CN104320567B - 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, and in particular to a kind of digital micromirror array coding flash of light three-dimensional imaging side
Method and device.
Background technology
At a distance, rapid three dimensional imaging moves mesh under space flight spacecrafts rendezvous, avoidance navigation, missile guidance and complex environment
The field such as mark detection and identification is significant and is widely applied prospect.
At present remote, the Typical Representative technology of rapid three dimensional imaging is three-dimensional flash of light laser imaging radar (Flash
Lidar), the technology adopts pulse laser as lighting source, using avalanche photodide (APD) array as detection
Device, and the reading integrated circuit of high speed is equipped with, during work, pulse laser is launched after a laser pulse, each APD units profit
The intensity and Delay of the echo-signal formed Jing after target reflection with the recordable laser pulse of reading integrated circuit, and then
Three-dimensional scene information in imaging viewing field can be finally inversed by using Delay, therefore, flash of light laser imaging radar is capable of achieving to utilize one
Individual laser pulse obtains the effect of panoramic picture three-dimensional information, is a kind of Non-scanning mode, rapid three dimensional imaging technology.But the technology
The development of high speed readout integrated circuit being limited to, APD array integrated level is not high, current APD array unit number is up to about 128 ×
128, single imaging is still difficult to high-resolution (high pixel count) three-dimensional imaging.
To realize high-resolution, rapid three dimensional imaging, method moral St. Louis academy Martin Laurenzis in 2007
Et al. 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), the technology is constructed and had by time-domain informations such as the time delay between matching laser pulse and gate pulse and pulse widths
The trapezoidal two dimension gating sectioning image apart from energy envelope, and then can at least pass through the gating sectioning image reality that two width spaces overlap
Existing three-dimensional imaging.Institute of Semiconductors,Academia Sinica Wang Xin in 2012 is big et al. to trapezoidal envelope range gating super-resolution three
Dimension imaging technique is improved, it is proposed that a kind of range gating super-resolution three-dimensional imaging (China based on triangular envelope
Patent of invention, application number 201210430995.6), it is different from the graduate method in moral method St. Louis, it is two-dimentional in the method
Gating sectioning image is triangle apart from energy envelope, and similarly, the method can at least by two width two dimension gating slice map
As being finally inversed by 3-D view.Compared with three-dimensional flash of light laser imaging radar, range gating super-resolution 3 Dimension Image Technique is adopted
, used as image device, pixel count is greatly improved for CCD or cmos image sensor, is capable of achieving pixel count and is more than 1000 × 1000 high scores
Resolution three-dimensional imaging.Although the three-dimensional imaging of range gating super-resolution can gate sectioning image and realize quick three-dimensional weight by two width
Build, but because CCD or cmos device are a kind of time integral devices, obtaining image needs certain time of exposure, therefore, obtain
The interframe time delay of two field pictures when taking two width gating sectioning image will cause the misalignment of pixels of moving target, especially for height
During the image objects of speed motion, this will cause 3-d inversion to there are problems that larger error or 3-d inversion so that existing
Range gating super-resolution three-dimensional imaging is difficult to real time three-dimensional imaging.
The content of the invention
(1) technical problem to be solved
For the weak point that above-mentioned prior art is present, present invention is primarily targeted at proposing a kind of digital micro-mirror battle array
Row coding flash of light three-D imaging method and its device, to reach imageing sensor in range gating super-resolution three-dimensional imaging is solved
Interframe time delay causes moving-target three-dimensional imaging to there is a problem of the purpose of larger error or failure, realizes that real-time range gates oversubscription
Resolution three-dimensional imaging.
