CN104320567A - Digital micromirror array coding flash three-dimensional imaging method and device - Google Patents
Digital micromirror array coding flash three-dimensional imaging method and device Download PDFInfo
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Abstract
The invention discloses a digital micromirror array coding flush three-dimensional imaging method and device. The device comprises a computer, a center controller, a pulse laser, a lighting lens, an imaging lens, a gating shutter, a shaping lens, a digital micromirror array, a coupling lens, an image sensor and a light absorbing board, wherein the center controller is used for generating a coding flash work timing sequence; the pulse laser is used for generating laser pulses; the lighting lens is used for lighting an imaging target in a field of view; the imaging lens is used for collecting a target echo signal formed by the imaging target subjected to irradiation of the laser pulses; the gating shutter is used for collecting and amplifying the target echo signal; the shaping lens is used for performing optical shaping on the target echo signal amplified by the gating shutter and coupling the target echo signal to the digital micromirror array which reflects a part of the target echo signal to the coupling lens and the rest of the target echo signal to the light absorbing board; the coupling lens is used for shaping the target echo signal reflected by the digital micromirror array and coupling the target echo signal to the image sensor which carries out imaging according to the received target echo signal; the light absorbing board is used for absorbing the target echo signal irradiated the light absorbing board.
Description
Technical field
The invention belongs to 3 Dimension Image Technique field, be specifically related to a kind of digital micromirror array coding flash of light three-D imaging method and device.
Background technology
At a distance, rapid three dimensional imaging in space flight spacecrafts rendezvous, the field such as moving-target detection and identification under barrier navigation, missile guidance and complex environment of keeping away significant and application prospect widely.
Remote at present, the Typical Representative technology of rapid three dimensional imaging is three-dimensional flash of light laser imaging radar (Flash Lidar), this technology adopts pulse laser as lighting source, adopt avalanche photodide (APD) array as detector, and be equipped with reading integrated circuit at a high speed, during work, after a laser pulse launched by pulse laser, each APD unit utilize read integrated circuit can the intensity of echo-signal that formed after target reflection of recording laser pulse and Delay, and then utilize Delay can be finally inversed by three-dimensional scene information in imaging viewing field, therefore, flash of light laser imaging radar can realize utilizing a laser pulse to obtain the effect of panoramic picture three-dimensional information, it is a kind of Non-scanning mode, rapid three dimensional imaging technology.But this Technology Restriction is in the development of high speed readout integrated circuit, APD array integrated level is not high, and current APD array element number is the highest is about 128 × 128, and single imaging is still difficult to realize high-resolution (high pixel count) three-dimensional imaging.
For realizing high-resolution, rapid three dimensional imaging, the people such as 2007 Nian Fade St. Louis research institute Martin Laurenzis propose a kind of range gating super-resolution 3 Dimension Image Technique based on trapezoidal envelope (Martin Laurenzis, Frank Christnacher, and David Monnin, Long-range three-dimensional active imaging with superresolution depth mapping, Opt.Lett., 2007, Vol.32 (21), 3146-3148), this technology is by time-domain informations such as the time delay between coupling laser pulse and strobe pulse and pulse durations, construct the two-dimentional gating sectioning image with trapezoidal distance energy envelope, and then the minimum gating sectioning image overlapping by two width spaces realizes three-dimensional imaging.Within 2012, people such as Institute of Semiconductors,Academia Sinica Wang Xin big grade improves trapezoidal envelope range gating super-resolution 3 Dimension Image Technique, propose a kind of range gating super-resolution three-dimensional imaging (Chinese invention patent based on triangular envelope, application number 201210430995.6), different from the graduate method in moral method St. Louis, the distance energy envelope of two-dimentional gating sectioning image is triangle in the method, similarly, the method minimumly can be finally inversed by 3-D view by two width two dimension gating sectioning images.Glisten compared with laser imaging radar with three-dimensional, range gating super-resolution 3 Dimension Image Technique adopts CCD or cmos image sensor as image device, and pixel count significantly improves, and can realize pixel count and be greater than 1000 × 1000 high resolution three-dimensional imagings.Although the three-dimensional imaging of range gating super-resolution realizes quick three-dimensional reconstructing by two width gating sectioning images, but because CCD or cmos device are a kind of time integral devices, obtain image and need certain time for exposure, therefore, the interframe time delay obtaining two two field pictures during two width gating sectioning images will cause the misalignment of pixels of moving target, especially time for swiftly passing object imaging, this will cause 3-d inversion to there is comparatively big error or the 3-d inversion problem such as unsuccessfully, make the three-dimensional imaging of existing range gating super-resolution be difficult to realize real time three-dimensional imaging.
