CN106443704A - Longitudinal scanning and synthesizing method for large-area array range-gated laser imaging - Google Patents
Longitudinal scanning and synthesizing method for large-area array range-gated laser imaging Download PDFInfo
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- CN106443704A CN106443704A CN201610888074.2A CN201610888074A CN106443704A CN 106443704 A CN106443704 A CN 106443704A CN 201610888074 A CN201610888074 A CN 201610888074A CN 106443704 A CN106443704 A CN 106443704A
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a longitudinal scanning and synthesizing method for large-area array range-gated laser imaging. The longitudinal scanning and synthesizing method for the large-area array range-gated laser imaging comprises the following steps: automatically setting the divergence angle of pulse laser and the gating range of a large-area array COMS imager by using a controller, and beginning scanning imaging from the nearest initial target object till the farthest target object by gradually increasing the imaging distance; in each scanning imaging step, synchronously synthesizing acquired gated images by a processor in the large-area array COMS imager so as to obtain a synthetic image capable of displaying far and near target objects simultaneously within the shortest time. According to the longitudinal scanning and synthesizing method for the large-area array range-gated laser imaging, through intelligent control, the divergence angle of the pulse laser and the gating range of the imager are automatically set by a program; in the imaging process, the images are synthesized synchronously, so that the image capable of displaying the far and near target objects simultaneously can be obtained within the shortest time.
Description
Technical field
The invention belongs to technique of laser imaging field, and in particular to a kind of longitudinal direction of large area array range gating laser imaging is swept
Retouch synthetic method.
Background technology
Technique of laser range gated technology, be using pulse laser and CMOS gated imaging device, with laser-bounce return when
Between sequencing distinguish different distance on scattered light and target reflecting light so that the reflected light of target is just in the choosing of imager
Imager is reached in the logical time and imaging is acquired by CMOS.
Concrete imaging method is as shown in accompanying drawing 1-2.
First, launched the short pulse of high-energy to target direction from controller instruction laser instrument, laser pulse is being advanced
During when running into granule or barrier can retroeflection, simply the return laser beam in target object reflection reach imager it
Before, control system closes storbing gate, and now return laser beam will not be imaged on CMOS gated imaging device, be only irradiated to
When the return laser beam of target object reaches imager, control system just opens storbing gate, receives anti-from the laser of target object
Light is penetrated, is imaged on cmos imager.In this course, need by the switch time for arranging storbing gate to determine into
Image distance from.
But as laser pulse is limited by transmission power, when needing to be imaged extremely remote target, must
Laser beam divergence must be reduced, that is, the hot spot of laser be reduced, so that the intensity of reflected light is improved, so that cmos imager is obtained in that enough
Imaging signal.
Further, since existing large area array technique of laser range gated technology can only by manually arrange different gating distances and
Laser beam divergence, and when the target to different distance on a direction is imaged, the image of acquisition is also separate
, all targets that user cannot be in very short time clearly one direction of observation.
It is thus desirable to the large area array technique of laser range gated technology of prior art is improved, with the automatization of optimal imaging
Degree, definition and quick degree.
Content of the invention
The present invention is directed to the deficiencies in the prior art, it is proposed that a kind of longitudinal scanning of large area array range gating laser imaging is closed
Become method, when longitudinal image-forming range is increased every time, all turn laser emission angle further down, to ensure the definition being imaged, and
And the composograph by the image of newest acquisition with previous step synthesizes further, the ever-increasing image of depth is formed.
The present invention specifically adopts the following technical scheme that realization.
A kind of longitudinal scanning synthetic method of large area array range gating laser imaging, arranges automatically pulse by controller and swashs
The gating distance of the angle of divergence of light and large area array COMS imager, and start imaging from nearest initial target object, progressively increase
Big imaging distance, until farthest target object.In the step of each is imaged, by large area array COMS imager
Reason device synchronously carries out synthesis process to acquired gating image, can be while showing remote so as to obtain a width within the shortest time
The composograph of close-target object.
Said method mainly comprises the steps：
Step one, determines direction of observation and adjusts the initial position of pulse laser.
Step 2, when being imaged for the first time, the initial angle of the pulse laser angle of divergence is A0, pulse laser sent to initial
The time that target object is returned is set as the opening time t of storbing gate0, the distance between target object and imager will set first
It is set to initial strobe apart from S0, represent to being S with laser instrument (imager) relative distance0Target be imaged first.So,
After pulse laser starts transmitting, in t0=2*S0/ c (wherein c represents the light velocity) was reflected by initial target object in the time
Light echo will reach large area array cmos imager, and now controller control storbing gate is opened, so as in large area array cmos imager
Get gating image I0.