(2) technical scheme
To reach above-mentioned purpose, the invention provides a kind of digital micromirror array coding flash of light three-dimensional image forming apparatus, the dress
Put including：
Computer：For arranging running parameter and picture decoding；
Master controller：It is used to generate coding flash of light work schedule, the coding flash of light according to the running parameter for arranging
Work schedule is used for synchronous sharp pulse laser, imageing sensor, digital micromirror array and gating shutter；
Pulse laser：Its generation laser pulse according to the coding flash of light work schedule；
Illumination camera lens：It is used for by the pulse laser produce laser pulse carry out after shaping, in visual field into
As target is illuminated；
Imaging lens：For collecting the target echo letter that the imageable target is formed after laser pulse irradiation
Number, and converged to gating shutter；
Gating shutter：It opens and produces a gate pulse under the triggering of the coding flash of light work schedule, is used for
Collection target echo signal simultaneously amplifies；
Shaping lens：Its target echo signal being used for after the gating shutter is amplified carries out being coupled to after optical shaping
Digital micromirror array；
Digital micromirror array：It includes the micro mirror unit of multiple ranks distributions, and it is in the coding flash of light work schedule
Under control, holding part micro mirror unit is in ON state, and remainder is in OFF state, and some micromirrors unit in ON state will be described
Target echo signal reflexes to coupled lens, and the target echo signal is reflexed to extinction plate by the remainder in OFF state；
Coupled lens：It is used to for the target echo signal that digital micromirror array reflects to carry out shaping, and coupled to image
Sensor；
Imageing sensor：It is imaged according to received target echo signal, wherein the pixel count of the imaging and institute
The micro mirror unit number stated in digital micromirror array is identical, and each pixel one micro mirror unit of correspondence；
Extinction plate：It is used to absorb the target echo signal for exposing to thereon.
The invention provides a kind of imaging that flash of light three-dimensional image forming apparatus are encoded using digital micromirror array as above
Method, including：
Step 1, using computer installation running parameter, and send it to master controller；
Step 2, the master controller produce coding flash of light work schedule according to the running parameter, and produce numerical control change
Burnt control signal, wherein, the coding flash of light work schedule includes pulse laser TTL signal, gating shutter TTL signal, figure
As the signal of each micro mirror unit switch in sensor TTL signal and control digital micromirror array, it is respectively used to synchronous sharp pulse and swashs
Light device, gating shutter, imageing sensor and digital micromirror array；
Step 3, pulse laser produce laser arteries and veins under the pulse laser TTL signal triggering that master controller is exported
Punching, illuminates camera lens and adjusts illumination field of view, laser pulse Jing illuminating mirroies according to the numerical control zooming control signal that master controller is exported
The imageable target in visual field is illuminated after head shaping, when laser pulse delivery is to target, forms the target of back-propagating
Echo-signal, the target echo signal is received by the imaging lens Jing after the numerical control zooming control signal focusing that master controller is exported
Collection, converges to gating shutter, gates shutter and opens work, shape under the gating shutter TTL signal triggering that master controller is exported
Into a gate pulse, the target echo signal for gathering and amplifying through gating shutter is coupled to digital micro-mirror through shaping lens
Array, digital micromirror array is real under the signal of each micro mirror unit switch in the control digital micromirror array that master controller is exported
The now space light modulation of positive tablet mode and negative film pattern, the micro mirror unit reflectance target echo-signal in OFF state to extinction plate,
Absorbed by extinction plate, and be in the micro mirror unit of ON state then reflectance target echo-signal to coupled lens, coupled Lens Coupling
To imageing sensor, imageing sensor starts to expose work under the imageing sensor TTL signal triggering that master controller is exported,
The target echo signal that ON state micro mirror unit is reflected back in collection digital micromirror array, by the echo-signal signal of telecommunication is converted to,
Exports coding image；
Step 4, coded image is decoded, decoding output A types image and Type B image, wherein ranks number in A types image
The pixel value for being all odd number or even number is equal to the pixel value that ranks number in coded image is all odd number or even number, and rest of pixels value is
The average of its neighborhood territory pixel value；Ranks number is not all odd number or the pixel value of even number is equal in coded image in the Type B image
Ranks number 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 the A types image and Type B image, weight is carried out using range gating super-resolution three-dimensional imaging algorithm
Build the 3-D view of imageable target.
(3) beneficial effect
From above-mentioned technical proposal as can be seen that the invention has the advantages that：
1st, using the present invention, by the way of encoding using digital micromirror array, may be implemented in the frame figure of imageing sensor one
Obtain the gating sectioning image of the two width space correlations for range gating super-resolution three-dimensional imaging 3-d inversion simultaneously as in,
So, it is three-dimensional that the present invention can solve the moving-target that imageing sensor interframe time delay causes in range gating super-resolution three-dimensional imaging
There is larger error or failure in inverting.
2nd, using the present invention, it is used for due to obtaining two width using achievable single-frame imagess after digital micromirror array coded system
The gating sectioning image of range gating super-resolution three-dimensional imaging, and then target 3-d inversion reconstruction is carried out, so, using this
Bright achievable real time three-dimensional imaging, the frame frequency of three-dimensional imaging is consistent with the frame frequency of imageing sensor, so as to solve tradition distance choosing
Logical super-resolution three-dimensional imaging obtain respectively two frames for 3-d inversion gating sectioning image and it is caused cannot real-time three-dimensional
The problem of imaging.