Summary of the invention
(1) technical problem that will solve
For the weak point that above-mentioned prior art exists, main purpose of the present invention is to propose a kind of digital micromirror array coding flash of light three-D imaging method and device thereof, solve imageing sensor interframe time delay in the three-dimensional imaging of range gating super-resolution cause moving-target three-dimensional imaging to there is the object of the problem compared with big error or failure to reach, realize the three-dimensional imaging of real-time range gating super-resolution.
(2) technical scheme
For achieving the above object, the invention provides a kind of digital micromirror array coding flash of light three-dimensional image forming apparatus, this device comprises:
Computer: for arranging running parameter and image decoding;
Master controller: it is for generating according to the running parameter arranged flash of light work schedule of encoding, described coding flash of light work schedule is used for synchronous sharp pulse laser, imageing sensor, digital micromirror array and gating shutter;
Pulse laser: it is according to the generation laser pulse of described coding flash of light work schedule;
Illumination camera lens: it throws light on to the imageable target in visual field after carrying out shaping for the laser pulse produced by described pulse laser;
Imaging lens: for collecting the target echo signal that described imageable target is formed after described laser pulses irradiate, and converged to gating shutter;
Gating shutter: it opens and produces a strobe pulse, for gathering target echo signal and amplifying under the triggering of described coding flash of light work schedule;
Shaping lens: it is coupled to digital micromirror array after the target echo signal after described gating shutter amplification is carried out optical shaping;
Digital micromirror array: it comprises the micro mirror unit of multiple ranks distribution, it is under the control of described coding flash of light work schedule, retaining part micro mirror unit is in ON state, remainder is in OFF state, described target echo signal is reflexed to coupled lens by the some micromirrors unit being in ON state, and described target echo signal is reflexed to extinction plate by the remainder being in OFF state;
Coupled lens: it carries out shaping for the target echo signal reflected by digital micromirror array, and is coupled to imageing sensor;
Imageing sensor: it is according to received target echo signal imaging, and the pixel count of wherein said imaging is identical with the micro mirror unit number in described digital micromirror array, and the corresponding micro mirror unit of each pixel;
Extinction plate: it is for absorbing the target echo signal exposed on it.
The invention provides a kind of formation method utilizing digital micromirror array as above coding flash of light three-dimensional image forming apparatus, comprising:
Step 1, utilize computer installation running parameter, and send it to master controller;
Step 2, described master controller produce coding flash of light work schedule according to described running parameter, and produce numerical control zooming control signal, wherein, described coding flash of light work schedule comprises the signal of each micro mirror unit switch in pulse laser TTL signal, gating shutter TTL signal, imageing sensor TTL signal and control figure micro mirror array, is respectively used to synchronously swash pulse laser, gating shutter, imageing sensor and digital micromirror array;
Step 3, pulse laser produces laser pulse under the pulse laser TTL signal that master controller exports triggers, the numerical control zooming control signal that illumination camera lens exports according to master controller regulates illumination field of view, laser pulse throws light on to the imageable target in visual field after the shaping of illumination camera lens, when laser pulse delivery is to target, form the target echo signal of back-propagating, this target echo signal by export through master controller numerical control zooming control signal focusing after imaging lens collect, converge to gating shutter, gating shutter opens work under the gating shutter TTL signal that master controller exports triggers, form a strobe pulse, through the collection of gating shutter and amplify target echo signal be coupled to digital micromirror array through shaping lens, in the control figure micro mirror array that digital micromirror array exports at master controller each micro mirror unit switch signal under realize the spatial light modulation of positive tablet mode and negative film pattern, be in the micro mirror unit reflectance target echo-signal of OFF state to extinction plate, absorbed by extinction plate, the micro mirror unit being in ON state then reflectance target echo-signal to coupled lens, imageing sensor is coupled to through coupled lens, imageing sensor starts the work of exposing under the imageing sensor TTL signal that master controller exports triggers, gather the target echo signal that in digital micromirror array, ON state micro mirror unit is reflected back, this echo-signal is converted to the signal of telecommunication, output encoder image,
Step 4, coded image to be decoded, decoding exports A type image and Type B image, the pixel value that wherein in A type image, ranks number is all odd number or even number equals ranks number in coded image and is all the pixel value of odd number or even number, and rest of pixels value is the average of its neighborhood territory pixel value; The pixel value that in described Type B image, ranks number is not all odd number or even number equals ranks number in coded image and is not all the pixel value of odd number or even number, and rest of pixels value is the average of its neighborhood territory pixel value;
Step 5, according to described A type image and Type B image, range gating super-resolution three-dimensional imaging algorithm is adopted to carry out the 3-D view of reestablishment imaging target.
