted mean interval is [104, 112)), the exposure time is increased, the exposure time T' = T + T 5 ，T 5 = t/16, exposure frame frequency f maintains default frame frequency value 10f/s;
the image brightness weighted mean interval is [80,104 ]), the exposure time is increased, the exposure time T' = T + T 4 ，T 4 = t/4, the exposure frame frequency f maintains a default frame frequency value of 10f/s;
the image brightness weighted mean interval is [56, 80%), the exposure time is increased, the exposure time T' = T + T 3 ，T 3 T/2, the exposure frame frequency is changed to be 1.5 times of the default frame frequency value, and is 15f/s;
the image brightness weighted mean interval is [24, 56)), the exposure time is increased, the exposure time T' = T + T 2 ，T 2 = t, the exposure frame rate is changed to 1.5 times the default frame rate value by f, which is 15f/s;
the image brightness weighted mean interval is [0, 24)), the exposure time is increased, the exposure time T' = T + T 1 ，T 1 =3t, the exposure frame frequency f becomes 2 times the default frame frequency value, 20f/s;
2) Image segmentation
When the average brightness of the image is obtained, according to the characteristics of the satellite push-broom imaging, the current image of the focal plane 2 of the camera detector is divided into 5 strips according to the push-broom direction, as shown in fig. 2;
3) Obtaining a weighted average of image brightness
Calculating the average brightness value of each band, and performing weighted average on the average brightness values of the 5 bands according to the following formula to obtain a weighted average value aver _ gray of the brightness of the whole image:
Figure GDA0003814030610000101
wherein, i =1,2, \8230;, 5; weight coefficient w of 5 stripes 1 、w 2 、w 3 、w 4 、w 5 1/8, 3/16, 3/8, 3/16 and 1/8 respectively; aver _ gray i Average brightness of the ith strip;
4) Obtaining an exposure time of a current image
As shown in FIG. 4, 4.1) determine whether the weighted average averer _ gray of the image brightness in step 3) is in the weighted average interval [116, 124%]If yes, the exposure time t' = t of the next frame image, and the exposure frame frequency f = f 0 And executing the step 5); otherwise, executing step 4.2);
4.2 Determining whether the weighted average of image luminance aver _ gray of step 3) is in the weighted average interval of image luminance (124, 128)]If yes, the exposure time T' = T-T of the next frame image 7 ，T 7 = t/32, exposure frame frequency f = f 0 And executing the step 5); otherwise, executing step 4.3);
4.3 Determining step 3) whether the image luminance weighted mean aver _ gray is in the image luminance weighted mean interval (128, 136)]If yes, the exposure time T' = T-T of the next frame image 8 ，T 8 = t/16, exposure frame frequency f = f 0 And step 5) is executed; otherwise, executing step 4.4);
4.4 Determining whether the weighted average averager _ gray of the image brightness in step 3) is within the weighted average range (136, 152)]If yes, the exposure time T' = T-T of the next frame image 9 ，T 9 = t/8, exposure frame rate f = f 0 And step 5) is executed; whether or notThen, step 4.5) is executed;
4.5 Determining whether the weighted average averager _ gray of the image brightness in step 3) is within the weighted average interval (152, 200)]If yes, the exposure time T' = T-T of the next frame image 10 ，T 10 = t/4, exposure frame frequency f =1.5f 0 And executing the step 5); otherwise, performing step 4.6);
4.6 Determining whether the weighted average of image luminance aver _ gray of step 3) is in the weighted average interval of image luminance (200, 232)]If yes, the exposure time T = T-T of the next frame image 11 ，T 11 = t/2, exposure frame frequency f =1.5f 0 And executing the step 5); otherwise, performing step 4.7);
4.7 Judging step 3) whether the image brightness weighted average aver _ gray is in the image brightness weighted average interval (232, 255)]If yes, the exposure time T = T-T of the next frame image 12 ，T 12 =3t/4, exposure frame rate f =2f 0 And executing the step 5); otherwise, executing step 4.8);
4.8 ) determining whether the weighted average value aver _ gray of the image brightness in step 3) is within the weighted average value interval [112, 116), if yes, the exposure time T' = T + T of the next frame image 6 ，T 6 = t/32, exposure frame frequency f = f 0 And step 5) is executed; otherwise, executing step 4.9);
