CN104822033A - Visual sensor based on infrared and visible light image fusion and using method thereof - Google Patents
Visual sensor based on infrared and visible light image fusion and using method thereof Download PDFInfo
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Abstract
The invention, which belongs to the field of the visual sensor, provides a visual sensor based on infrared and visible light image fusion and a using method thereof. The sensor is characterized in that the sensor is a binocular visual sensor with integration of an infrared CCD and an industrial CCD. According to the visual sensor, the principle that two special interfaces in a beam splitter prism can reflect certain primary-color light selectively and enable other light to pass through the prism is fully utilized; coaxial light emitted by a same lens is respectively projected to an infrared CCD and an industrial CCD and thus the infrared CCD and the industrial CCD can collect an infrared image and a visible light image at the same point of an object simultaneously, so that obtained images can be integrated directly without registering. Therefore, the real-time performance and reliability of the visual sensor are improved.
Description
Technical field
A kind of infrared vision sensor with visual image fusion of the present invention and using method thereof, belong to vision sensor field, be specifically related to the technical scheme of a kind of infrared CCD and industrial CCD integration binocular vision sensor.
Background technology
Along with the development of computer vision and transducer, vision sensor is widely used in the fields such as on-line monitoring with untouchable, certainty of measurement high.Not only appearance profile is clear for the target scene image that present machine vision applications requirement vision sensor obtains, and detailed details also will be had to describe.And catch with camera these two requirements that image that non-visible light (lower than 400nm and the part higher than more than 700nm) and visible light signal obtain can meet vision application, therefore people want the problem that solves infrared image and visual image fusion urgently.But the solution of prior art but can only be, use two cameras simultaneously, one for visible light, another is for infrared spectrum, this scheme from the angle of user, on the one hand two cameras not only expensive but also inefficiency, two cameras acquisition images can not strictly be consistent on the other hand, want infrared image and visible images are merged, then must carry out registration before fusion, thus reduce real-time and reliability.
Summary of the invention
The present invention is a kind of to be infraredly with the vision sensor of visual image fusion and the object of using method thereof: in order to overcome prior art above shortcomings, a kind of vision sensor and using method thereof of infrared and visual image fusion are provided, this vision sensor is infrared CCD and industrial CCD integration binocular vision sensor, and 2 CCD have identical sample frequency and focal length.
The vision sensor of a kind of infrared and visual image fusion of the present invention, it is characterized in that a kind of vision sensor of infrared and visual image fusion, this vision sensor is infrared CCD and industrial CCD integration binocular vision sensor, 2 CCD have identical sample frequency and focal length, in Amici prism two prism facets are utilized selectively to reflect certain primary colours light, other light is made to be projected to infrared CCD and industrial CCD respectively from the axis light of same camera lens incidence, infrared CCD and industrial CCD gather infrared image and the visible images of target same point simultaneously, registration is not needed just directly to merge, this vision sensor is primarily of camera lens 1, LED light source 2, image capture module 3, infrared image processing module 4, Visual image processing module 5, image co-registration module 6, communication module 7, power module 8, shell 9, electrical wire interface 10 forms, wherein camera lens 1 and LED light source 2 are positioned at the outside of shell 9, image capture module 3, infrared image processing module 4, Visual image processing module 5, image co-registration module 6, communication module 7, power module 8, electrical wire interface 10 is all positioned at the inside of shell 9, image capture module 3, image co-registration module 6, communication module 7, it is inner that power module 8 is fixed on shell 9 with lower bayonet slot, infrared image processing module 4 and Visual image processing module 5 in the enclosure the same vertical plane in portion are fixed on shell 9 top and bottom with draw-in groove respectively, electrical wire interface 10 is fixed on shell 9 inner back side, for being connected with outer computer, be connected successively by electric wire between its inner each module, described image capture module 3 comprises Amici prism 31, infrared CCD 32 and industrial CCD 33, wherein the output of infrared CCD 32 connects the input of infrared image processing module 4, the output of industrial CCD 33 connects the input of Visual image processing module 5, infrared image processing module 4 and Visual image processing module 5 select DSP module and memory module, memory module comprises SDRAM, be mainly used to the data of the image of storage of collected and the result of image procossing, communication module is RS--485.
