CN104155006A - Handheld thermal infrared imager and method for same to carry out quick locking and ranging on small target - Google Patents
Handheld thermal infrared imager and method for same to carry out quick locking and ranging on small target Download PDFInfo
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Abstract
The invention relates to a handheld thermal infrared imager. The handheld thermal infrared image comprises infrared imaging sensors, a visible light camera, a laser range finder, a Bluetooth module, a magnetic compass module, an MEMS micro gyroscope, a GPS module, a wireless transmission module, a Linux system embedded signal control panel and an LED display screen. Data of the multiple sensors can be integrated, resources can be reasonably allocated, complex algorithms can be achieved, the performance of handheld equipment can be improved, and the systematization of single machines can be improved. The invention further discloses a Linux-system-based algorithm for the handheld thermal infrared to carry out quick locking and ranging on a small target. According the principle of the MEMS micro gyroscope and the image processing algorithm, the target can be quickly and accurately locked and traced through digital images of infrared light and visible light, and the quick locking and ranging functions are effectively achieved through the laser range finder. The handheld thermal infrared can eliminate video jitters in real time, improve the video quality, lock the target quickly, recognize and detect the target distance automatically and improve the functionality of the handheld equipment.
Description
Technical field
The invention belongs to infrared thermal imaging technique field, be specifically related to a kind of hand-held thermal infrared imager based on linux system, with and method to the range finding of little target quick lock in.
Background technology
Develop rapidly along with electronic technology and embedded technology, the swift and violent lifting of various mobile terminal hardware platform performances, the development of technology has also proposed new demand to hand-held Portable infrared as the product of instrument, hand-held thermal infrared imager is just towards one-of-a-kind system, miniaturization, the future development of multifunction.Requirement on the basis of infrared imaging, the integrated peripheral hardwares such as ccd video camera, laser ranging, bluetooth, GPS, magnetic compass, radio communication.
Each single-sensor is all widely used at present, must be by many peripheral hardwares, most according to overall management, this is just badly in need of a kind of operating system and allocates, laser, infrared, visible ray are integrated, and make full use of the advantage of each sensor, merge the data of each sensor, realize and rapidly, effectively observe and monitor, accurately localizing objects position.This technology is even more important to fields such as the place ahead supervision, personnel's search, forest fires monitoring, will be applied in widely the fields such as military surveillance, civilian detection.
In hand-held thermal infrared imager application, how view data and laser ranging function are utilized fully, and reduced power consumption, be urgent need to solve the problem.
Wherein, first laser ranging is to generating laser charging, then launches modulated light signal by generating laser, arrives after measurement target, through diffuse reflection, turns back to and receives in eyepiece, and receiver is converted to electric signal by light signal, then calculates the distance of target.From the angle of energy, be first to charge, the process of finally discharging.If can measure fast and accurately little target, be conducive to lower power consumption.And its little target be difficult to aim at, often because of jitter deviation the center of laser beam axis, be difficult to receive irreflexive signal.The difficulty that this has caused object ranging on the one hand, significantly reduces the ease for use of handheld device, also causes laser range finder always in charging and discharging process simultaneously, causes power consumption to raise.
Therefore, reducing shake and bring image to rock to cause the especially little target of target to be difficult to locking, is the gordian technique that must solve.By stable image is provided, can quick and precisely locate target, and can reduce the power consumption of laser ranging process.Thereby the quick lock in ranging technology tool of studying little target has very important significance.
Summary of the invention
An object of the present invention is to provide a kind of hand-held thermal infrared imager based on linux system, increase hand-held infrared functionally, to enrich hand-held infrared peripheral hardware and purposes, provide better picture quality and target detection ability.
The technical solution adopted for the present invention to solve the technical problems is: a kind of hand-held thermal infrared imager, comprise for obtaining the visible light camera of target scene visible light image information, for obtaining the infrared imaging sensor of target scene Infrared Image Information, for obtaining the laser range finder of target range information, for providing the GPS module of the latitude and longitude coordinates information of current device, be used for providing short distance control interface and digital transmission, support the bluetooth module of the terminal controls such as mobile phone, for providing the magnetic compass module of the attitude information of current device, for wireless transmission video, digital signal and interested characteristic quantity, carry out the wireless transport module of many apparatus interconnections and the LED display showing for image and data message, also comprise linux system embedded signal control panel, be used for the module controls in whole equipment, complete two-way video acquisition, laser range finder emission control, and to bluetooth module, magnetic compass module, the micro-gyro of MEMS, GPS module, the function of wireless transport module is controlled, and data transmission and shared, also comprise the micro-gyro of MEMS, for measuring angular displacement and the angular velocity of thermal imaging system, by SPI, signal is passed to single-chip microcomputer, single-chip microcomputer passes through serial ports timed sending to linux system embedded signal control panel.