3rd, using the present invention, due to using array image sensor as image device, while using digital micromirror array
The mode of coding realizes that single frames coded image obtains the effect that two width gate sectioning image, so, the present invention is taking into account quick three
High-resolution (high pixel count) three-dimensional imaging is capable of achieving on the premise of dimension imaging, evades APD in flash of light laser imaging radar technology
Array integrated level is not high and causes the not high problem of image resolution ratio.
Description of the drawings
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 micro-mirror battle array
Row coding flash of light three-dimensional image forming apparatus schematic diagram, (b) the positive tablet mode of 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 images, (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 choosings
Logical shutter, 6 digital micromirror arrays, 7 imageing sensors, 8 extinction plates, 9 illumination camera lenses, 10 imaging lens, 11 shaping lens, 12 couplings
Close lens, 13 laser pulses, 14 gate pulses, 15 positive tablet modes, 16 negative film patterns
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
It is disclosed the description of present configuration embodiments and methods.It will be appreciated that being not intended to limit the invention to
In specifically disclosed embodiment, but the present invention can be by using further feature, and element approach and embodiment are come in addition real
Apply.Similar components in different embodiments would generally indicate similar number.
Fig. 1 is digital micromirror array coding flash of light three-D imaging method operation principle schematic diagram of the present invention, and Fig. 2 is the present invention
Digital micromirror array coding flash of light three-dimensional image forming apparatus structural representation.As shown in figure 1, the present invention adopts pulse laser conduct
Lighting source, it is fast as gating using the image intensifier with gating function using array image sensor as image device
Door, using digital micromirror array as to the code modulated spatial light modulator of echo-signal, under coding flash of light work schedule
(see Fig. 3), comprising an A types subframe and a Type B subframe in the time of exposure of the frame of imageing sensor one, corresponds to respectively numeral
Comprising one by laser pulse 13 and gate pulse in the positive tablet mode 15 and negative film pattern 16 of micro mirror array, and each subframe
14 pulses pair for being formed, by controlling the gating time delay between the internal laser pulse 13 of pulse and gate pulse 14 distance is capable of achieving
Gated imaging, in the course of work, A types subframe and Type B subframe have different gating time delays, so as to realize different imaging intervals
The imaging of A types subframe is interval and Type B subframe is imaged interval information gathering, by digital micromirror array to A types subframe and Type B subframe
The information of collection carries out coded modulation, and then realizes that imageing sensor single frames obtains the purpose of the interval image of two subframes imaging, defeated
Go out a frame coded image, then, can be by obtaining A types sub-frame images and Type B sub-frame images, and difference to the coded image decoding
Two width sub-frame images are carried out with image interpolation, interpolation reconstruction A types image and Type B image, finally, based on the A types image and B rebuild
Type image carries out 3-d inversion reconstruction by range gating super-resolution three-dimensional imaging algorithm, realizes three-dimensional imaging.
As shown in Fig. 2 digital micromirror array coding flash of light three-dimensional image forming apparatus include in the present invention：
Computer 2, master controller 3, pulse laser 4 illuminates camera lens 9, and imaging lens 10 gate shutter 5, and shaping is saturating
Mirror 11, digital micromirror array 6, coupled lens 12, imageing sensor 7 and extinction plate 8.
Wherein, computer 2 has two functions：One is to be used to arrange the coding flash of light of digital micromirror array 6 as host computer
The running parameter of three-dimensional image forming apparatus, including pulse laser 4, imageing sensor 7, digital micromirror array 6, gating shutter 5, photograph
The running parameter of bright mirror head 9 and imaging lens 10 and master controller 3, and running parameter setting command is sent to into slave computer
Master controller 3；Two be for Image Information Processing and display, to imageing sensor 7 passback coded image decoded and
Interpolation reconstruction, and then 3-d inversion is carried out, and the two-dimensional intensity image of interpolation reconstruction can be shown (including A types image and Type B figure
Picture) and inverting 3-D view.
