CN103198462A - Intense radiation resistant visual sensing device based on information fusion - Google Patents
Intense radiation resistant visual sensing device based on information fusion Download PDFInfo
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Abstract
The invention discloses an intense radiation resistant visual sensing device based on information fusion. The intense radiation resistant visual sensing device based on the information fusion comprises an image information acquisition device (1) and an image information processing device (3). The image information acquisition device (1) comprises a focusing lens (11), a spectroscope (12) and two image sensors (13, 14); the image information processing device (3) comprises a data processing device and an image information recovery module; the image information recovery module comprises an image segmentation module, an image brightness geometric correction module and an information fusion method noise point eliminating module; and relevant modeling is conducted to an image pair processed by the image brightness geometric correction module through the information fusion method noise point eliminating module, and image information before interference is obtained through execution of calculation operation. The intense radiation resistant visual sensing device based on the information fusion can effectively reduce influence on a visual sensor by intense radiation, greatly improve robustness of the visual sensor under the environment of the intense radiation and guarantee efficient target scene image information acquisition.
Description
Technical field
The present invention relates to the precision measurement field, it is a kind of vision sensing equipment, and it is a kind of anti-intense radiation vision sensing equipment based on information fusion particularly.
Background technology
Vision sensor (also can be imageing sensor, perhaps be charge coupled cell, English Charge-coupled Device, abbreviation CCD) belongs to the photovalve in the opto-electronics, its core is the photosensitive element array that active pixel constitutes, and comprises the processing of sequential and control circuit, functional circuit, simulating signal and output interface etc. in addition, and CCD can be converted into digital signal to optical image, namely image pixel is converted to digital signal, just as film.Radiation effects can cause damage to the photoelectric component performance in the space radiation environment, and the serious quality of obtaining visual information that reduces reduces sensor serviceable life.At present, vision sensor radioresistance major measure is to take pixel electronic circuit inner structure to reinforce and the radiation isolation.Pixel electronic circuit inner structure is reinforced and is mainly contained dual mode, the one,, taked the redundancy of latch to latch structure for fear of the single-particle inversion effect, be about to data and be latched in places different more than two, take the suitably form of feedback, after single event, ruined data are recovered; The 2nd,, for the influence that strengthens the anti-integral dose radiation ability and alleviate the single event latch-up effect, taked ring-like grid and protection ring structure to reach the purpose of reinforcing.These radioresistance methods of taking at present are though can reach certain radioresistance effect, these method and technology complexity, the processing cost height, and these measure radioresistance DeGrains, noise (image noise) height is difficult to reach the ideal effect of eliminating the signal noise that radiation produces.
Summary of the invention
The objective of the invention is to overcome the above-mentioned deficiency of prior art and a kind of anti-intense radiation vision sensing equipment based on information fusion is provided, it can reduce intense radiation effectively to the influence of vision sensor, improve the robustness of intense radiation environment visual sensing greatly, guarantee obtaining of high-quality target scene image information.
Technical scheme of the present invention is: a kind of anti-intense radiation vision sensing equipment based on information fusion, and it comprises image information acquisition device and image information processing device; The image information acquisition device comprises amasthenic lens, spectroscope and two imageing sensors, amasthenic lens is convex lens, spectroscope is positioned on the light path of amasthenic lens focusing, an imageing sensor is positioned on the spectroscopical light path, and another imageing sensor is positioned on spectroscopical another light path; Be connected by communication system between image information acquisition device and the image information processing device, it can send the image information of image information acquisition device collection to image information processing device; Image information processing device comprises digital processing unit and image information recovery module; Digital processing unit comprises input interface, memory, processor and output interface; The image information recovery module places digital processing unit, it comprises that image is cut apart module, brightness of image geometry correction module and information fusion method noise is rejected module, image is cut apart module and can respectively the two-way image information that sends from the image information acquisition device be cut apart, choose the same image frame zone of two-way image, to guarantee the consistance in image frame zone; Brightness of image geometry correction module can be respectively proofreaied and correct disparity and the luminance difference of the two-way image information of cutting apart the same area synchronization that module extracts through image, the geometric relationship of two-way image information that obtains Same Scene zone synchronization is consistent with monochrome information, and it is right to form image; Information fusion method noise reject module to through the image of brightness of image geometry correction resume module to carrying out the correlativity modeling, carry out the image information before arithmetic operation obtains disturbing, can reject the image noise that radiation interference produces, restore the preceding image information of radiation interference.