(3) beneficial effect
As can be seen from technique scheme, the present invention has following beneficial effect:
1, the present invention is utilized, owing to adopting the mode of digital micromirror array coding, the gating sectioning image of the two width space correlations simultaneously obtained in imageing sensor one two field picture for range gating super-resolution three-dimensional imaging 3-d inversion can be realized, so the present invention can solve moving-target 3-d inversion that in the three-dimensional imaging of range gating super-resolution, the time delay of imageing sensor interframe causes and there is problem compared with big error or failure.
2, the present invention is utilized, the gating sectioning image of two width for the three-dimensional imaging of range gating super-resolution is obtained due to single-frame images can be realized after employing digital micromirror array coded system, and then carry out the reconstruction of target 3-d inversion, so, the present invention is utilized to realize real time three-dimensional imaging, the frame frequency of three-dimensional imaging is consistent with the frame frequency of imageing sensor, thus solve that the three-dimensional imaging of traditional range gating super-resolution obtains that two frames cause for the gating sectioning image of 3-d inversion respectively cannot the problem of real time three-dimensional imaging.
3, the present invention is utilized, owing to adopting array image sensor as image device, adopt the mode of digital micromirror array coding to realize the effect that single frames coded image obtains two width gating sectioning images simultaneously, so, the present invention can realize high-resolution (high pixel count) three-dimensional imaging under the prerequisite taking into account rapid three dimensional imaging, and it is high and cause the problem that image resolution ratio is not high to evade APD array integrated level in flash of light laser imaging radar technology.
Accompanying drawing explanation
Fig. 1 is digital micromirror array coding flash of light three-D imaging method operation principle schematic diagram in the present invention;
Fig. 2 is digital micromirror array coding flash of light three-dimensional image forming apparatus structural representation in the present invention: (a) digital micromirror array coding flash of light three-dimensional image forming apparatus schematic diagram, the positive tablet mode of (b) digital micromirror array, (c) digital micromirror array negative film pattern;
Fig. 3 is coding flash of light work schedule schematic diagram in the present invention;
Fig. 4 is digital micromirror array coding flash of light three-dimensional imaging the simulation experiment result in the present invention: (a) coded image, (b) A type image, (c) Type B image, (d) 3-D view
Main element symbol description in figure:
1 digital micromirror array coding flash of light three-dimensional image forming apparatus, 2 computers, 3 master controllers, 4 pulse lasers, 5 gating shutters, 6 digital micromirror array, 7 imageing sensors, 8 extinction plates, 9 illumination camera lenses, 10 imaging lens, 11 shaping lens, 12 coupled lens, 13 laser pulses, 14 strobe pulses, 15 positive tablet modes, 16 negative film patterns
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
In the description of this open constructive embodiment of the present invention and method.Scrutable is be not intended to limit the present invention in specific disclosed embodiment, but the present invention can by using further feature, and element approach and embodiment are implemented.Similar components in different embodiment can indicate similar number usually.
Fig. 1 is digital micromirror array of the present invention coding flash of light three-D imaging method operation principle schematic diagram, and Fig. 2 is digital micromirror array of the present invention coding flash of light three-dimensional image forming apparatus structural representation.As shown in Figure 1, the present invention adopts pulse laser as lighting source, adopt array image sensor as image device, adopt the image intensifier with gating function as gating shutter, adopt digital micromirror array as to the code modulated spatial light modulator of echo-signal, under coding flash of light work schedule (see Fig. 3), an A type subframe and a Type B subframe is comprised in the time for exposure of imageing sensor one frame, the positive tablet mode 15 of the corresponding digital micromirror array of difference and negative film pattern 16, and in each subframe, comprise a pulse pair formed by laser pulse 13 and strobe pulse 14, gating time delay between the laser pulse 13 internal by control impuls and strobe pulse 14 can realize Range-gated Imager, in the course of work, A type subframe and Type B subframe have different gating time delays, thus the information gathering realized between the A type subframe imaging area between different imaging area and between Type B subframe imaging area, coded modulation is carried out by the information of digital micromirror array to A type subframe and the collection of Type B subframe, and then realize the object that imageing sensor single frames obtains image between two subframe imaging areas, export a frame coded image, then, by obtaining A type sub-frame images and Type B sub-frame images to the decoding of this coded image, and respectively image interpolation is carried out to two width sub-frame images, interpolation reconstruction A type image and Type B image, finally, 3-d inversion reconstruction is carried out by range gating super-resolution three-dimensional imaging algorithm based on the A type image rebuild and Type B image, realize three-dimensional imaging.