Master controller 3 is sent respectively to pulse and swashs as the running parameter setting command that slave computer is input in computer 2
Light device 4, imageing sensor 7, digital micromirror array 6, gating shutter 5, illumination camera lens 9 and imaging lens 10, and produce control arteries and veins
The coding flash of light work schedule rushed needed for laser instrument 4, imageing sensor 7, digital micromirror array 6 and gating shutter 5 work asynchronously,
Including the TTL signal of trigger pulse laser instrument 4, imageing sensor 7 and the gating work of shutter 5, and control digital micromirror array 6
The signal of each micro mirror unit switch.
Pulse laser 4 is the lighting source of this device, produces under the TTL signal triggering of the output of master controller 3 and swashs
Light pulse 13, and by illuminating the shaping of camera lens 9 so that after illumination field of view is matched with the imaging viewing field of imaging lens, in visual field
Target is illuminated.The illumination field of view of pulse laser 4 can pass through under the numerical control zooming control signal of the output of master controller 3
Control illumination camera lens 9 focal length come realize adjust, that is, adjust laser beam divergence.
Imaging lens 10 are used to collect the target echo signal of the back-propagating formed after pulsed laser irradiation target, and can
Imaging viewing field is adjusted under the numerical control zooming control signal of the output of master controller 3.The imaged camera lens 10 of target echo signal is received
After collection, gating shutter 5 is converged to.
Gating shutter 5 is realized using the image intensifier with gating function, is the imaging shutter of this device, at center
The TTL signal triggering of the output of controller 3 is lower to open shutter, forms a gate pulse 14, and only gating shutter 5 open when
Between in section, the target echo signal that imaging lens 10 are collected just by gating shutter 5, and can be amplified by signal, and gating shutter 5 is closed
When closing, the target echo signal that imaging lens 10 are collected is not strobed shutter 5 and gathers.
Gated shutter 5 is gathered and the target echo signal after amplifying is transmitted to shaping lens 11, shaped lens 11
Digital micromirror array 6 is coupled to after optical shaping.Digital micromirror array 6 in this device is a reflective space light modulation
Device, is made up of the micro mirror unit of M × N number of micron order size, and each of which micro mirror unit can be controlled at micro mirror according to logical value 0 or 1
In OFF state or ON state, when logical value is 0, micro mirror is in OFF state, and when logical value is 1, micro mirror is in ON state, in ON state
Echo-signal after the shaping of shaped lens 11 can be reflexed to coupled lens 12 by micro mirror unit, and the micro mirror unit in OFF state is then
Echo-signal after the shaping of shaping lens 11 is reflexed to into extinction plate 8, so as to the control signal exported in the master controller 3
The lower on-off control for realizing each micro mirror unit, realizes the space light modulation of positive tablet mode 15 and negative film pattern 16.Reflex to coupling
Imageing sensor 7 is coupled to after the target echo signal further shaping of coupled lens 12 of lens 12；Reflex to extinction plate 8
Target echo signal is absorbed by baffle, and with the Multiple Scattering for preventing each devices of echo-signal Jing inside this device light is formed
Pollution.
Imageing sensor 7 is for gathering the target echo signal of the reflection of digital micromirror array 6 and the face battle array of output image
Image device, its pixel count is M × N, identical with the micro mirror unit number of digital micromirror array 6, and the pixel of imageing sensor 7
There is one-to-one relation with the micro mirror unit of digital micromirror array 6, the imageing sensor 7 is exported in master controller 3
The lower work of coding flash of light work schedule TTL signal triggering, gathers the micro mirror unit in digital micromirror array 6 in ON state and is reflected back
Target echo signal, the echo-signal is converted to into the signal of telecommunication, realize the collection of image, and the image of collection is returned to into meter
Calculation machine 2.
In the present invention, digital micromirror array 6 under the control of the coding flash of light work schedule there are two kinds of codings to adjust
Molding formula, including positive tablet mode 15 and negative film pattern 16, difference corresponding A type subframe and Type B subframe.For positive tablet mode, such as Fig. 2
B shown in (), when the line number and columns in digital micromirror array 6 residing for micro mirror unit is all odd number or even number, the micro mirror unit is equal
In ON state, remaining micro mirror unit is then in OFF state；It is for negative film pattern, then just the opposite with positive tablet mode, such as Fig. 2 (c)
Shown, when the line number and columns in digital micromirror array 6 residing for micro mirror unit is all odd number or even number, the micro mirror unit is in
OFF state, remaining micro mirror unit is then in ON state.In the course of work, only in ON state when micro mirror unit just can be by echo-signal
Imageing sensor 7 is reflexed to, imaging is collected, the echo-signal of the micro mirror unit reflection in OFF state is not by imageing sensor 7
Collection imaging, therefore, positive tablet mode and negative film pattern have carried out space light modulation to echo-signal, and the image of the two collection is mutual
Mend.