Above-mentioned a kind of infrared using method with the vision sensor of visual image fusion, it is characterized in that this vision sensor utilizes this principle of prismatic decomposition, and higher than object more than absolute zero all can irradiating infrared light and visible light source irradiate after object can the feature of reflect visible light, by Amici prism 31, the light that camera lens 1 focuses on is divided into visible ray and infrared light, infrared sensor in infrared CCD 32 in image capture module 3 receives the infrared light that Amici prism separates, be converted to containing target scene signals, ccd image sensor in infrared CCD 32 gathers the infrared image that this signal obtains containing target scene signals, senser in industrial CCD 33 meanwhile in image capture module 3 receives the visible ray that Amici prism separates, be converted to containing target scene signals, ccd image sensor in industrial CCD 33 gathers the visible images that this signal obtains containing target scene signals, first infrared image processing module 4 carries out maximum entropy image segmentation to infrared image, infrared image is divided into target area and background area, again medium filtering denoising is carried out to target area, image enhaucament, Morphological scale-space, Visual image processing module 5 pairs of visible images carry out image enhaucament, to make visible images more clear, target area infrared image after process and visible images employing pixel grey scale are got large method and are merged by image co-registration module 6, by the infrared gray value put at this as fused images with the gray scale maximum of visible images identical point, if infrared image is f (x, y), visible images is h (x, y), image after then merging is g (x, y)=max{f (x, y), h (x, y) }, wherein, (x, y) position of corresponding pixel points in presentation video, f (x, y) corresponding relevant position (x in infrared image is represented, y) gray value on, h (x, y) corresponding relevant position (x in visible images is represented, y) gray value on, g (x, y) corresponding relevant position (x in fused images is represented, y) gray value on, image after image co-registration module 6 finally merges by communication module 7 is transmitted by RS-485 bus, power module 8 pairs of image capture modules 3, infrared image processing module 4, Visual image processing module 5, image co-registration module 6 and communication module 7 are powered, vision sensor technical parameter:
Valid pixel: 1024 (H) × 768 (V)
Adjustable focal length: 8mm-75mm
Pixel dimension: 4.56 × 4.56 μm
Horizontal resolution: 330TVL-480TVL
Infrared survey spectral region: 2.0-2.5 μm/3-5 μm/8-12 μm
Visible ray measure spectrum scope: 400nm-700nm
Working temperature :-20 DEG C-60 DEG C
Picture frame frequency: 30 frames/s
Color of image: black and white/colour
Focusing mode: automatic/hand
Voltage: 6-15V
Power consumption: be less than or equal to 6W
Signal to noise ratio: be greater than 48db
Communication protocol: RS-485
A kind of infrared vision sensor with visual image fusion of the present invention and using method, its advantage is:
1, this transducer take full advantage of all temperature can infrared radiation higher than the object of absolute zero, and utilize LED as the feature of visible light source when illumination condition deficiency, not only can work by whole day 24H, and severe operational environment can be adapted to, greatly improve the reliability of vision sensor.
2, vision sensor of the present invention have cured ripe machine vision algorithm, and user just can obtain the image after infrared image and visual image fusion, for vision-based detection provides real-time without the need to programming.
3, this vision sensor is infrared CCD and industrial CCD integration binocular vision sensor, two particular interface made full use of in Amici prism selectively can reflect certain primary colours light and make other light by this principle, axis light from same camera lens incidence is projected to infrared CCD and industrial CCD respectively, thus make infrared CCD and industrial CCD can gather infrared image and the visible images of target same point simultaneously, make acquisition image not need registration just can directly merge, improve real-time and the reliability of vision sensor.