Described a kind of hand-held thermal infrared imager, its linux system embedded signal control panel comprises AD modular converter, VPIF interface, memory module, ARM chip, DSP, video conversion module, usb interface module, UART interface, I2C bus, Ethernet interface, fpga chip and serial ports, described AD modular converter input end and visible light camera, infrared imaging sensor is connected with I2C bus, AD modular converter output terminal is connected with VPIF interface, the output terminal of described VPIF interface is connected with memory module, the input end of described memory module is connected with DSP with ARM chip, the output terminal of memory module is connected with video conversion module, described ARM chip also respectively with usb interface module, bluetooth module, wireless transport module, UART interface, I2C bus, Ethernet interface and fpga chip connect, described DSP is connected with memory module, the input end of described video conversion module is connected with I2C bus, the output terminal of video conversion module is connected with LED display, described usb interface module is connected with ARM chip, and described UART interface is connected with fpga chip with ARM chip respectively, the output terminal of described I2C bus and AD modular converter and video conversion module, described fpga chip and laser range finder, GPS module, the micro-gyro of MEMS, magnetic compass module connects, and fpga chip is connected with serial ports.
Another object of the present invention is to provide a kind of quick lock in distance-finding method of above-mentioned thermal infrared imager to little target that use, and the method is quick, energy consumption is low, can further obtain the three-dimensional information of target.
The technical solution adopted for the present invention to solve the technical problems is: a kind of method of little target quick lock in being found range based on hand-held thermal infrared imager described in claim 1, comprises the steps:
One) two-way video Real-time Collection, and be converted into digital video, obtain scene information
By ARM, hold primary control program to carry out control and management to VPIF module, collection for analog video, by AD, change analog video is changed into digital video, utilize DSP to hold the compressed encoding of the H.264 form of algorithm process and video to obtain video stream file, obtain infrared and original video data visible ray, for obtaining and electronic steady image of next step target simultaneously;
Two) location to interesting target, obtains the information of target
By the current handheld mobile device speed of the direct interpretation of image information, or utilize the micro-gyro data of MEMS to judge current accekeration, current in quick coarse localization or in accurately locating by these data interpretations;
Three) quick lock in of little target
By image, provide the position of particular location and the image pixel of little target, indicate position by pixel, mobile in picture centre, by button, trigger lock image, and by the information storage of little target, simultaneously in the target lock-on stage, complete the triggering to laser charging process, laser range finder is carried out to charging process, carry out laser and wait to send out preparation;
Four) quick distance measurement of target, obtains measurement result
According to the positional information of target, by DSP, carry out Digital Image Processing and obtain target from the position of optical axis center, provide the side-play amount of target, and by calculating the angle of divergence of laser, obtain obtaining the angular range of target range, when target is during in the scope that can hit, quick Emission Lasers, calculate target range, close Laser Power Devices, reach and reduce power consumption object.
A kind of described method to little target quick lock in range finding, its step 2) in, surely the Obtaining Accurate as target under state comprises the steps:
A) by infrared imaging sensor 102 or visible light camera 101, gather analog video, by A/D, be converted to digital video, to present frame, whether be that the first two field picture judges, if the first frame is composed former frame image for same numerical value, if not the first two field picture, will directly be assigned to present frame;
B) present frame is carried out to medium filtering, and adopt Sobel operator to obtain marginal information;
C) process the image after edge strengthens, constant to being greater than the gray-scale value of point of specific threshold in image, lower than the point of feature threshold value, composing is zero, current region is carried out to piecemeal processing, carry out decile N piece for 768 * 576, select suitable piece matching area, more rich to scene information, obtain higher weight, in image, marginal information amount is low, obtains lower weight.
D), by the calculating to the angular displacement of the micro-gyro of MEMS and angular acceleration, obtain direction of motion and the general side-play amount of image;
E) by calculating the side-play amount of the relative reference frame in each region, by weighted value correction, obtain global motion vector;
F) by utilizing global motion vector to carry out motion compensation to every two field picture, adopt the compensation method of bilinear interpolation, dither image is proofreaied and correct, obtain stable video image;
G) obtain after stable image sequence the information of object observing.
A kind of described method to little target quick lock in range finding, its step d) and e) Small Target quick lock in distance-finding method concrete steps comprise the steps:
A) first target is observed, find suspicious object;
B) select the size of suitable target lock-on frame, target is locked, the information storage of target is got up, for the recognition and tracking to target;
C) find after target, laser range finder to be charged, when finding that suspicious object sends charging process instruction by linux system embedded signal control panel to laser range finder;
D) in next frame image, by the departure of the micro-gyro of MEMS and steady picture, carry out the prediction of target, target is carried out to correlation tracking, the position of the little target of interpretation;
E) position in image by target, provides the positional information that target departs from laser center axle, positional information is superimposed upon on the image of demonstration;
F) side-play amount from optical axis center by target, regulates round about, carries out in real time relevant matches, obtains the deviation that target departs from optical axis, when target reaches the scope that can hit, and automatic Emission Lasers;
G) close whole object ranging process, close Laser emission process.