Fig. 3 is the coding flash of light working timing figure that master controller is produced in the present invention.Coding flash of light work schedule is used for
The synchronous working of control pulse laser 4, gating shutter 5, digital micromirror array 6 and imageing sensor 7.As shown in figure 3, in figure
As including an A types subframe and a Type B subframe in the time of exposure of the frame of sensor 7 one, herein A and B do not have particular meaning,
Only play a part of to distinguish two subframes；A pulse pair is respectively included in each subframe, each pulse is to including a laser arteries and veins
Punching 13 and a gate pulse 14.Wherein, digital micromirror array 6 is in positive tablet mode 15 under A types subframe, numeral under Type B subframe
Micro mirror array 6 is in negative film pattern 16, the gating time delay difference in A types subframe and Type B subframe between laser pulse and gate pulse
For τAAnd τB, in order to realize the relation that the image space needed for super-resolution three-dimensional imaging is overlapped, to meet relation
τB=τA+tL (1)
T in formula (1)LFor the pulsewidth of laser pulse 13.
When 3-d inversion is carried out based on A types image and Type B image, when being intended to using trapezoidal envelope range gating super-resolution
During three-dimensional imaging algorithm, gating gate-width and laser pulse width need to meet relation
tg=2tL (2)
When triangular envelope range gating super-resolution three-dimensional imaging algorithm to be adopted, gating gate-width and laser pulse width are needed
Meet relation
tg=tL (3)
In formula (2) and (3), tLFor the pulsewidth of laser pulse 13, tgTo gate the pulsewidth of the gate pulse 14 of shutter 5, i.e.,
Gating gate-width.The A types image and Type B image can be rebuild respectively by A types sub-frame images and Type B sub-frame images through image interpolation
Obtain.
Due to including A types subframe and Type B subframe in the exposed frame time of imageing sensor 7 one simultaneously, therefore, imageing sensor
The single-frame imagess of 7 outputs are one while the coded image of the sub-frame images of type containing A and Type B sub-frame images.The pixel of the coded image
Number is identical with the micro mirror unit number of A type sub-frame images, Type B sub-frame images, A type images, Type B image and digital micromirror array 6,
It is M × N.In the present invention, by line number in coded image, A type sub-frame images, Type B sub-frame images, A types image and Type B image and
Columns is all odd number or the pixel of even number is referred to as a class pixels, and line number and columns are not all odd number or the pixel of even number is referred to as b class pictures
Element, then A types sub-frame images can be by a classes pixel decoding acquisition in coded image, and Type B sub-frame images can be by b classes picture in coded image
Element decoding is obtained.
A type sub-frame images are in gating time delay τ by laser pulse in A type subframes and gate pulseAUnder it is interval to imaging
[(τA-tL) c/2, (τA+tg) c/2] formed gating section picture, wherein, c is the aerial spread speed of light, tLFor laser arteries and veins
The pulsewidth of punching 13, tgTo gate the pulsewidth of the gate pulse 14 of shutter 5.The A types sub-frame images can be by a class pictures in coded image
Element decoding is obtained, i.e., a classes pixel in A types sub-frame images is corresponded with a classes pixel in coded image, with identical ash
Angle value, the gray value of the b class pixels in A type sub-frame images is then 0.
Type B sub-frame images are in gating time delay τ by laser pulse in Type B subframe and gate pulseBUnder it is interval to imaging
[(τB-tL) c/2, (τB+tg) c/2] formed gating section picture, wherein, c is the aerial spread speed of light, tLFor laser arteries and veins
The pulsewidth of punching 13, tgTo gate the pulsewidth of the gate pulse 14 of shutter 5.The Type B sub-frame images can be by the b class pictures in coded image
Element decoding is obtained, i.e., the b classes pixel in Type B sub-frame images is corresponded with the b classes pixel in coded image, with identical ash
Angle value, the gray value of a class pixels in Type B sub-frame images is then 0.