Accompanying drawing explanation
Fig. 1 is infrared and the structure cutaway view of the vision sensor of visual image fusion
Fig. 2 is infrared CCD and Visible-light CCD optical imaging concept figure
Wherein, 1. camera lens, 2.LED light source, 3. image capture module (31. Amici prisms, 32. infrared CCDs, 33. industrial CCDs), 4. infrared image processing module, 5. Visual image processing module, 6. image co-registration module, 7. communication module, 8. power module, 9. shell, 10. electrical wire interface, 11. prism facets 1,12. prism facets 2,13. prism facets 3
Embodiment
This vision sensor is universal vision sensor, can implement for any target, below in conjunction with embodiment and with reference to accompanying drawing, carries out illustrating in detail, clearly to this vision sensor invention technology.
Execution mode 1
Fig. 1 is the cutaway view of this vision sensor, and this transducer forms primarily of camera lens 1, LED light source 2, image capture module 3, infrared image processing module 4, Visual image processing module 5, image co-registration module 6, communication module 7, power module 8, shell 9, electrical wire interface 10.Wherein camera lens 1 and LED light source 2 are positioned at the outside of shell 9, image capture module 3, infrared image processing module 4, Visual image processing module 5, image co-registration module 6, communication module 7, power module 8, electrical wire interface 10 is all positioned at the inside of shell 9, wherein image capture module 3, image co-registration module 6, communication module 7, it is inner that power module 8 is fixed on shell 9 with lower bayonet slot, infrared image processing module 4 and Visual image processing module 5 in the enclosure the same vertical plane in portion are fixed on shell 9 top and bottom with draw-in groove respectively, electrical wire interface 10 is fixed on shell 9 inner back side, for being connected with outer computer, be connected successively by electric wire between its inner each module, described image capture module 3 comprises Amici prism 31, infrared CCD 32, industrial CCD 33, wherein the output of infrared CCD 32 connects the input of infrared image processing module 4, industrial CCD 33 output connects the input of Visual image processing module 5.Camera lens 1 is positioned at before Amici prism 31 prism facets 1, and the optical axis of camera lens 1 is vertical with Amici prism 31 prism facets 1, and infrared CCD 32 is parallel with Amici prism 31 prism facets 3, and industrial CCD 33 is vertical with the optical axis of camera lens 1; Optical lens is adjustable focus camera lens, can environmentally automatically regulate with target requirement, to reach best imaging effect.Infrared image processing module 4 and Visual image processing module 5 select DSP module and memory module, memory module comprises SDRAM, be mainly used to the data of the image of storage of collected and the result of image procossing, image co-registration module selects dsp chip, and communication module is RS-485.
Fig. 2 is infrared CCD and the industrial CCD optical imaging concept figure of vision sensor of the present invention, camera lens 1 focuses on image capture module 3 by the infrared light of target object radiation with through the visible ray that LED light source 2 irradiates back reflection, Amici prism 31 in image capture module 3 is prism groups of a kind of particular design, two particular interface in prism group can reflect certain primary colours light selectively and other light are passed through, wherein the bottom of the prism facets 1 of Amici prism 31 can make infrared light and visible ray pass through simultaneously, the top of prism facets 1 and prism facets 2 being coated with wavelength spectro-film can reflects infrared light visible ray is passed through, prism facets 3 can make infrared light pass through.The light (comprising visible ray and infrared light) of lens focus is divided into visible ray and infrared light by prismatic decomposition technology by the Amici prism 31 in image capture module 3, infrared sensor in infrared CCD receives infrared light, be converted to containing target scene signals, the ccd image sensor in infrared CCD gathers the infrared image that this signal obtains containing target scene signals; Senser in industrial CCD receives visible ray, is converted to containing target scene signals, and the ccd image sensor in industrial CCD gathers the visible images that this signal obtains containing target scene signals.