The further technical scheme of the present invention is: be provided with another spectroscope between described another imageing sensor and the spectroscope, another spectroscope is positioned on last spectroscopical another light path, and another imageing sensor is positioned on another spectroscopical light path.
The present invention further technical scheme is: described communication system is cable and interface thereof or is wireless telecommunication system.
The present invention's further technical scheme again is: also be provided with reinforcing hardware on described imageing sensor, the communication system, reinforce the influence that hardware can reduce radiation interference, to reduce the image noise.
The present invention also further technical scheme is: described spectroscope is the more than one spectroscope of cascade also, be equipped with an imageing sensor on the light path that each spectroscope is told more, be that spectroscope forms cascade, the multiway images information of a plurality of imageing sensor collections sends image information processing device respectively to, image information processing device makes up multiway images information in twos, it is how right to image to obtain, each to image to restore one group of image information before the radiation interference by image information processing device, image information before many groups radiation interference that image information processing device can restore these is carried out comprehensively, obtains the image information before more accurate radiation is disturbed.
The present invention also further technical scheme is: the adjustable focal length of described amasthenic lens; Digital processing unit is for carrying out the computing machine of digital signal processing.
The present invention compared with prior art has following characteristics:
1. to be subjected to contamination probability simultaneously very little for the double source vision sensor of same imaging region (being double image sensor), adopt the double vision visual information to merge, making up many visual sensings information fusion framework under the intense radiation environment (is that recalls information fusion method noise rejecting module is carried out the correlativity modeling to the two-way image information, after the computing, reject the image noise information that radiation interference produces, obtain the preceding image information of radiation interference, namely restore the preceding image information of radiation interference), reduce intense radiation effectively to the influence of vision sensor, improve the robustness of intense radiation environment visual sensing greatly, guaranteed high-quality target scene image information acquisition.
2. its volume is little, integrated level is high, precision is high, can be widely used in Aero-Space, nuclear resource exploitation, can produce positive meaning to promotion Aero-Space, nuclear resource exploitation.
3. spectroscope and imageing sensor can constitute multi-stage cascade, can further improve the degree of accuracy of image information reduction.
In order to be illustrated more clearly in the present invention, enumerate following examples, but it there is not any restriction to scope of invention.
Description of drawings
Fig. 1 is structured flowchart of the present invention;
Fig. 2 is the structured flowchart of inventive images information acquisition device;
Fig. 3 is the structured flowchart of the digital processing unit of inventive images signal conditioning package;
Fig. 4 is the workflow principle schematic of invention.
Embodiment
As shown in Figure 1, a kind of anti-intense radiation vision sensing equipment based on information fusion, it comprises image information acquisition device 1 and image information processing device 3; As shown in Figure 2, image information acquisition device 1 comprises amasthenic lens 11, spectroscope 12 and two imageing sensors (13,14), amasthenic lens 11 is convex lens, its adjustable focal length, spectroscope 12 can be divided into the two-way light path with single light path (from the scene light source), be that spectroscope 12 can be divided into same image frame identical two-way image frame, spectroscope 12 is positioned on the light path of amasthenic lens 11 focusing, an imageing sensor 13 is positioned on the light path of spectroscope 12, another imageing sensor 14 is positioned on another light path of spectroscope 12, imageing sensor 14 can also increase a spectroscope 15 with spectroscope 12, spectroscope 15 is divided into the two-way light path again with a light path of previous stage spectroscope (being spectroscope 12), so just can form multi-stage cascade relation (not illustrating in the accompanying drawing), can be plural imageing sensor gathers same light source image simultaneously condition is provided, in a word, a plurality of spectroscopes can realize that a plurality of imageing sensors gather same image simultaneously; Thereby spectroscope can solve different images sensor synchronization is in the different visual angles collection Same Scene image problem that can't carry out the image comparison inequality, even do not adopt spectroscope, the different images sensor is in diverse location, the image of gathering can be not just the same, be difficult to carry out the image comparative analysis, be difficult to realize purpose of the present invention; Simultaneously, same amasthenic lens 11 has also guaranteed the consistance that different images sensor (being CCD) is gathered image, if the two-way imageing sensor carries out signals collecting by amasthenic lens to scene respectively, because focal length and the angle coverage of each amasthenic lens camera lens have difference, so two width of cloth images also can't overlap fully, be difficult to equally carry out the image comparative analysis, be difficult to realize purpose of the present invention; When under ionizing radiation environment, imageing sensor (being CCD) can produce the noise (i.e. the Image Speckle that is produced in certain position of image by radiation interference) of stochastic distribution under ionizing radiation environment, the distribution of these noise information is at random, be that the noise that the two-way imageing sensor is introduced by ionising radiation is incoherent, the inventor also is clear that by the test photo, under radiation environment, the picture that imageing sensor is passed back has produced noise, the position that noise occurs is at random, and the duplicate probability of noise in two width of cloth images that the different images sensor sends is also almost nil.