4.9 ) determining whether the weighted average value aver _ gray of the image brightness in step 3) is within the weighted average value interval [104, 112), if yes, the exposure time T' = T + T of the next frame image 5 ，T 5 = t/16, exposure frame rate f = f 0 And step 5) is executed; otherwise, performing step 4.10);
4.10 ) judging whether the weighted average value aver _ gray of the image brightness in the step 3) is in the weighted average value interval of the image brightness [80, 104), if yes, the exposure time T' = T + T of the next frame image 4 ，T 4 = t/4, exposure frame rate f = f 0 And step 5) is executed; otherwise, performing step 4.11);
4.11 ) judging whether the image brightness weighted mean value aver _ gray in the step 3) is in the image brightness weighted mean value interval [56,80 ], if yes, the exposure time t' = t of the next frame image+T 3 ，T 3 = t/2, exposure frame frequency f =1.5f 0 And executing the step 5); otherwise, performing step 4.12);
4.12 ) judging whether the image brightness weighted mean value aver _ gray in the step 3) is in the image brightness weighted mean value interval [24, 56), if yes, the exposure time T' = T + T of the next frame image 2 ，T 2 = t, exposure frame rate f =1.5f 0 And step 5) is executed; otherwise, executing step 4.13);
4.13 Step 3) the weighted average value aver _ gray of the image brightness is [0,24 ] in the weighted average value interval of the image brightness, the exposure time T' = T + T of the next frame image 1 ，T 1 =3t, exposure frame frequency f =2f 0 And step 5) is executed;
5) Determining next frame exposure time and frame exposure frequency
If the exposure time t' obtained in the step 4) is greater than the maximum exposure time of the detector by 1.5ms, taking the maximum exposure time of 1.5ms as the exposure time of the next frame, and recovering the exposure frame frequency to a default value of 10f/s;
if the exposure time t' obtained in the step 4) is less than the minimum exposure time 5 mus of the detector, taking the minimum exposure time 5 mus as the exposure time of the next frame, and recovering the exposure frame frequency to a default value of 10f/s;
if the exposure time t' obtained in the step 4) is 1.5ms between the minimum value of the exposure time of the detector 5 mus and the minimum value of the exposure time, the exposure time and the exposure frame frequency obtained in the step 4) are used as the exposure time and the exposure frame frequency of the next frame.
If the exposure time determined in the step 5) is converged and the actual imaging time is not reached, the imaging is continued according to the converged exposure time, the image brightness weighted average value is calculated by the processes of the step 2) and the step 3), whether the average value is within the range of the image brightness weighted average value interval [112,128] is judged, if yes, the next imaging is carried out within the converged exposure time, and if not, the exposure time is determined again by the steps 4) and the step 5) and the next imaging is carried out.
As shown in fig. 5, the present embodiment provides a rapid automatic exposure system for a space micro-nano large-field-of-view camera, where the camera includes an optical lens 1 and a focal plane detector, the optical lens 1 is configured to project an imaging target onto the focal plane detector, optical parameters of the optical lens 1 in the present embodiment are a waveband of 450 to 670nm, a field of view is 2w =32 °, a focal length is 37.8mm, an f number is 6, and a transfer function is greater than 0.45; the detector focal plane 2 converts the optical signal into an electrical signal, the detector model of the embodiment is CIS2521, the pixel number is 2592 multiplied by 2192, and the pixel size is 6.5 microns multiplied by 6.5 microns; the automatic exposure system comprises an exposure control FPGA unit 3, an optical lens 1, a detector focal plane 2 and the exposure control FPGA unit 3 are sequentially arranged, the exposure control FPGA unit 3 comprises a processor and a memory, a computer program for processing the current image of the camera detector focal plane 2 is stored in the memory, and the computer program is executed by the processor to realize the steps of the space micro-nano large-field-of-view camera quick automatic exposure method.