The using method of the vision sensor of a kind of infrared and visual image fusion that the present invention proposes, first according to target scene location, vision sensor is installed to relevant position, then the focal length of vision sensor is suitably adjusted, after having focused, by moving in parallel transducer, its parameter being demarcated, determining the parameter of mapping relations between the two dimensional image on three dimensions point and vision sensor imaging plane.The visible ray of the infrared light of object radiation and transmitting after LED light source 2 irradiates is focused on image capture module 3 by camera lens 1, the light that camera lens 1 focuses on is divided into visible ray and infrared light by the Amici prism 31 be fixed in the image capture module 3 of shell 9 inside, infrared sensor in infrared CCD 32 in image capture module 3 receives the infrared light that Amici prism separates, be converted to containing target scene signals, ccd image sensor in infrared CCD 32 gathers the infrared image that this signal obtains containing target scene signals, senser in industrial CCD 33 meanwhile in image capture module 3 receives the visible ray that Amici prism separates, be converted to containing target scene signals, ccd image sensor in industrial CCD 33 gathers the visible images that this signal obtains containing target scene signals, first infrared image processing module 4 carries out maximum entropy image segmentation to infrared image, infrared image is divided into target area and background area, again medium filtering denoising is carried out to target area, image enhaucament and Morphological scale-space, Visual image processing module 5 pairs of visible images carry out image enhaucament, to make visible images more clear, target area infrared image after process and visible images employing pixel grey scale are got large method and are merged by image co-registration module 6, by the infrared gray value put at this as fused images with the gray scale maximum of visible images identical point, if infrared image is f (x, y), visible images is h (x, y), image after then merging is g (x, y)=max{f (x, y), h (x, y) }, wherein, (x, y) position of corresponding pixel points in presentation video, f (x, y) corresponding relevant position (x in infrared image is represented, y) gray value on, h (x, y) corresponding relevant position (x in visible images is represented, y) gray value on, g (x, y) corresponding relevant position (x in fused images is represented, y) gray value on, image after image co-registration module 6 finally merges by communication module 7 is transmitted by RS-485 bus, and power module 8 pairs of image capture modules 3, infrared image processing module 4, Visual image processing module 5, image co-registration module 6 and communication module 7 are powered.The running parameter of this transducer is:
Valid pixel: 1024 (H) × 768 (V)
Adjustable focal length: 8mm-75mm
Pixel dimension: 4.56 × 4.56 μm
Horizontal resolution: 400TVL
Infrared survey spectral region: 8-12 μm
Visible ray measure spectrum scope: 400-700nm
Working temperature: 20 DEG C
Picture frame frequency: 30 frames/s
Color of image: black and white/colour
Focusing mode: automatic/hand
Voltage: 6-15V
Power consumption: be less than or equal to 6W
Signal to noise ratio: be greater than 48db
Communication protocol: RS-485
Execution mode 2
Valid pixel: 1024 (H) × 768 (V)
Adjustable focal length: 8mm-75mm
Pixel dimension: 4.56 × 4.56 μm
Horizontal resolution: 330TVL
Infrared survey spectral region: 3-5 μm
Visible ray measure spectrum scope: 400-700nm
Working temperature: 0 DEG C
Picture frame frequency: 30 frames/s
Color of image: black and white/colour
Focusing mode: automatic/hand
Voltage: 6-15V
Power consumption: be less than or equal to 6W
Signal to noise ratio: be greater than 48db
Communication protocol: RS-485
Other is with execution mode 1.
Execution mode 3
Valid pixel: 1024 (H) × 768 (V)
Adjustable focal length: 8mm-75mm
Pixel dimension: 4.56 × 4.56 μm
Horizontal resolution: 480TVL
Infrared survey spectral region: 2.0-2.5 μm
Visible ray measure spectrum scope: 400-700nm
Working temperature: 40 DEG C
Picture frame frequency: 30 frames/s
Color of image: black and white/colour
Focusing mode: automatic/hand
Voltage: 6-15V
Power consumption: be less than or equal to 6W
Signal to noise ratio: be greater than 48db
Communication protocol: RS-485
Other is with execution mode 1.