Be connected by communication system between image information acquisition device 1 and the image information processing device 3, communication system connects can be cable and interface circuit thereof, also can be wireless telecommunication system, and wireless telecommunication system comprises parts such as wireless transceiver, interface circuit; Communication system connects also should comprise circuit such as level conversion, I/V conversion, signal amplification, A/D conversion.
Parts such as imageing sensor, communication system can also adopt the hardware reinforcement technique, reduce the influence that radiation interference produces, to reduce the image noise.
Image information processing device 3 comprises digital processing unit and image information recovery module; As shown in Figure 3, digital processing unit comprises input interface, memory, processor and output interface, and digital processing unit also can be the common computer that can carry out digital signal processing; The image information recovery module places digital processing unit, it comprises that image cuts apart module, brightness of image geometry correction module and information fusion method noise are rejected module, image is cut apart module and can respectively the two-way image information that sends from image information acquisition device 1 be cut apart, choose the same image frame zone of two-way image, make the two-way image information that adopts for gathering the same area of scene, to guarantee the consistance in image frame zone, can guarantee simultaneously processing speed synchronously, namely the two-way image information of the same area of synchronization is cut apart in pairs; Brightness of image geometry correction module can be respectively proofreaied and correct disparity and the luminance difference of the two-way image information of cutting apart the same area synchronization that module extracts through image, the geometric relationship of two-way image information that obtains Same Scene zone synchronization is consistent with monochrome information, form image to (i.e. the two-way image of at synchronization Same Scene the same area being gathered through two imageing sensors, through picture cut apart after module, the brightness of image geometry correction resume module the two-way image image to).
Information fusion method noise is rejected module and can be carried out the correlativity modeling to (for described above " image to ") to image and (namely set up related function, it also is correlation analysis, be generally understood as fusion method), can obtain disturbing preceding image information after carrying out arithmetic operation, can reject the image noise that radiation interference produces, restore the preceding image information of radiation interference.
Structural principle and the specific algorithm of information fusion method noise rejecting module are as follows:
Use cross correlation function
Represent two different random informations
With
In difference constantly
With
The degree of correlation of value (be the information of two imageing sensors receiving of image information processing device 3, cut apart module, brightness of image geometry correction resume module through image respectively after, obtain comprising at random noise information in interior two-way image information
With
, function
Expression two-way image information
With
Correlativity), it is defined as:
Wherein
Expression mathematical expectation operator, if
With
Uncorrelated fully, then
Be zero; For random information stably, its statistical characteristic value and start time are irrelevant; Order
,
, then
, note by abridging and be
, that is:
On average represent statistical average with the time, cross correlation function also can be expressed as:
In actual applications, integral time, T can not be infinitely great, usually is the estimated value of calculating related function in limited integral time in the T, namely
In the formula,
Expression
With
Cross correlation function
Estimated value; Because integral time is limited, so the estimated value result has deviation, but need only long enough integral time, this deviation just can be controlled in the scope that can allow;
Pending image information is numerical information in this specific embodiments, adopts the discrete arithmetic expression of correlation analysis when carrying out relevant treatment, and its calculating formula is:
As shown in Figure 4, suppose that the scene light source is
, imageing sensor 13 output informations are
(when not having radiation interference) and since the introducing of radiation interference
, i.e. the image noise information of Chan Shenging; Imageing sensor 14 output informations are
, since the introducing of radiation interference
, i.e. the image noise information of Chan Shenging:
The output information of the output information of imageing sensor 13 and imageing sensor 14 is carried out correlation analysis:
Because noise at random
,
With information source
(scene light source) is uncorrelated mutually in twos, then behind the following formula three be zero, that is:
So just noise information sound has been rejected away from the image information that the scene light source forms, can be according to various
Value
Judge information source
The feature of (being the image information that the scene light source forms).