A classes pixel in A type images is corresponded with a classes pixel of A type sub-frame images, with identical gray value, A types
B classes pixel is then obtained by image interpolation in image, i.e. the gray value of each b class pixel is all a class pictures adjacent with the pixel
The meansigma methodss of plain gray value.B classes pixel in Type B image is corresponded with the b classes pixel of Type B sub-frame images, with identical
Gray value, a classes pixel is then obtained by image interpolation in Type B image, i.e. the gray value of each a class pixel is adjacent with the pixel
The meansigma methodss of all b classes grey scale pixel values.
A types image and Type B image after A types sub-frame images and the interpolated reconstruction of Type B sub-frame images can be used for range gating
The 3-d inversion of super-resolution three-dimensional imaging is rebuild, when A types image and Type B image apart from energy envelope for it is trapezoidal when, that is, select
When open gate width and laser pulse width need to meet relational expression (2), using trapezoidal range gating super-resolution three-dimensional imaging algorithm three are realized
Dimension reconstruct, when A types image and Type B image apart from energy envelope be triangle when, that is, gating gate-width and laser pulse width needs to meet
During relational expression (3), three-dimensionalreconstruction is realized using triangle range gating super-resolution three-dimensional imaging algorithm, it is final realize it is three-dimensional into
Picture.
The concrete side being imaged using above-mentioned digital micromirror array coding flash of light three-dimensional image forming apparatus proposed by the present invention
Method step is as follows：
Step one：System boot.
Step 2：According to actual needs, by computer installation system operational parameters, master controller is especially set
Coding flash of light work schedule parameter, including laser pulse width, gating gate-width, the time of exposure of imageing sensor 7, laser pulse and
Gating time delay, coding mode of digital micromirror array between gate pulse etc..
Step 3：Under the system operational parameters for arranging, master controller receives the running parameter of computer input and arranges
Order produces control signal, and pulse laser first is produced under the pulse laser TTL signal triggering that master controller is exported
Laser pulse, the pulsewidth of the laser pulse is equal in magnitude with the pulsewidth of TTL signal, then illuminates camera lens defeated according to master controller
The numerical control zooming control signal for going out adjusts illumination field of view, and laser pulse is illuminated Jing after illumination camera lens shaping to target, when sharp
When optical pulse propagation is to target, the target echo signal of back-propagating is formed, the echo-signal is exported by Jing master controllers
Imaging lens after the focusing of numerical control zooming control signal are collected, and converge to gating shutter, and gating shutter is exported in master controller
The triggering of gating shutter TTL signal it is lower open work, form a gate pulse, relative between gate pulse and laser pulse is prolonged
When be the gating time delay for arranging, storbing gate opens the pulsewidth for the persistent period (gating gate-width) being equal to TTL signal, fast through gating
The target echo signal that door is gathered and amplified through shaping lens coupled to digital micromirror array, at center control by digital micromirror array
The space light modulation of positive tablet mode and negative film pattern is realized under the control signal of device output processed, the micro mirror unit reflection in OFF state
Target echo signal is absorbed to extinction plate by extinction plate, and be in the micro mirror unit of ON state then reflectance target echo-signal to coupling
Lens are closed, coupled Lens Coupling to imageing sensor, imageing sensor is believed in the imageing sensor TTL that master controller is exported
Start to expose work under number triggering, the target echo signal that is reflected back of ON state micro mirror unit in digital micromirror array is gathered, by this
Echo-signal is converted to the signal of telecommunication, exports coding image.
Step 4：Coded image is decoded, A types sub-frame images and Type B sub-frame images are decoded.
Step 5：Based on A types sub-frame images and Type B sub-frame images interpolation reconstruction A types image and Type B image.
Step 6：According to the A types image and Type B image rebuild, entered using range gating super-resolution three-dimensional imaging algorithm
Row three-dimensional reconstruction, and show 3-D view.
Step 7：Three-dimensional imaging is completed, can be shut down.