The invention has the beneficial effects as follows: this thermal infrared imager has merged electronic steady image, target following scheduling algorithm, the range information that combines GPS information, magnetic compass information and export in conjunction with laser range finder, target location is completed to location, in conjunction with multisensor, and utilize the independent control advantage of linux system, complete the fusion of multiline message, adopted ARM+DSP framework on hand-held thermal infrared imager, to complete the processing of many algorithms, utilized spatial alternation principle, realization is located fast and accurately to target, is conducive to the use in the fields such as observation, monitoring.
Accompanying drawing explanation
Fig. 1 is the structural representation of thermal imaging system of the present invention;
Fig. 2 is the structural representation of linux system embedded signal control panel;
Fig. 3 is the workflow diagram of thermal imaging system of the present invention;
Fig. 4 is the algorithm workflow diagram of electronic steady image;
Fig. 5 is little target quick lock in range finding process flow diagram.
Each Reference numeral is: 001-target scene, 101-visible light camera, 102-infrared imaging sensor, 103-laser range finder, 104-GPS module, 105-bluetooth module, the micro-gyro of 106-MEMS, 107-magnetic compass module, 108-wireless transport module, 109-linux system embedded signal control panel, 109.1-AD modular converter, 109.2-VPIF interface, 109.3-memory module, 109.4-ARM chip, 109.5-DSP, 109.6-video conversion module, 109.7-usb interface module, 109.8-UART interface, 109.9-I2C bus, 109.10-Ethernet interface, 109.11-fpga chip, 109.12-serial ports, 110-LED display.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Fig. 1, the invention discloses a kind of hand-held thermal infrared imager, comprise for obtaining the visible light camera 101 of target scene 001 visible light image information, for providing Infrared Image Information to obtain the infrared imaging sensor 102 of target scene 001 Infrared Image Information, for obtain the laser range finder 103 of target range information by transmitting and receiving laser, for providing the GPS module 104 of the latitude and longitude coordinates information of current device, be used for providing short distance control interface and digital transmission, support the bluetooth module 105 of the terminal controls such as mobile phone, the micro-gyro 106 of MEMS, for providing the magnetic compass module 107 of the attitude information of current device, wireless transport module 108, linux system embedded signal control panel 109 and the LED display 110 showing for image and data message, the micro-gyro 106 of described MEMS is for providing rotation and the offset information of equipment, be that attitude information is for measuring angular displacement and the angular velocity of thermal imaging system, by SPI, signal is passed to single-chip microcomputer, single-chip microcomputer passes through serial ports timed sending to linux system embedded signal control panel 109, described wireless transport module 108 is for providing the method for wireless transmission and control for wireless transmission video, digital signal and interested characteristic quantity, carry out many apparatus interconnections, described linux system embedded signal control panel 109 is ARM+DSP framework, for each sensor being controlled by serial ports and USB, receive each sensing data, settling signal is processed, be used for the module controls in whole equipment, complete two-way video acquisition (infrared video and visible light video), laser range finder 103 emission control, and to bluetooth module 105, magnetic compass module 107, the micro-gyro 106 of MEMS, GPS module 104, the function of wireless transport module 108 is controlled, and data transmission and shared, can be under linux system software platform, realize visible ray and infrared two-way imaging, to GPS, laser ranging (LRF), MEMS gyro control, on software platform linux system, complete resource allocation, by complete processing and the target following scheduling algorithm of algorithm in conjunction with peripheral hardware.