Claims (2)
1. the vision sensor of a kind infrared and visual image fusion, it is characterized in that a kind of vision sensor of infrared and visual image fusion, this vision sensor is infrared CCD and industrial CCD integration binocular vision sensor, 2 CCD have identical sample frequency and focal length, in Amici prism two prism facets are utilized selectively to reflect certain primary colours light, other light is made to be projected to infrared CCD and industrial CCD respectively from the axis light of same camera lens incidence, infrared CCD and industrial CCD gather infrared image and the visible images of target same point simultaneously, registration is not needed just directly to merge, this vision sensor is primarily of camera lens (1), LED light source (2), image capture module (3), infrared image processing module (4), Visual image processing module (5), image co-registration module (6), communication module (7), power module (8), shell (9), electrical wire interface (10) forms, wherein camera lens (1) and LED light source (2) are positioned at the outside of shell (9), image capture module (3), infrared image processing module (4), Visual image processing module (5), image co-registration module (6), communication module (7), power module (8), electrical wire interface (10) is all positioned at the inside of shell (9), image capture module (3), image co-registration module (6), communication module (7), it is inner that power module (8) is fixed on shell (9) with lower bayonet slot, infrared image processing module (4) and Visual image processing module (5) in the enclosure the same vertical plane in portion are fixed on shell (9) top and bottom with draw-in groove respectively, electrical wire interface (10) is fixed on shell (9) inner back side, for being connected with outer computer, be connected successively by electric wire between its inner each module, described image capture module (3) comprises Amici prism (31), infrared CCD (32) and industrial CCD (33), wherein the output of infrared CCD (32) connects the input of infrared image processing module (4), the output of industrial CCD (33) connects the input of Visual image processing module (5), infrared image processing module (4) and Visual image processing module (5) select DSP module and memory module, memory module comprises SDRAM, be mainly used to the data of the image of storage of collected and the result of image procossing, communication module is RS--485.
2. a kind of infrared using method with the vision sensor of visual image fusion described in claim 1, it is characterized in that this vision sensor utilizes this principle of prismatic decomposition, and higher than object more than absolute zero all can irradiating infrared light and visible light source irradiate after object can the feature of reflect visible light, by Amici prism (31), the light that camera lens (1) focuses on is divided into visible ray and infrared light, infrared sensor in infrared CCD (32) in image capture module (3) receives the infrared light that Amici prism separates, be converted to containing target scene signals, ccd image sensor in infrared CCD (32) gathers the infrared image that this signal obtains containing target scene signals, senser in industrial CCD (33) meanwhile in image capture module (3) receives the visible ray that Amici prism separates, be converted to containing target scene signals, ccd image sensor in industrial CCD (33) gathers the visible images that this signal obtains containing target scene signals, infrared image processing module (4) first carries out maximum entropy image segmentation to infrared image, infrared image is divided into target area and background area, again medium filtering denoising is carried out to target area, image enhaucament, Morphological scale-space, Visual image processing module (5) carries out image enhaucament to visible images, to make visible images more clear, target area infrared image after process and visible images employing pixel grey scale are got large method and are merged by image co-registration module (6), by the infrared gray value put at this as fused images with the gray scale maximum of visible images identical point, if infrared image is f (x, y), visible images is h (x, y), image after then merging is g (x, y)=max{f (x, y), h (x, y) }, wherein, (x, y) position of corresponding pixel points in presentation video, f (x, y) corresponding relevant position (x in infrared image is represented, y) gray value on, h (x, y) corresponding relevant position (x in visible images is represented, y) gray value on, g (x, y) corresponding relevant position (x in fused images is represented, y) gray value on, image after image co-registration module (6) finally merges by communication module (7) is transmitted by RS-485 bus, power module (8) is powered to image capture module (3), infrared image processing module (4), Visual image processing module (5), image co-registration module (6) and communication module (7), vision sensor technical parameter:
Valid pixel: 1024 (H) × 768 (V)
Adjustable focal length: 8mm-75mm
Pixel dimension: 4.56 × 4.56 μm
Horizontal resolution: 330TVL-480TVL
Infrared survey spectral region: 2.0-2.5 μm/3-5 μm/8-12 μm
Visible ray measure spectrum scope: 400nm-700nm
Working temperature :-20 DEG C-60 DEG C
Picture frame frequency: 30 frames/s
Color of image: black and white/colour
Focusing mode: automatic/hand
Voltage: 6-15V
Power consumption: be less than or equal to 6W
Signal to noise ratio: be greater than 48db
Communication protocol: RS-485.
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