Using method of the present invention and basic functional principle: during use, image information acquisition device 1 is installed under the intense radiation environment that needs the collection image information, make amasthenic lens 11 aim at the scene that needs to gather image information, image information processing device 3 is put in the place that image information receives, at this moment two imageing sensors (13,14) (amasthenic lens 11 and spectroscope 12 have guaranteed that two imageing sensors gather the consistance of scenes to gather scene image information from amasthenic lens 11 simultaneously, it is the prerequisite of follow-up correlation analysis, otherwise can't carry out correlation analysis, namely can't carry out information fusion), send image information processing device 3 respectively to by communication system, image information processing device 3 calling graph respectively looks like to cut apart module and brightness of image geometry correction module is carried out rough handling to the two-way image information, recalls information fusion method noise is rejected module and the two-way image information is carried out the correlativity modeling (is namely set up related function then, carry out correlation analysis, be generally understood as information fusion), after the computing, reject the image noise information that radiation interference produces, obtain the preceding image information of radiation interference, namely restore the preceding image information of radiation interference.
As mentioned above, can also adopt plural spectroscope, the light path that each spectroscope is told more disposes an imageing sensor again, be that spectroscope forms cascade, the multiway images information of a plurality of imageing sensor collections sends image information processing device 3 respectively to, image information processing device 3 makes up multiway images information in twos, it is how right to image to obtain, each to image to restore one group of image information before the radiation interference by image information processing device 3, image information before the many groups radiation interference that then these is restored carries out comprehensively (generally averaging), can obtain the image information before more accurate radiation is disturbed; This easy accommodation belongs to design of the present invention too.
The present invention is not limited to above-mentioned concrete structure and the course of work, just drops within the protection domain of invention as long as adopt with the essentially identical structure of the present invention, use and the essentially identical principle of work of the present invention, the anti-intense radiation vision sensing equipment that reaches with the essentially identical effect of the present invention.
Claims (10)
1. anti-intense radiation vision sensing equipment based on information fusion, it comprises image information acquisition device (1) and image information processing device (3); It is characterized in that: image information acquisition device (1) comprises amasthenic lens (11), spectroscope (12) and two imageing sensors (13,14), amasthenic lens (11) is convex lens, spectroscope (12) is positioned on the light path of amasthenic lens (11) focusing, an imageing sensor (13) is positioned on the light path of spectroscope (12), and another imageing sensor (14) is positioned on another light path of spectroscope (12); Be connected by communication system between image information acquisition device (1) and the image information processing device (3), it can send the image information that image information acquisition device (1) is gathered to image information processing device (3); Image information processing device (3) comprises digital processing unit and image information recovery module; Digital processing unit comprises input interface, memory, processor and output interface; The image information recovery module places digital processing unit, it comprises that image is cut apart module, brightness of image geometry correction module and information fusion method noise is rejected module, image is cut apart module and can respectively the two-way image information that sends from image information acquisition device (1) be cut apart, choose the same image frame zone of two-way image, to guarantee the consistance in image frame zone; Brightness of image geometry correction module can be respectively proofreaied and correct disparity and the luminance difference of the two-way image information of cutting apart the same area synchronization that module extracts through image, the geometric relationship of two-way image information that obtains Same Scene zone synchronization is consistent with monochrome information, and it is right to form image; Information fusion method noise reject module to through the image of brightness of image geometry correction resume module to carrying out the correlativity modeling, carry out the image information before arithmetic operation obtains disturbing, can reject the image noise that radiation interference produces, restore the preceding image information of radiation interference.