As shown in Figure 2, in the present invention, digital micromirror array coding flash of light three-dimensional image forming apparatus comprises:
Computer 2, master controller 3, pulse laser 4, illumination camera lens 9, imaging lens 10, gating shutter 5, shaping lens 11, digital micromirror array 6, coupled lens 12, imageing sensor 7 and extinction plate 8.
Wherein, computer 2 has two functions: one is for arranging the running parameter of digital micromirror array 6 coding flash of light three-dimensional image forming apparatus as host computer, comprise the running parameter of pulse laser 4, imageing sensor 7, digital micromirror array 6, gating shutter 5, throw light on camera lens 9 and imaging lens 10 and master controller 3, and running parameter setting command is sent to slave computer master controller 3; Two is for Image Information Processing and display, the coded image that imageing sensor 7 returns is decoded and interpolation reconstruction, and then carry out 3-d inversion, and the two-dimensional intensity image (comprising A type image and Type B image) of interpolation reconstruction and the 3-D view of inverting can be shown.
Master controller 3 sends to pulse laser 4, imageing sensor 7, digital micromirror array 6, gating shutter 5, illumination camera lens 9 and imaging lens 10 respectively as the running parameter setting command that computer 2 inputs by slave computer, and produce control impuls laser 4, imageing sensor 7, digital micromirror array 6 and the coding needed for gating shutter 5 synchronous working flash of light work schedule, comprise the TTL signal of trigger impulse laser 4, imageing sensor 7 and gating shutter 5 work, and the signal of each micro mirror unit switch of control figure micro mirror array 6.
Pulse laser 4 is lighting sources of this device, produces laser pulse 13, and by the shaping of illumination camera lens 9, after illumination field of view is mated with the imaging viewing field of imaging lens, throw light on to visual field internal object under the TTL signal triggering that master controller 3 exports.The illumination field of view of pulse laser 4 can realize regulating by the focal length controlling illumination camera lens 9 under the numerical control zooming control signal of master controller 3 output, namely regulates laser beam divergence.
The target echo signal of back-propagating of imaging lens 10 for being formed after collecting pulsed laser irradiation target, and regulate imaging viewing field under the numerical control zooming control signal that can export at master controller 3.Target echo signal, after imaging lens 10 is collected, converges to gating shutter 5.
Gating shutter 5 adopts the image intensifier with gating function to realize, it is the imaging shutter of this device, shutter is opened under the TTL signal triggering that master controller 3 exports, form a strobe pulse 14, and in the time period only having gating shutter 5 to open, the target echo signal that imaging lens 10 is collected just can pass through gating shutter 5, and is amplified by signal, when gating shutter 5 is closed, the target echo signal that imaging lens 10 is collected is not strobed shutter 5 and gathers.
Target echo signal after gating shutter 5 gathers and amplifies transfers to shaping lens 11, after the optical shaping of shaping lens 11, be coupled to digital micromirror array 6.Digital micromirror array 6 in this device is reflective spatial light modulators, be made up of the micro mirror unit of M × N number of micron order size, its each micro mirror unit can control micro mirror according to logical value 0 or 1 and be in OFF state or ON state, when logical value is 0, micro mirror is in OFF state, when logical value is 1, micro mirror is in ON state, echo-signal after shaping lens 11 shaping can be reflexed to coupled lens 12 by the micro mirror unit being in ON state, echo-signal after shaping lens 11 shaping is then reflexed to extinction plate 8 by the micro mirror unit being in OFF state, thus under the control signal of described master controller 3 output, realize the switch control rule of each micro mirror unit, realize the spatial light modulation of positive tablet mode 15 and negative film pattern 16.The target echo signal reflexing to coupled lens 12 is coupled to imageing sensor 7 after coupled lens 12 further shaping; The target echo signal reflexing to extinction plate 8 is absorbed by baffle, forms light pollution to prevent this echo-signal at the inner Multiple Scattering through each device of this device.