The exposure control FPGA unit 3 counts the image brightness, compares the image brightness with the target brightness, adjusts the exposure time, ensures that the exposure time is rapidly converged with the minimum imaging frame number after the camera is awakened from the sleep mode at each time, and the model of the exposure control FPGA unit 3 is XC6SLX75T of Xilinx company.
The embodiment provides a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor to implement the steps of the above method for fast and automatically exposing a space micro-nano large-field-of-view camera.
The above description is only for the preferred embodiment of the present invention and does not limit the technical solution of the present invention, and any modifications made by those skilled in the art based on the main technical idea of the present invention belong to the technical scope of the present invention.

Claims (9)

1. A rapid automatic exposure method for a space micro-nano large-field-of-view camera is characterized by comprising the following steps:
1) Establishing the corresponding relation between the image brightness weighted mean interval and the exposure time and frame frequency
1.1 Total range of weighted mean values of image luminance 0-2 n -1 dividing M parts to obtain M image brightness sums arranged in sequence from small to largeA weighted average interval;
wherein n is the image significant digit, n is more than or equal to 8, M is an odd number more than or equal to 5;
the (M + 1)/2 image brightness weighted average interval is located in the total interval of 0-2 n -1 middle part;
1.2 M image brightness weighted mean intervals with exposure time and exposure frame rate as follows:
the exposure time t' = t corresponding to the (M + 1)/2 th image brightness weighted average value interval, wherein t is the last exposure time;
from the (M + 1)/2 < th > image brightness weighted average interval to the 1 < st > image brightness weighted average interval, the corresponding exposure time is gradually increased, and the exposure frame frequency is increased;
from the (M + 1)/2 th image brightness weighted average value interval to the Mth image brightness weighted average value interval, the corresponding exposure time is gradually reduced, and the exposure frame frequency is increased;
2) Image segmentation
Dividing a current image of a focal plane (2) of a camera detector into N strips according to a push-broom direction, wherein N is an odd number larger than 1;
3) Obtaining a weighted average of image brightness
Calculating the average brightness value of each strip, and performing weighted average on the average brightness values of the N strips according to the following formula to obtain an image brightness weighted average value aver _ gray:
Figure FDA0003814030600000011
wherein i =1,2, \8230, N; w is a i A weight coefficient for the ith slice; aver _ gray i Average brightness of the ith strip;
4) Obtaining exposure time
In the corresponding relation between the image brightness weighted average interval in the step 1) and the exposure time and the exposure frame frequency, searching the image brightness weighted average interval in which the image brightness weighted average aver _ gray in the step 3) is located, and obtaining the exposure time and the exposure frame frequency corresponding to the image brightness weighted average interval, namely obtaining the exposure time and the exposure frame frequency of the next frame of image;
5) Determining next frame exposure time
If the exposure time obtained in the step 4) is larger than the maximum value of the exposure time of the detector, taking the maximum value of the exposure time as the exposure time of the next frame;
if the exposure time obtained in the step 4) is less than the minimum exposure time of the detector, taking the minimum exposure time as the exposure time of the next frame;
if the exposure time obtained in the step 4) is between the maximum value and the minimum value of the exposure time of the detector, taking the exposure time obtained in the step 4) as the exposure time of the next frame.
2. The method for quickly and automatically exposing the space micro-nano large-field-of-view camera according to claim 1, which is characterized in that: in step 1), n is 8 and M is 13.