In order to verify the effectiveness of the inventive method, the present invention has carried out emulation experiment, and experimental result is as shown in figure 4, mesh
Two cups that mark is placed before and after being about at 12m.In the emulation experiment, triangular envelope range gating super-resolution is used
Rate three-dimensional imaging algorithm, therefore, laser pulse width and gating gate-width are equal, and both at 3ns in experiment, the gating of A type subframes prolongs
When be 80ns, the gating time delay of Type B subframe is 83ns.In Fig. 4 (a), left figure is the coded image that emulation experiment is obtained, and right figure is
The enlarged drawing of white dashed line window region in left figure, can see the A types sub-frame images and B included in coded image from the figure
Type sub-frame images.Fig. 4 (b) is that the A type images after row interpolation of going forward side by side is rebuild are decoded by a classes pixel in Fig. 4 (a), and Fig. 4 (c) is
The Type B image after row interpolation of going forward side by side is rebuild is decoded by the b classes pixel in Fig. 4 (a).Fig. 4 (d) is based on the A type figures of interpolation reconstruction
As Fig. 4 (b) and Type B image Fig. 4 (c) adopt the 3-D view of triangular envelope super-resolution three-dimensional imaging algorithm 3-d inversion.
By the simulation experiment result it is found that the achievable single frames of the present invention obtains two width and is used for range gating super-resolution three-dimensional imaging
Gating sectioning image, realizes real time three-dimensional imaging.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, it should be understood that the foregoing is only the specific embodiment of the present invention, be not limited to the present invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc. should be included in the protection of the present invention
Within the scope of.
Claims (9)
1. a kind of digital micromirror array encodes flash of light three-dimensional image forming apparatus, it is characterised in that the device includes：
Computer：For arranging running parameter and picture decoding；
Master controller：It is used to generate coding flash of light work schedule, the coding flash of light work according to the running parameter for arranging
Sequential is used for synchronous sharp pulse laser, imageing sensor, digital micromirror array and gating shutter；
Pulse laser：Its generation laser pulse according to the coding flash of light work schedule；
Illumination camera lens：It is used to the laser pulse that the pulse laser is produced is carried out after shaping, to the imaging mesh in visual field
Mark is illuminated；
Imaging lens：For collecting the target echo signal that the imageable target is formed after laser pulse irradiation, and
Converged to gating shutter；
Gating shutter：It is opened under the triggering of the coding flash of light work schedule and produces a gate pulse, for gathering
Target echo signal simultaneously amplifies；
Shaping lens：Its target echo signal being used for after the gating shutter is amplified is carried out after optical shaping coupled to numeral
Micro mirror array；
Digital micromirror array：It includes the micro mirror unit of multiple ranks distributions, its control in the coding flash of light work schedule
Under, holding part micro mirror unit is in ON state, and remainder is in OFF state, and some micromirrors unit in ON state is by the target
Echo-signal reflexes to coupled lens, and the target echo signal is reflexed to extinction plate by the remainder in OFF state；
Coupled lens：It is used to for the target echo signal that digital micromirror array reflects to carry out shaping, and coupled to image sensing
Device；
Imageing sensor：It is imaged according to received target echo signal, wherein the pixel count of the imaging and the number
Micro mirror unit number in word micro mirror array is identical, and each pixel one micro mirror unit of correspondence；
Extinction plate：It is used to absorb the target echo signal for exposing to thereon；
Wherein, under coding flash of light work schedule, an A types subframe and is included in the time of exposure of the frame of imageing sensor one
Individual Type B subframe, in the course of work, A types subframe and Type B subframe have different gating time delays, interval so as to realize different imagings
The imaging of A types subframe it is interval and Type B subframe is imaged interval information gathering, by even number digital micromirror array to A types subframe and
The information of Type B subframe collection carries out coded modulation, and then realizes that imageing sensor single frames obtains the interval image of two subframes imaging
Purpose, exports a frame coded image, then, can be by obtaining A types sub-frame images and Type B subframe pattern to the coded image decoding
Picture, and respectively two width sub-frame images are carried out with image interpolation, interpolation reconstruction A types image and Type B image, finally, based on the A for rebuilding
Type image and Type B image carry out 3-d inversion reconstruction by range gating super-resolution three-dimensional imaging algorithm, realize three-dimensional imaging.
2. device as claimed in claim 1, wherein, control of the digital micromirror array in the coding flash of light work schedule
Include two kinds of coded modulation schemes down：Positive tablet mode and negative film pattern；It is micro- in the digital micromirror array under wherein positive tablet mode
When line number and columns residing for mirror unit is all odd number or even number, the micro mirror unit is in ON state, and remaining micro mirror unit is in
OFF state；It is then contrary under negative film pattern.
3. device as claimed in claim 2, wherein, the synchronous letter of imageing sensor is controlled in the coding flash of light work schedule
Number include A types subframe and Type B subframe；Each subframe one laser pulse of correspondence and a gate pulse；Wherein, under A types subframe
The digital micromirror array is in positive tablet mode, and the digital micromirror array is in negative film pattern under Type B subframe.