Imageing sensor 7 be for gather digital micromirror array 6 reflect target echo signal and the face battle array image device of output image, its pixel count is M × N, identical with the micro mirror unit number of digital micromirror array 6, and there is relation one to one in the micro mirror unit of the pixel of imageing sensor 7 and digital micromirror array 6, this imageing sensor 7 works under the coding flash of light work schedule TTL signal that master controller 3 exports triggers, the target echo signal that the micro mirror unit being in ON state in collection digital micromirror array 6 is reflected back, this echo-signal is converted to the signal of telecommunication, realize the collection of image, and the image of collection is returned to computer 2.
In the present invention, digital micromirror array 6 has two kinds of coded modulation scheme under the control of described coding flash of light work schedule, comprises positive tablet mode 15 and negative film pattern 16, respectively corresponding A type subframe and Type B subframe.For positive tablet mode, as shown in Fig. 2 (b), when the line number in digital micromirror array 6 residing for micro mirror unit and columns are all odd number or even number, this micro mirror unit is all in ON state, and all the other micro mirror unit are then all in OFF state; For negative film pattern, then just the opposite with positive tablet mode, as shown in Fig. 2 (c), when the line number in digital micromirror array 6 residing for micro mirror unit and columns are all odd number or even number, this micro mirror unit is all in OFF state, and all the other micro mirror unit are then all in ON state.In the course of work, when being only in ON state, echo-signal just can be reflexed to imageing sensor 7 by micro mirror unit, collected imaging, the echo-signal being in the micro mirror unit reflection of OFF state is not gathered imaging by imageing sensor 7, therefore, positive tablet mode and negative film pattern have carried out spatial light modulation to echo-signal, the two image complementation gathered.
Fig. 3 is the coding flash of light working timing figure that in the present invention, master controller produces.Coding flash of light work schedule is used for the synchronous working of control impuls laser 4, gating shutter 5, digital micromirror array 6 and imageing sensor 7.As shown in Figure 3, in the time for exposure of imageing sensor 7 one frame, comprise an A type subframe and a Type B subframe, A and B does not have particular meaning herein, only plays the effect of difference two subframes; Respectively comprise a pulse pair in each subframe, each pulse is to including a laser pulse 13 and a strobe pulse 14.Wherein, under A type subframe, digital micromirror array 6 is in positive tablet mode 15, and under Type B subframe, digital micromirror array 6 is in negative film pattern 16, A type subframe and the gating time delay between the inner laser pulse of Type B subframe and strobe pulse is respectively τ
aand τ
b, in order to realize the overlapping relation of image space required in super-resolution three-dimensional imaging, relation be met
τ
B＝τ
A+t
L (1)
T in formula (1)
lfor the pulsewidth of laser pulse 13.
When carrying out 3-d inversion based on A type image and Type B image, when for employing trapezoidal envelope range gating super-resolution three-dimensional imaging algorithm, gating gate-width and laser pulse width need meet relation
t
g＝2t
L (2)
When for employing triangular envelope range gating super-resolution three-dimensional imaging algorithm, gating gate-width and laser pulse width need meet relation
t
g＝t
L (3)
In formula (2) and (3), t
lfor the pulsewidth of laser pulse 13, t
gfor the pulsewidth of the strobe pulse 14 of gating shutter 5, i.e. gating gate-width.Described A type image and Type B image can be obtained through image interpolation reconstruction by A type sub-frame images and Type B sub-frame images respectively.
Owing to comprising A type subframe and Type B subframe in the imageing sensor 7 one exposed frame time simultaneously, therefore, the single-frame images that imageing sensor 7 exports is a coded image simultaneously containing A type sub-frame images and Type B sub-frame images.The pixel count of this coded image is identical with the micro mirror unit number of A type sub-frame images, Type B sub-frame images, A type image, Type B image and digital micromirror array 6, is M × N.In the present invention, the pixel that line number and columns in coded image, A type sub-frame images, Type B sub-frame images, A type image and Type B image are all odd number or even number is called a class pixel, the pixel that line number and columns are not all odd number or even number is called b class pixel, then A type sub-frame images can be decoded by a class pixel in coded image and be obtained, and Type B sub-frame images can be decoded by b class pixel in coded image and be obtained.