As shown in Figure 2, linux system embedded signal control panel 109 comprises AD modular converter 109.1, VPIF interface 109.2, memory module 109.3, ARM chip 109.4, DSP109.5, video conversion module 109.6, usb interface module 109.7, UART interface 109.8, I2C bus 109.9, Ethernet interface 109.10, fpga chip 109.11 and serial ports 109.12, described AD modular converter 109.1 input ends and visible light camera 101, infrared imaging sensor 102 is connected with I2C bus 109.9, AD modular converter 109.1 output terminals are connected with VPIF interface 109.2, for receiving the visible ray analog picture signal of visible light camera 101 transmissions and the infrared simulation picture signal that infrared imaging sensor 102 sends, the input end of VPIF interface 109.2 is connected with AD modular converter 109.1, the output terminal of described VPIF interface 109.2 is connected with memory module 109.3, be used for transmission digital video signal in the middle of memory module 109.3, the input end of memory module 109.3 is connected with VPIF interface 109.2, the input end of described memory module 109.3 is connected with DSP109.5 with ARM chip 109.4, the output terminal of memory module 109.3 is connected with video conversion module 109.6, be used for storing infrared digital image signal and visible ray data image signal, for ARM chip 109.4 and DSP109.5 access, also store (SuSE) Linux OS simultaneously, ARM chip 109.4 is except being connected with memory module 109.3, described ARM chip 109.4 also respectively with usb interface module 109.7, bluetooth module 105, wireless transport module 108, UART interface 109.8, I2C bus 109.9, Ethernet interface 109.10 and fpga chip 109.11 connect, be used for the operation of linux system, and described each sensor of hand-held thermal infrared imager is controlled, complete digital video and show the data (range data that laser range finder 103 obtains, the longitude and latitude data that GPS module 104 is obtained, the attitude data that magnetic compass module 107 is obtained, quick lock in range finding computational data) and the stack of display interface, complete with external unit simultaneously and communicate, described DSP109.5 is connected with memory module 109.3, be used for Digital Image Processing, the input end of described video conversion module 109.6 is connected with I2C bus 109.9 with memory module 109.3, the output terminal of video conversion module 109.6 is connected with LED display 110, for infrared image digital signal and visible images digital signal are converted to respectively to analog video signal, output in LED display 110 and complete demonstration, described usb interface module 109.7 is connected with ARM chip 109.4, for being connected with external unit, described UART interface 109.8 is connected with FPGA109.11 chip with ARM chip 109.4 respectively, be used for going here and there and changing, the input end of I2C bus 109.9 is connected with ARM chip 109.4, the output terminal of described I2C bus 109.9 and AD modular converter 109.1 and video conversion module 109.6, for AD modular converter 109.1 and video conversion module 109.6 are configured, Ethernet interface 109.10 is connected and is used for providing network interface with ARM chip 109.4, described fpga chip 109.11 and laser range finder 103, GPS module 104, the micro-gyro 106 of MEMS, magnetic compass module 107 connects, for receiving and process the data message of the sensor, in linux system embedded signal control panel 109 inside, fpga chip 109.11 and ARM chip 109.4, UART interface 109.8, serial ports 109.12 connects, for the sensor information after processing is sent to ARM chip 109.4, and complete the selection of UART interface 109.8, serial ports 109.12 is connected with fpga chip 109.11, for be connected communication with external control devices.Owing to having adopted the chip of ARM+DSP Duo-Core Architecture, and by DSP modularization, Co-processor Module as ARM chip 109.4, can be at linux system running background, and the mode that adopts shared drive is carried out collaborative calculating of mutual realization of data, this chip completes most of signal work for the treatment of, bears the processing of vision signal, the calculating of control, target following and the electronic steady image of the processing of view data, the control of communication, peripheral module.Infrared imaging sensor 102, visible light camera 101, laser range finder 103, magnetic compass module 107, the micro-gyro 106 of MEMS and GPS module 104, by serial ports 109.12 and usb interface module 109.7, signal is passed to ARM chip 109.4, ARM chip 109.4 is passed to DSP109.5 by data, DSP109.5 is added on image to the information of GPS module 104 and magnetic compass module 107, DSP109.5 also completes image processing to infrared image and visible images simultaneously, and assists the range finding to target.
Be illustrated in figure 3 linux system embedded signal control panel 109 workflows: system powers on and carries out hardware initialization, at ARM chip 109.4, from memory module 109.3, reads and move linux system, DSP109.5 operation DSP/BIOS system; The linux system that system is controlled by ARM chip 109.4 completes, infrared imaging sensor 102 and visible light camera 101 by leading portion obtain scene 001 information, by AD modular converter 109.1, be converted to digital video signal, digital video signal is passed to memory module 109.3 by VPIF interface 109.2; Dsp chip 109.5 access memory modules 109.3 are obtained digital video signal, complete Digital Image Processing and target identification; Fpga chip 109.11 obtains the information of laser range finder 103, GPS module 104, the micro-gyro 106 of MEMS, magnetic compass module 107, completes data processing, then the data after processing are passed to ARM chip 109.4; ARM chip 109.4 is accessed memory module 109.3 simultaneously, obtain visible ray digital picture and infrared digital image after processing, and by the attitude information of the latitude and longitude coordinates information of the range information of laser range finder 103, GPS module 104, magnetic compass module 107 and digital image information stack; Digital image information after stack sends in video conversion module 109.6, completes Video Decode, re-sends in LED display 110 and completes demonstration.
Below in conjunction with Fig. 4 and Fig. 5, the method for using the little target quick lock in of thermal imaging system to find range is further described in detail.
First step Real-time Collection two-way video, and be converted into digital video, obtain scene information
By ARM, hold primary control program to carry out control and management to VPIF module, collection for analog video, by AD, change analog video is changed into digital video, utilize DSP to hold the compressed encoding of the H.264 form of algorithm process and video to obtain video stream file, obtain infrared and original video data visible ray, for obtaining and electronic steady image of next step target simultaneously.