3. The method for quickly and automatically exposing the space micro-nano large-field-of-view camera according to claim 2, wherein the step 1.2) is as follows:
the correspondence between the 13 image brightness weighted average intervals and the exposure time and frame rate is as follows:
the image brightness weighted mean interval is [0, 24)), the exposure time T' = T + T 1 ，T 1 =3t, exposure frame rate f =2f 0 (ii) a Wherein, f 0 Defaulting a frame frequency for the camera;
the image brightness weighted mean interval is [24, 56)), the exposure time T' = T + T 2 ，T 2 = t, exposure frame frequency f =1.5f 0 ；
The image brightness weighted mean interval is [56, 80%), the exposure time T' = T + T 3 ，T 3 = t/2, exposure frame rate f =1.5f 0 ；
The image brightness weighted mean interval is [80,104 ]), the exposure time T' = T + T 4 ，T 4 = t/4, exposure frame rate f = f 0 ；
The image brightness weighted mean interval is [104, 112)), the exposure time T' = T + T 5 ，T 5 ＝t/16，Exposure frame frequency f = f 0 ；
The image brightness weighted mean interval is [112, 116)), the exposure time T' = T + T 6 ，T 6 = t/32, exposure frame rate f = f 0 ；
The image brightness weighted mean interval is [116,124 ]]Then exposure time t' = t, exposure frame frequency f = f 0 ；
The image brightness weighted mean interval is (124, 128)]Then the exposure time T' = T-T 7 ，T 7 = t/32, exposure frame frequency f = f 0 ；
The image luminance weighted mean interval is (128, 136)]Then the exposure time T' = T-T 8 ，T 8 = t/16, exposure frame rate f = f 0 ；
The image luminance weighted mean interval is (136, 152)]Then the exposure time T' = T-T 9 ，T 9 = t/8, exposure frame rate f = f 0 ；
The image luminance weighted mean interval is (152, 200)]Then the exposure time T' = T-T 10 ，T 10 = t/4, exposure frame frequency f =1.5f 0 ；
The image brightness weighted mean interval is (200, 232)]Then the exposure time T = T-T 11 ，T 11 = t/2, exposure frame frequency f =1.5f 0 ；
The image luminance weighted mean interval is (232, 255)]Then the exposure time T = T-T 12 ，T 12 =3t/4, exposure frame rate f =2f 0 。
4. The method for quickly and automatically exposing the space micro-nano large-field-of-view camera according to claim 3, wherein the step 4) is as follows:
4.1 ) determining whether the weighted average value aver _ gray of image luminance in step 3) is in the weighted average value interval [116,124 ]]If yes, the exposure time t' = t of the next frame image, and the exposure frame frequency f = f 0 And step 5) is executed; otherwise, executing step 4.2);
4.2 Determining whether the weighted average of image luminance aver _ gray of step 3) is in the weighted average interval of image luminance (124, 128)]If yes, the exposure time t' =of the next frame imaget-T 7 ，T 7 = t/32, exposure frame rate f = f 0 And step 5) is executed; otherwise, executing step 4.3);
4.3 Determining step 3) whether the image luminance weighted mean aver _ gray is in the image luminance weighted mean interval (128, 136)]If yes, the exposure time T' = T-T of the next frame image 8 ，T 8 = t/16, exposure frame rate f = f 0 And executing the step 5); otherwise, executing step 4.4);
4.4 Determining whether the weighted average averager _ gray of the image brightness in step 3) is within the weighted average range (136, 152)]If yes, the exposure time T' = T-T of the next frame image 9 ，T 9 = t/8, exposure frame rate f = f 0 And step 5) is executed; otherwise, executing step 4.5);
4.5 Determining whether the weighted average of image luminance aver _ gray of step 3) is in the weighted average interval of image luminance (152, 200)]If yes, the exposure time T' = T-T of the next frame image 10 ，T 10 = t/4, exposure frame frequency f =1.5f 0 And step 5) is executed; otherwise, executing step 4.6);
4.6 Determining whether the weighted average of image luminance aver _ gray of step 3) is in the weighted average interval of image luminance (200, 232)]If yes, the exposure time T = T-T of the next frame image 11 ，T 11 = t/2, exposure frame rate f =1.5f 0 And step 5) is executed; otherwise, performing step 4.7);