A type sub-frame images is at gating time delay τ by laser pulse in A type subframe and strobe pulse
aunder to [(τ between imaging area
a-t
l) c/2, (τ
a+ t
g) c/2] formed gating section picture, wherein, c is the aerial propagation velocity of light, t
lfor the pulsewidth of laser pulse 13, t
gfor the pulsewidth of the strobe pulse 14 of gating shutter 5.This A type sub-frame images can be decoded by a class pixel in coded image and be obtained, and a class pixel namely in A type sub-frame images and a class pixel one_to_one corresponding in coded image, have identical gray value, the gray value of the b class pixel in A type sub-frame images is then 0.
Type B sub-frame images is at gating time delay τ by laser pulse in Type B subframe and strobe pulse
bunder to [(τ between imaging area
b-t
l) c/2, (τ
b+ t
g) c/2] formed gating section picture, wherein, c is the aerial propagation velocity of light, t
lfor the pulsewidth of laser pulse 13, t
gfor the pulsewidth of the strobe pulse 14 of gating shutter 5.This Type B sub-frame images can be decoded by the b class pixel in coded image and be obtained, and the b class pixel namely in Type B sub-frame images and the b class pixel one_to_one corresponding in coded image, have identical gray value, the gray value of a class pixel in Type B sub-frame images is then 0.
The a class pixel one_to_one corresponding of a class pixel in A type image and A type sub-frame images, there is identical gray value, in A type image, b class pixel is then obtained by image interpolation, and namely the gray value of each b class pixel is the mean value of all a class grey scale pixel values adjacent with this pixel.The b class pixel one_to_one corresponding of the b class pixel in Type B image and Type B sub-frame images, there is identical gray value, in Type B image, a class pixel is then obtained by image interpolation, and namely the gray value of each a class pixel is the mean value of all b class grey scale pixel values adjacent with this pixel.
The 3-d inversion that A type image after interpolation reconstruction of A type sub-frame images and Type B sub-frame images and Type B image can be used for the three-dimensional imaging of range gating super-resolution is rebuild, when the distance energy envelope of A type image and Type B image is trapezoidal, namely when gating gate-width and laser pulse width need meet relational expression (2), adopt trapezoidal range gating super-resolution three-dimensional imaging algorithm realization three-dimensionalreconstruction, when the distance energy envelope of A type image and Type B image is triangle, namely when gating gate-width and laser pulse width need meet relational expression (3), adopt triangle range gating super-resolution three-dimensional imaging algorithm realization three-dimensionalreconstruction, finally realize three-dimensional imaging.
The concrete grammar step that the above-mentioned digital micromirror array coding flash of light three-dimensional image forming apparatus utilizing the present invention to propose carries out imaging is as follows:
Step one: system boot.
Step 2: according to actual needs, by computer installation system operational parameters, the parameter of the coding flash of light work schedule of master controller is especially set, comprises the coding mode etc. of laser pulse width, gating gate-width, time for exposure of imageing sensor 7, gating time delay between laser pulse and strobe pulse, digital micromirror array.
Step 3: under the system operational parameters arranged, the running parameter setting command of master controller receiving computer input produces control signal, first pulse laser produces laser pulse under the pulse laser TTL signal that master controller exports triggers, the pulsewidth of this laser pulse and the pulsewidth equal and opposite in direction of TTL signal, then the numerical control zooming control signal that the camera lens that throws light on exports according to master controller regulates illumination field of view, laser pulse throws light on to target after the shaping of illumination camera lens, when laser pulse delivery is to target, form the target echo signal of back-propagating, this echo-signal by export through master controller numerical control zooming control signal focusing after imaging lens collect, converge to gating shutter, gating shutter opens work under the gating shutter TTL signal that master controller exports triggers, form a strobe pulse, relative time delay between strobe pulse and laser pulse is the gating time delay arranged, storbing gate opens the pulsewidth that the duration (i.e. gating gate-width) equals TTL signal, through the collection of gating shutter and amplify target echo signal be coupled to digital micromirror array through shaping lens, the spatial light modulation of positive tablet mode and negative film pattern is realized under the control signal that digital micromirror array exports at master controller, be in the micro mirror unit reflectance target echo-signal of OFF state to extinction plate, absorbed by extinction plate, the micro mirror unit being in ON state then reflectance target echo-signal to coupled lens, imageing sensor is coupled to through coupled lens, imageing sensor starts the work of exposing under the imageing sensor TTL signal that master controller exports triggers, gather the target echo signal that in digital micromirror array, ON state micro mirror unit is reflected back, this echo-signal is converted to the signal of telecommunication, output encoder image.