The two-way video acquisition that technical scheme adopts, wherein signal source infrared imaging sensor 102 and visible light camera 101, by scene 001 process light path, be delivered on focal plane, by transferring the infrared radiation signal on focal plane and visible radiation signal to simulating signal, pass to again the analog video interface of linux system embedded signal control panel 109, by AD modular converter 109.1, the visible ray analog picture signal obtaining and infrared simulation picture signal are converted into respectively to data image signal, by VPIF interface 109.2, be sent to memory module 109.3, obtain respectively 768 * 576 videos, 25ms gathers the data of a frame, DSP109.5 accesses memory module 109.3, obtain data image signal, completing image processes.
Second step location interesting target, obtain target information
The coarse localization of target is mainly that scene 001 is passed through to sensor, obtains the simulating signal of infrared imaging sensor 102 and visible light camera 101, analog information is converted to digital signal, and then is presented in LED display 110.
Two-way switches in real time, select to observe an image road video comparatively clearly, and target signature is more obvious, by ambulatory handheld thermal infrared imager, adjust different azimuth and find target, when basic, determine after target, enter accurate positioning stage, enter steady picture pattern, this stage can obtain scene information clearly, can because of the shake of hand, not make target occur blooming.
Obtaining initial alignment and accurate two stages of positioning stage that comprise target of target, first stage, owing to there will be significantly and moving in search target, image can bring certain blooming, subordinate phase is on the basis of first stage, the stable central area that allows target be stabilized in image to image.By the current handheld mobile device speed of the direct interpretation of image information, or utilize micro-gyro 106 data of MEMS to judge current accekeration, current in quick coarse localization or in accurately locating by these data interpretations.
Target is when coarse localization, adopt straight-through video, can switch in real time current pixel value, can change along with the movement of hand-held thermal infrared imager, target, when accurately locating, under steady picture pattern, can obtain the information of target clearly, there will not be fuzzy image, and can provide the position of target decentering axle.
Below in conjunction with Fig. 4, to obtaining stable image, reduce shake and bring image blurring method to be elaborated:
1) scene obtains, by infrared imaging sensor 102 or visible light camera 101, gather analog video, by A/D, be converted to digital video, to present frame, whether be that the first two field picture judges, if the first frame is composed former frame image for same numerical value, if not the first two field picture, will directly be assigned to present frame.
2) present frame is carried out to medium filtering, and adopt Sobel operator to obtain marginal information.
Image pre-service, carries out filtering by medium filtering to noise, removes the noise of isolated point, adopts 3 * 3 template, reduces calculated amount.By threshold value is set, carry out high-pass filtering, then strengthen by Sobel operator edge, obtain marginal information.
3) process the image after edge strengthens, constant to being greater than the gray-scale value of point of specific threshold in image, lower than the point of feature threshold value, composing is zero, current region is carried out to piecemeal processing, carry out decile N piece for 768 * 576, select suitable piece matching area, more rich to scene information, obtain higher weight, in image, marginal information amount is low, obtains lower weight.
Image-region is divided, and every two field picture is carried out to the division in region, and for different images and size, and the size of target signature template is determined.For example, the sized images for 768 * 576, can be divided into 9 regions, stencil-chosen 11 * 11.Can select the division in 4 regions equally, stencil-chosen is 15 * 15, meets in real time and processes simultaneously.
4) by the angular displacement of the micro-gyro 106 of MEMS and the calculating of angular acceleration, obtain direction of motion and the general side-play amount of image.
The selection of obvious feature, can select the Harris angle point in each region, also can select the most obvious piece of feature in image, by block size, determines.In embodiment, adopt the piece of 15 * 15 sizes, selected the abundantest marginal information of feature.
5) by calculating the side-play amount of the relative reference frame in each region, by weighted value correction, obtain global motion vector.
The selection of images match region of search, by the side-play amount of micro-gyro 106 predicted pictures of MEMS, first search offset area mates, by the poor departure that obtains of least absolute value.By utilizing the micro-gyro 106 of MEMS can be in fast block matching algorithm among a small circle.
6) by utilizing global motion vector to carry out motion compensation to every two field picture, adopt the compensation method of bilinear interpolation, dither image is proofreaied and correct, obtain stable video image.
This step is calculated global motion vector, obtains stable image.This process, mainly to after images match, obtains the motion vector in each region, by the distribution of weight, calculates overall motion vector, obtains the side-play amount of entire image, and entire image is carried out to motion compensation, and dither image is proofreaied and correct, and obtains stabilized image.
7) obtain after stable image sequence the information of object observing.
By above method, obtain stable image, neither can be subject to the impact that slightly shake brings, the position of object observing more clearly, also can accurately locate the position of little target.