2. the anti-intense radiation vision sensing equipment based on information fusion according to claim 1, it is characterized in that: be provided with another spectroscope (15) between described another imageing sensor (14) and the spectroscope (12), another spectroscope (15) is positioned on another light path of last spectroscope (14), and another imageing sensor (14) is positioned on the light path of another spectroscope (15).
3. the anti-intense radiation vision sensing equipment based on information fusion according to claim 1 and 2 is characterized in that: described communication system is cable and interface thereof or is wireless telecommunication system.
4. the anti-intense radiation vision sensing equipment based on information fusion according to claim 1 and 2 is characterized in that: also be provided with reinforcing hardware on described imageing sensor, the communication system, reinforce the influence that hardware can reduce radiation interference, to reduce the image noise.
5. the anti-intense radiation vision sensing equipment based on information fusion according to claim 3 is characterized in that: also be provided with reinforcing hardware on described imageing sensor, the communication system, reinforce the influence that hardware can reduce radiation interference, to reduce the image noise.
6. the anti-intense radiation vision sensing equipment based on information fusion according to claim 1 and 2, it is characterized in that: described spectroscope (15) is the more than one spectroscope of cascade also, be equipped with an imageing sensor on the light path that each spectroscope is told more, be that spectroscope forms cascade, the multiway images information of a plurality of imageing sensor collections sends image information processing device (3) respectively to, image information processing device (3) makes up multiway images information in twos, it is how right to image to obtain, each to image to restore the image information before one group of radiation interference by image information processing device (3), the image information of image information processing device (3) before with these many groups radiation interference that restore carried out comprehensively, obtains the image information before more accurate radiation is disturbed.
7. the anti-intense radiation vision sensing equipment based on information fusion according to claim 3, it is characterized in that: described spectroscope (15) is the more than one spectroscope of cascade also, be equipped with an imageing sensor on the light path that each spectroscope is told more, be that spectroscope forms cascade, the multiway images information of a plurality of imageing sensor collections sends image information processing device (3) respectively to, image information processing device (3) makes up multiway images information in twos, it is how right to image to obtain, each to image to restore the image information before one group of radiation interference by image information processing device (3), the image information of image information processing device (3) before with these many groups radiation interference that restore carried out comprehensively, obtains the image information before more accurate radiation is disturbed.
8. the anti-intense radiation vision sensing equipment based on information fusion according to claim 4, it is characterized in that: described spectroscope (15) is the more than one spectroscope of cascade also, be equipped with an imageing sensor on the light path that each spectroscope is told more, be that spectroscope forms cascade, the multiway images information of a plurality of imageing sensor collections sends image information processing device (3) respectively to, image information processing device (3) makes up multiway images information in twos, it is how right to image to obtain, each to image to restore the image information before one group of radiation interference by image information processing device (3), the image information of image information processing device (3) before with these many groups radiation interference that restore carried out comprehensively, obtains the image information before more accurate radiation is disturbed.
9. the anti-intense radiation vision sensing equipment based on information fusion according to claim 5, it is characterized in that: described spectroscope (15) is the more than one spectroscope of cascade also, be equipped with an imageing sensor on the light path that each spectroscope is told more, be that spectroscope forms cascade, the multiway images information of a plurality of imageing sensor collections sends image information processing device (3) respectively to, image information processing device (3) makes up multiway images information in twos, it is how right to image to obtain, each to image to restore the image information before one group of radiation interference by image information processing device (3), image information before many groups radiation interference that image information processing device (3) can restore these is carried out comprehensively, obtains the image information before more accurate radiation is disturbed.
10. the anti-intense radiation vision sensing equipment based on information fusion according to claim 1 and 2 is characterized in that: the adjustable focal length of described amasthenic lens (11); Digital processing unit is for carrying out the computing machine of digital signal processing.
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