Step 4: decode to coded image, decodes A type sub-frame images and Type B sub-frame images.
Step 5: based on A type sub-frame images and Type B sub-frame images interpolation reconstruction A type image and Type B image.
Step 6: according to the A type image rebuild and Type B image, adopts range gating super-resolution three-dimensional imaging algorithm to carry out three-dimensional reconstruction, and shows 3-D view.
Step 7: complete three-dimensional imaging, can shut down.
In order to verify the validity of the inventive method, invention has been emulation experiment, as shown in Figure 4, target is about two cups placed before and after 12m place to experimental result.In this emulation experiment, employing be triangular envelope range gating super-resolution three-dimensional imaging algorithm, therefore, laser pulse width is equal with gating gate-width, in experiment the two be 3ns, the gating time delay of A type subframe is 80ns, and the gating time delay of Type B subframe is 83ns.In Fig. 4 (a), left figure is the coded image that emulation experiment obtains, and right figure is the enlarged image of white dashed line window region in left figure, can see the A type sub-frame images and Type B sub-frame images that comprise in coded image from this figure.Fig. 4 (b) for by Fig. 4 (a) a class pixel decode go forward side by side row interpolation rebuild after A type image, Fig. 4 (c) be by Fig. 4 (a) b class pixel decode go forward side by side row interpolation reconstruction after Type B image.Fig. 4 (d) is the 3-D view adopting triangular envelope super-resolution three-dimensional imaging algorithm 3-d inversion based on A type image graph 4 (b) of interpolation reconstruction and Type B image graph 4 (c).Can be found by the simulation experiment result, the present invention can realize single frames and obtain the gating sectioning image of two width for the three-dimensional imaging of range gating super-resolution, realizes real time three-dimensional imaging.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a digital micromirror array coding flash of light three-dimensional image forming apparatus, it is characterized in that, this device comprises:
Computer: for arranging running parameter and image decoding;
Master controller: it is for generating according to the running parameter arranged flash of light work schedule of encoding, described coding flash of light work schedule is used for synchronous sharp pulse laser, imageing sensor, digital micromirror array and gating shutter;
Pulse laser: it is according to the generation laser pulse of described coding flash of light work schedule;
Illumination camera lens: it throws light on to the imageable target in visual field after carrying out shaping for the laser pulse produced by described pulse laser;
Imaging lens: for collecting the target echo signal that described imageable target is formed after described laser pulses irradiate, and converged to gating shutter;
Gating shutter: it opens and produces a strobe pulse, for gathering target echo signal and amplifying under the triggering of described coding flash of light work schedule;
Shaping lens: it is coupled to digital micromirror array after the target echo signal after described gating shutter amplification is carried out optical shaping;
Digital micromirror array: it comprises the micro mirror unit of multiple ranks distribution, it is under the control of described coding flash of light work schedule, retaining part micro mirror unit is in ON state, remainder is in OFF state, described target echo signal is reflexed to coupled lens by the some micromirrors unit being in ON state, and described target echo signal is reflexed to extinction plate by the remainder being in OFF state;
Coupled lens: it carries out shaping for the target echo signal reflected by digital micromirror array, and is coupled to imageing sensor;
Imageing sensor: it is according to received target echo signal imaging, and the pixel count of wherein said imaging is identical with the micro mirror unit number in described digital micromirror array, and the corresponding micro mirror unit of each pixel;
Extinction plate: it is for absorbing the target echo signal exposed on it.
2. device as claimed in claim 1, wherein, described digital micromirror array comprises two kinds of coded modulation scheme under the control of described coding flash of light work schedule: positive tablet mode and negative film pattern; Wherein under positive tablet mode, when the line number in described digital micromirror array residing for micro mirror unit and columns are all odd number or even number, described micro mirror unit is in ON state, and all the other micro mirror unit are in OFF state; Then contrary under negative film pattern.
3. device as claimed in claim 2, wherein, in described coding flash of light work schedule, the synchronizing signal of control chart image-position sensor comprises A type subframe and Type B subframe; The corresponding laser pulse of each subframe and a strobe pulse; Wherein, under A type subframe, described digital micromirror array is in positive tablet mode, and under Type B subframe, described digital micromirror array is in negative film pattern.