The quick lock in of the little target of the 3rd step, to little object real-time tracking
Accurately obtain clearly after little target image information the quick lock in to the especially little target of target.
By image, provide the position of particular location and the image pixel of little target, indicate position by pixel, mobile in picture centre, by button, trigger lock image, and by the information storage of little target, simultaneously in the target lock-on stage, complete the triggering to laser charging process, laser range finder is carried out to charging process, carry out laser and wait to send out preparation.
After little target localization, trigger the little target of press key locking, little clarification of objective to be preserved, the position of the little target of real-time follow-up, provides the side-play amount of target and optical axis, provides and indicates for judging the time of Emission Lasers.Laser emission is a kind of process of charging and discharging, in the moment of little target lock-on, triggers the charging of laser is controlled, and laser is waited to send out
At stable image/video, the position of the little target of Real Time Observation, when little target is in viewing area, triggers little target lock-on by button, i.e. the information storage to current interested little target, the position of the little target of real-time follow-up.The real-time follow-up of little target adopts correlation tracking, by calculating the similarity of target, calculates the particular location of little target.At image, provide in real time target location.When target lock-on, triggered laser ranging pattern, to do the preliminary work of Laser emission, fast laser charging process, has avoided laser always in charging process like this, and energy enough detects distant object simultaneously, in laser arm-to-arm.
The quick distance measurement of the 4th step target, obtains measurement result.
According to the positional information of target, by DSP, carry out Digital Image Processing and obtain target from the position of optical axis center, provide the side-play amount of target, and by calculating the angle of divergence of laser, obtain obtaining the angular range of target range, when target is during in the scope that can hit, quick Emission Lasers, calculate target range, close Laser Power Devices, reach and reduce power consumption object.Skew between picture frame is calculated, and obtains the deviation of target decentering axle, regulates, and by calculating the angle of divergence by departure, calculates in much scopes that target departs from optical axis and can hit the mark.
According to the target location showing in LED display 110, by DSP, calculating much regions inner laser can hit the mark, and, by calculating the angle of divergence of laser, calculates and can hit the mark in the much radians in laser beam axis center.By target tracking data, obtain the position that target departs from Laser emission center simultaneously, by manual adjustments thermal imaging system, close to optical axis center, the scope that arrival can be hit, whether Emission Lasers, hit by detecting fast, finds range continuously.Obtain the range information of target, target range information is superimposed upon on image, be presented in LED display 110, exit target following pattern simultaneously, carry out target detection mode next time.Now software automatically triggers and closes Laser Power Devices, is conducive to less power consumption.
For above step, in conjunction with Fig. 5, little target quick lock in range finding is being realized and being elaborated.This technology is on the basis based on electronic steady image and target following technology, by the real-time follow-up to target, in conjunction with the center of laser beam axis, obtains the center that target departs from optical axis; The scope automatic decision that can hit the mark in conjunction with laser again, the process to little target quick distance measurement.The steps include: the locking of target, first target is observed, find suspicious object, by button, trigger the locking to target, and target information is preserved, in next frame, find little target; The size of selecting suitable target lock-on frame, locks target, the information storage of target is got up, for the recognition and tracking to target; Find after target, laser range finder to be charged, be conducive to reduce the duration of charging, be conducive to reduce power consumption, simultaneously quick Emission Lasers, be conducive to energy abundance, when finding that suspicious object sends charging process instruction by 109 pairs of laser range finders of linux system embedded signal control panel; In next frame image, by the departure of the micro-gyro 106 of MEMS and steady picture, carry out the prediction of target, target is carried out to correlation tracking, the position of the little target of interpretation; Position by target in image, provides the positional information that target departs from laser center axle.Positional information is superimposed upon on the image of demonstration; Side-play amount by target from optical axis center, regulate round about, carry out in real time relevant matches, obtain the deviation that target departs from optical axis, according to side-play amount and laser beam divergence, obtain accepting in much regions the laser that reflects, judge that little target is within the scope of this, when target reaches the scope that can hit, automatic Emission Lasers; Close whole object ranging process, close Laser emission process.
S1) target information is obtained and the stage of recognition.This process mainly contains the initial alignment of target, determines the approximate location of interested target; The accurate location of target, obtains the accurate location of target; The locking of little target, is about to obtaining of target signature information.This process is mainly the analysis to image information by observer, obtains interested target, then is triggered and obtained target information by button.