4.7 Judging step 3) whether the image brightness weighted average aver _ gray is in the image brightness weighted average interval (232, 255)]If yes, the exposure time T = T-T of the next frame image 12 ，T 12 =3t/4, exposure frame rate f =2f 0 And step 5) is executed; otherwise, executing step 4.8);
4.8 ) determining whether the weighted average value aver _ gray of the image brightness in step 3) is within the weighted average value interval [112, 116), if yes, the exposure time T' = T + T of the next frame image 6 ，T 6 = t/32, exposure frame frequency f = f 0 And step 5) is executed; otherwise, executing step 4.9);
4.9 ) determining whether the weighted average aver _ gray of image brightness in step 3) is added to the image brightnessThe weight average value interval [104, 112), if yes, the exposure time T' = T + T of the next frame image 5 ，T 5 = t/16, exposure frame frequency f = f 0 And executing the step 5); otherwise, performing step 4.10);
4.10 ) judging whether the image brightness weighted mean value aver _ gray in the step 3) is in the image brightness weighted mean value interval [80, 104), if yes, the exposure time T' = T + T of the next frame image 4 ，T 4 = t/4, exposure frame rate f = f 0 And executing the step 5); otherwise, performing step 4.11);
4.11 ) judging whether the image brightness weighted mean value aver _ gray in the step 3) is in the image brightness weighted mean value interval [56,80 ], if yes, the exposure time T' = T + T of the next frame image 3 ，T 3 = t/2, exposure frame rate f =1.5f 0 And executing the step 5); otherwise, performing step 4.12);
4.12 ) judging whether the weighted average value aver _ gray of the image brightness in the step 3) is in the weighted average value interval of the image brightness [24, 56), if yes, the exposure time T' = T + T of the next frame image 2 ，T 2 = t, exposure frame rate f =1.5f 0 And step 5) is executed; otherwise, performing step 4.13);
4.13 Step 3) the weighted average value aver _ gray of the image brightness is within the weighted average value interval [0, 24) of the image brightness, the exposure time T' = T + T of the next frame image 1 ，T 1 =3t, exposure frame frequency f =2f 0 And step 5) is executed.
5. The space micro-nano large-field-of-view camera rapid automatic exposure method according to claim 4, characterized by further comprising the step 6): if the exposure time determined in the step 5) is converged and the actual imaging time is not reached, the imaging is continued according to the converged exposure time, the image brightness weighted average value is calculated by the processes of the step 2) and the step 3), whether the average value is within the range of the image brightness weighted average value interval [112,128] is judged, if yes, the next imaging is carried out within the converged exposure time, and if not, the exposure time is determined again by the steps 4) and the step 5) and the next imaging is carried out.
6. The method for quickly and automatically exposing the space micro-nano large-field-of-view camera according to any one of claims 1 to 5, characterized by comprising the following steps: in step 3), the weight coefficient w i The weight coefficients of the two strips taking the middle strip as a symmetry axis are equal.
7. The method for quickly and automatically exposing the space micro-nano large-field-of-view camera according to claim 6 is characterized in that: in step 2), N is the weight coefficient w of 5,5 strips 1 、w 2 、w 3 、w 4 、w 5 1/8, 3/16, 3/8, 3/16 and 1/8 respectively.
8. A space micro-nano large-view field camera rapid automatic exposure system is characterized in that: comprises an exposure control FPGA unit (3);
the exposure control FPGA unit (3) comprises a processor and a memory, a computer program for processing the current image of the focal plane (2) of the camera detector is stored in the memory, and when the computer program is executed by the processor, the steps of the rapid automatic exposure method for the space micro-nano large-field-of-view camera according to claim 1 are realized.
9. A computer readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the steps of the method for fast automatic exposure of a space micro-nano large field-of-view camera according to claim 1.
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