4. device as claimed in claim 3, wherein, the computer is carried out to the coded image that described image sensor is produced
Decoding output A types image and Type B image, ranks number is all odd number or the pixel value of even number is equal to code pattern wherein in A types image
Ranks number is all the pixel value of odd number or even number as in, and rest of pixels value is the average of its neighborhood territory pixel value；In the Type B image
Ranks number is not all odd number or the pixel value of even number is equal to the pixel value that ranks number in coded image is not all odd number or even number, its
Remaining pixel value is the average of its neighborhood territory pixel value.
5. device as claimed in claim 3, wherein, in A types subframe and Type B subframe between the laser pulse and gate pulse
Gating time delay be respectively τAAnd τB, and they meet following relation：
τB=τA+tL
Wherein, tLFor the pulsewidth of laser pulse.
6. device as claimed in claim 4, wherein, the computer adopts distance always according to the A types image and Type B image
The 3-D view of gating super-resolution three-dimensional imaging algorithm reestablishment imaging target.
7. device as claimed in claim 4, wherein, the range gating super-resolution three-dimensional imaging algorithm includes trapezoidal envelope
Range gating super-resolution three-dimensional imaging algorithm and triangle range gating super-resolution three-dimensional imaging algorithm；Using trapezoidal distance
During gating super-resolution three-dimensional imaging algorithm, the gate-width of the gate pulse is 2 times of laser pulse pulsewidth；Using triangle away from
From when gating super-resolution three-dimensional imaging algorithm, the gate-width of the gate pulse is identical with laser pulse pulsewidth.
8. device as claimed in claim 1, wherein, the master controller also produces numerical control zooming control signal, for adjusting
Section illumination field of view and imaging viewing field.
9. a kind of imaging of the digital micromirror array coding flash of light three-dimensional image forming apparatus using as described in any one of claim 1-8
Method, including：
Step 1, using computer installation running parameter, and send it to master controller；
Step 2, the master controller produce coding flash of light work schedule according to the running parameter, and produce numerical control zooming control
Signal processed, wherein, the coding flash of light work schedule includes that pulse laser TTL signal, gating shutter TTL signal, image are passed
The signal of each micro mirror unit switch in sensor TTL signal and control digital micromirror array, be respectively used to synchronous sharp pulse laser,
Gating shutter, imageing sensor and digital micromirror array；
Step 3, pulse laser produce laser pulse under the pulse laser TTL signal triggering that master controller is exported, and shine
Bright mirror head adjusts illumination field of view, laser pulse Jing illumination camera lens shapings according to the numerical control zooming control signal that master controller is exported
The imageable target in visual field is illuminated afterwards, when laser pulse delivery is to target, forms the target echo letter of back-propagating
Number, the target echo signal is collected by the imaging lens Jing after the numerical control zooming control signal focusing that master controller is exported, and is converged
Gather to gating shutter, gate shutter and open work under the gating shutter TTL signal triggering that master controller is exported, form one
Gate pulse, the target echo signal for gathering and amplifying through gating shutter is coupled to digital micromirror array through shaping lens,
Digital micromirror array is realized just in the control digital micromirror array that master controller is exported under the signal of each micro mirror unit switch
The space light modulation of tablet mode and negative film pattern, the micro mirror unit reflectance target echo-signal in OFF state to extinction plate, is inhaled
Tabula rasa absorbs, and be in the micro mirror unit of ON state then reflectance target echo-signal to coupled lens, coupled Lens Coupling is to scheming
As sensor, imageing sensor starts to expose work, collection under the imageing sensor TTL signal triggering that master controller is exported
The target echo signal that ON state micro mirror unit is reflected back in digital micromirror array, by the echo-signal signal of telecommunication is converted to, output
Coded image；
Step 4, coded image is decoded, decoding output A types image and Type B image, wherein ranks number is all in A types image
The pixel value of odd number or even number is equal to the pixel value that ranks number in coded image is all odd number or even number, and rest of pixels value is adjacent for it
The average of domain pixel value；Ranks number is not all odd number or the pixel value of even number is equal to ranks in coded image in the Type B image
Number 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 the A types image and Type B image, be reconstructed into using range gating super-resolution three-dimensional imaging algorithm
As the 3-D view of target.
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