S2) calculate target following and target location.After target lock-on, the information storing according to target, carries out correlation tracking at next frame image.Correlation tracking technology is the similarity principle based on image, and by the similarity value of Offered target feature, the value that in application region, phase knowledge and magnanimity are the highest, as coupling target, adopts least absolute value error to calculate.Wherein, object matching is based on relation between picture frame, and matching speed is even more important to improving real-time and rapidity.The size of target search region and target has determined the time of search and the precision of coupling, and target frame is larger and hunting zone is larger, and error rate is higher, and matching precision is higher.In this implementation Process example, according to the interval of the angular displacement of the micro-gyro 106 of MEMS and angular velocity Optimizing Search, reduce the hunting zone of target.In 768 * 576 image-regions, select 11 * 11 target frame.
This process also completes Laser emission preliminary work.Before starting, by 109 pairs of laser range finders of linux system embedded signal control panel, send charging process instruction, complete the charging to laser range finder.Duration of charging is controlled very important, and discovery target is charged immediately, is conducive to reduce the duration of charging and reduces power consumption.Simultaneously quick Emission Lasers, is conducive to energy abundance.
S3) calculate target from laser center shaft position, whether interpretation can hit the mark.By the selection in target sizes and target search region, by calculating the position of target in image and the departure between the position of laser center optical axis in image, provide in real time the departure of target, and positional information is superimposed upon on the image of demonstration.Side-play amount by target abaxial, regulates round about, carries out in real time relevant matches, obtains the deviation that target departs from optical axis.The scope of laser ranging is calculated gained according to the size of the angle of divergence, target, adopts the size of target frame in previous step, size that should object observing, then can calculate deviation range by the angle of divergence.On image, show in how many pixel coverages of deviation and can obtain target, tentatively obtain the scope of hitting.
S4) laser ranging, this process is not manual triggers, but based on last stage measurement result, automatically triggers emission process.By interpretation, whether can detect that target obtains, wait and launched laser, the relation by calculating between light path, obtains range-to-go.When target reaches the scope that can hit, Emission Lasers, closes whole object ranging process automatically, closes Laser emission process.The range information of target is superimposed upon on image, can LED display 110, obtains intuitively target range information.
S5) measure next target, continue surely as observing this target under state.This process can automatically switch, and enters observing pattern, exits steady picture pattern.
Electronic flutter-proof technology and image in described target localization surely look like technology, the steps include:
(1) obtain current frame image, image is carried out to pre-service.Adopt medium filtering, remove isolated noise point.By image border, strengthen again, obtain harsh image information characteristics.
(2), to territory, picture portion, search the most obvious characteristic area in each region.And to each areal division of power weight, by weight size, calculate final side-play amount.
(3) block matching algorithm among a small circle,, by the micro-gyro of MEMS, the pre-interpretation of carrying out to global motion, dwindles the selection in region, preferentially piece coupling is carried out in this region.
(4) utilize the weight of regional, calculate global motion vector.By motion vector, to jitter compensation, obtain stable image.
Above-described embodiment is illustrative principle of the present invention and effect thereof only; and the embodiment of part utilization, for the person of ordinary skill of the art, without departing from the concept of the premise of the invention; can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (5)
1. a hand-held thermal infrared imager, it is characterized in that: comprise for obtaining the visible light camera (101) of target scene (001) visible light image information, be used for obtaining the infrared imaging sensor (102) of target scene (001) Infrared Image Information, for obtaining the laser range finder (103) of target range information, for providing the GPS module (104) of the latitude and longitude coordinates information of current device, be used for providing short distance control interface and digital transmission, support the bluetooth module (105) of the terminal controls such as mobile phone, for providing the magnetic compass module (107) of the attitude information of current device, for wireless transmission video, digital signal and interested characteristic quantity, carry out the wireless transport module (108) of many apparatus interconnections and the LED display (110) showing for image and data message, also comprise linux system embedded signal control panel (109), be used for the module controls in whole equipment, complete two-way video acquisition, laser range finder (103) emission control, and to bluetooth module (105), magnetic compass module (107), the micro-gyro of MEMS (106), GPS module (104), the function of wireless transport module (108) is controlled, and data transmission and shared, also comprise the micro-gyro of MEMS (106), for measuring angular displacement and the angular velocity of thermal imaging system, by SPI, signal is passed to single-chip microcomputer, single-chip microcomputer passes through serial ports timed sending to linux system embedded signal control panel (109).