4. device as claimed in claim 3, wherein, described computer carries out decoding to the coded image that described imageing sensor produces and exports A type image and Type B image, the pixel value that wherein in A type image, ranks number is all odd number or even number equals ranks number in coded image and is all the pixel value of odd number or even number, and rest of pixels value is the average of its neighborhood territory pixel value; The pixel value that in described Type B image, ranks number is not all odd number or even number equals ranks number in coded image and is not all the pixel value of odd number or even number, and rest of pixels value is the average of its neighborhood territory pixel value.
5. device as claimed in claim 3, wherein, the gating time delay in A type subframe and Type B subframe between described laser pulse and strobe pulse is respectively τ
aand τ
b, and they meet following relation:
τ
B＝τ
A+t
L
Wherein, t
lfor the pulsewidth of laser pulse.
6. device as claimed in claim 4, wherein, described computer also adopts the 3-D view of range gating super-resolution three-dimensional imaging algorithm reestablishment imaging target according to described A type image and Type B image.
7. device as claimed in claim 4, wherein, described range gating super-resolution measurements of the chest, waist and hips imaging algorithm comprises trapezoidal envelope range gating super-resolution measurements of the chest, waist and hips imaging algorithm and triangle range gating super-resolution measurements of the chest, waist and hips imaging algorithm; When adopting trapezoidal range gating super-resolution measurements of the chest, waist and hips imaging algorithm, the gate-width of described strobe pulse is 2 times of laser pulse pulsewidth; When adopting triangle range gating super-resolution measurements of the chest, waist and hips imaging algorithm, the gate-width of described strobe pulse is identical with laser pulse pulsewidth.
8. device as claimed in claim 1, wherein, described master controller also produces numerical control zooming control signal, for regulating illumination field of view and imaging viewing field.
9. utilize a formation method for the digital micromirror array coding flash of light three-dimensional image forming apparatus as described in any one of claim 1-8, comprising:
Step 1, utilize computer installation running parameter, and send it to master controller;
Step 2, described master controller produce coding flash of light work schedule according to described running parameter, and produce numerical control zooming control signal, wherein, described coding flash of light work schedule comprises the signal of each micro mirror unit switch in pulse laser TTL signal, gating shutter TTL signal, imageing sensor TTL signal and control figure micro mirror array, is respectively used to synchronously swash pulse laser, gating shutter, imageing sensor and digital micromirror array;
Step 3, pulse laser produces laser pulse under the pulse laser TTL signal that master controller exports triggers, the numerical control zooming control signal that illumination camera lens exports according to master controller regulates illumination field of view, laser pulse throws light on to the imageable target in visual field after the shaping of illumination camera lens, when laser pulse delivery is to target, form the target echo signal of back-propagating, this target echo signal by export through master controller numerical control zooming control signal focusing after imaging lens collect, converge to gating shutter, gating shutter opens work under the gating shutter TTL signal that master controller exports triggers, form a strobe pulse, through the collection of gating shutter and amplify target echo signal be coupled to digital micromirror array through shaping lens, in the control figure micro mirror array that digital micromirror array exports at master controller each micro mirror unit switch signal under realize the spatial light modulation of positive tablet mode and negative film pattern, be in the micro mirror unit reflectance target echo-signal of OFF state to extinction plate, absorbed by extinction plate, the micro mirror unit being in ON state then reflectance target echo-signal to coupled lens, imageing sensor is coupled to through coupled lens, imageing sensor starts the work of exposing under the imageing sensor TTL signal that master controller exports triggers, gather the target echo signal that in digital micromirror array, ON state micro mirror unit is reflected back, this echo-signal is converted to the signal of telecommunication, output encoder image,
Step 4, coded image to be decoded, decoding exports A type image and Type B image, the pixel value that wherein in A type image, ranks number is all odd number or even number equals ranks number in coded image and is all the pixel value of odd number or even number, and rest of pixels value is the average of its neighborhood territory pixel value; The pixel value that in described Type B image, ranks number is not all odd number or even number equals ranks number in coded image and is not all the pixel value of odd number or even number, and rest of pixels value is the average of its neighborhood territory pixel value;
Step 5, according to described A type image and Type B image, range gating super-resolution three-dimensional imaging algorithm is adopted to carry out the 3-D view of reestablishment imaging target.
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