2. a kind of hand-held thermal infrared imager according to claim 1, it is characterized in that, described linux system embedded signal control panel (109) comprises AD modular converter (109.1), VPIF interface (109.2), memory module (109.3), ARM chip (109.4), DSP(109.5), video conversion module (109.6), usb interface module (109.7), UART interface (109.8), I2C bus (109.9), Ethernet interface (109.10), fpga chip (109.11) and serial ports (109.12), described AD modular converter (109.1) input end and visible light camera (101), infrared imaging sensor (102) is connected with I2C bus (109.9), AD modular converter (109.1) output terminal is connected with VPIF interface (109.2), the output terminal of described VPIF interface (109.2) is connected with memory module (109.3), the input end of described memory module (109.3) and ARM chip (109.4) and DSP(109.5) be connected, the output terminal of memory module (109.3) is connected with video conversion module (109.6), described ARM chip (109.4) also respectively with usb interface module (109.7), bluetooth module (105), wireless transport module (108), UART interface (109.8), I2C bus (109.9), Ethernet interface (109.10) and fpga chip (109.11) connect, described DSP(109.5) be connected with memory module (109.3), the input end of described video conversion module (109.6) is connected with I2C bus (109.9), the output terminal of video conversion module (109.6) is connected with LED display (110), described usb interface module (109.7) is connected with ARM chip (109.4), described UART interface (109.8) respectively with ARM chip (109.4) and FPGA(109.11) chip is connected, the output terminal of described I2C bus (109.9) and AD modular converter (109.1) and video conversion module (109.6), described fpga chip (109.11) and laser range finder (103), GPS module (104), the micro-gyro of MEMS (106), magnetic compass module (107) connects, fpga chip (109.11) is connected with serial ports (109.12).
3. the method to little target quick lock in range finding based on hand-held thermal infrared imager described in claim 1, is characterized in that, comprises the steps:
One) Real-time Collection two-way video, and be converted into digital video, obtain scene information
By ARM, hold primary control program to carry out control and management to VPIF module, collection for analog video, by AD, change analog video is changed into digital video, utilize DSP(109.5) held the compressed encoding of the H.264 form of algorithm process and video to obtain video stream file, obtain infrared and original video data visible ray, for obtaining and electronic steady image of next step target simultaneously;
Two) location to interesting target, obtains the information of target
By the current handheld mobile device speed of the direct interpretation of image information, or utilize the micro-gyro of MEMS (106) data to judge current accekeration, current in quick coarse localization or in accurately locating by these data interpretations;
Three) quick lock in of little target
By image, provide the position of particular location and the image pixel of little target, indicate position by pixel, mobile in picture centre, by button, trigger lock image, and by the information storage of little target, simultaneously in the target lock-on stage, complete the triggering to laser charging process, laser range finder is carried out to charging process, carry out laser and wait to send out preparation;
Four) quick distance measurement of target, obtains measurement result
According to the positional information of target, pass through DSP(109.5) carry out Digital Image Processing and obtain target from the position of optical axis center, provide the side-play amount of target, and by calculating the angle of divergence of laser, obtain obtaining the angular range of target range, when target is during in the scope that can hit, quick Emission Lasers, calculate target range, close Laser Power Devices, reach and reduce power consumption object.
4. a kind of method to the range finding of little target quick lock according to claim 3, is characterized in that described step 2) in the Obtaining Accurate of target information comprise the steps:
A) by infrared imaging sensor (102) or visible light camera (101), gather analog video, by A/D, be converted to digital video, to present frame, whether be that the first two field picture judges, if the first frame is composed former frame image for same numerical value, if not the first two field picture, will directly be assigned to present frame;
B) present frame is carried out to medium filtering, and adopt Sobel operator to obtain marginal information;
C) process the image after edge strengthens, constant to being greater than the gray-scale value of point of specific threshold in image, lower than the point of feature threshold value, composing is zero, current region is carried out to piecemeal processing, carry out decile N piece for 768 * 576, select suitable piece matching area, more rich to scene information, obtain higher weight, in image, marginal information amount is low, obtains lower weight;
D) by the angular displacement of the micro-gyro of MEMS (106) and the calculating of angular acceleration, obtain direction of motion and the general side-play amount of image;
E) by calculating the side-play amount of the relative reference frame in each region, by weighted value correction, obtain global motion vector;
F) by utilizing global motion vector to carry out motion compensation to every two field picture, adopt the compensation method of bilinear interpolation, dither image is proofreaied and correct, obtain stable video image;
G) obtain after stable image sequence the information of object observing.
5. a kind of method to the range finding of little target quick lock according to claim 4, is characterized in that described step d) and e) Small Target quick lock in distance-finding method concrete steps comprise the steps:
A) first target is observed, find suspicious object;
B) select the size of suitable target lock-on frame, target is locked, the information storage of target is got up, for the recognition and tracking to target;
C) find after target, laser range finder to be charged, when finding that suspicious object sends charging process instruction by linux system embedded signal control panel to laser range finder;
D) in next frame image, by the departure of the micro-gyro of MEMS (106) and steady picture, carry out the prediction of target, target is carried out to correlation tracking, the position of the little target of interpretation;
E) position in image by target, provides the positional information that target departs from laser center axle, positional information is superimposed upon on the image of demonstration;
F) side-play amount from optical axis center by target, regulates round about, carries out in real time relevant matches, obtains the deviation that target departs from optical axis, when target reaches the scope that can hit, and automatic Emission Lasers;
G) close whole object ranging process, close Laser emission process.
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