Step 3, second when being imaged, and sets the opening time of storbing gate as t1, and t1=t0+ △ t, herein △ t be
The laser traveling of distance and reciprocal time between the second target object and initial target object.Then can determine the second gating away from
From for S1, S1=t1*c/2.Laser beam divergence is set as A1, A1=A0- △ A, reducing laser emission angle is swashed to strengthen reflection
The intensity of light, to ensure to obtain the imaging signal of sufficient intensity in imager.So, when pulse laser is again started up transmitting
Afterwards, in t1=t0In+△ t the time, large area array cmos imager will be reached by the light echo of the second target object reflection, now controlled
Device control storbing gate is opened, so as to get gating image I in large area array cmos imager1.
Step 4, obtains I1After image, within a processor will gating image I0With gating image I1Synthesized, formed and close
Become image I '1.
Step 5, according to step 2 to four by that analogy, during n-th imaging, the opening time of storbing gate is tn-1, tn-1=
tn-2+ △ t, then gating distance is Sn-1, Sn-1=tn-1* c/2, laser beam divergence ben-1, An-1=A0(n-1) * △ A, now obtains
The gating image that gets is In-1, with composograph I 'n-2Synthesis process is carried out, forms composograph I 'n-1.
Above-mentioned image synthesis processes the method using contour extraction of objects, histogram equalization is included.
The image for obtaining in above-mentioned each step is all transmitted using gigabit Ethernet, and is deposited using solid state hard disc
Storage.
Compared with prior art, the invention has the beneficial effects as follows,
1st, Based Intelligent Control is adopted, the angle of divergence of pulse laser and the gating distance of imager is arranged by Automatic Program；
2nd, during imaging, synchronously image being synthesized, a width can be obtained within the shortest time while showing
The image of far and near target object.
Description of the drawings
Fig. 1 is one of Laser Range Gated Imaging System and operation principle schematic diagram in prior art；
Fig. 2 is two of Laser Range Gated Imaging System and operation principle schematic diagram in prior art；
Fig. 3 is that the operation principle of the longitudinal scanning synthetic method of the large area array range gating laser imaging of the present invention is illustrated
Figure.
Specific embodiment
In order to the present invention can be better understood and implement, below with reference to accompanying drawing 3, technical scheme is entered
Row detailed description.
The large area array Laser Range Gated Imaging System of the present invention contains the basic element of character shown in accompanying drawing 1,2.In Fig. 3 only
Large area array cmos imager is shown schematically.
A kind of longitudinal scanning synthetic method of the large area array range gating laser imaging of the present invention, using Based Intelligent Control, when
After selecting a direction of observation, the angle of divergence of pulse laser and large area array COMS imager can be arranged automatically by controller
Gating distance, and start imaging from nearest target object (initial target object), image-forming range is incrementally increased, until farthest
Target object.During whole imaging, by the processor in large area array COMS imager synchronously to obtaining in each step
Take gating image progressively to be synthesized, can be while showing the figure of far and near target object so as to obtain a width within the shortest time
Picture.
The specific implementation step of the present invention is as follows.
Step one, determines direction of observation and adjusts the initial position of pulse laser.
Step 2, when being imaged for the first time, the initial angle of the pulse laser angle of divergence is A0, pulse laser sent to initial
The time that target object is returned is set as the opening time t of storbing gate0, the distance between target object and imager will set first
It is set to initial strobe apart from S0, represent to being S with laser instrument (imager) relative distance0Target be imaged first.So,
After pulse laser starts transmitting, in t0=2*S0/ c (wherein c represents the light velocity) was reflected by initial target object in the time
Light echo will reach large area array cmos imager, and now controller control storbing gate is opened, so as in large area array cmos imager
Get gating image I0.
Step 3, second when being imaged, and sets the opening time of storbing gate as t1, and t1=t0+ △ t, herein △ t be
The laser traveling of distance and reciprocal time between the second target object and initial target object.Then can determine the second gating away from
From for S1, S1=t1*c/2.Laser beam divergence is set as A1, A1=A0- △ A, reducing laser emission angle is swashed to strengthen reflection
The intensity of light, to ensure to obtain the imaging signal of sufficient intensity in imager.So, when pulse laser is again started up transmitting
Afterwards, in t1=t0In+△ t the time, large area array cmos imager will be reached by the light echo of the second target object reflection, now controlled
Device control storbing gate is opened, so as to get gating image I in large area array cmos imager1.
Step 4, obtains gating image I1Afterwards, within a processor will gating image I0With gating image I1Synthesized, shape
Become composograph I '1.
Step 5, according to step 2 to four by that analogy, during n-th imaging, the opening time of storbing gate is tn-1, tn-1=
tn-2+ △ t, then gating distance is Sn-1, Sn-1=tn-1* c/2, laser beam divergence ben-1, An-1=A0(n-1) * △ A, now obtains
The gating image that gets is In-1, then will gating image In-1With composograph I 'n-2Synthesized, formed composite diagram further
As I 'n-1.
Final gating image I 'n-1It is exactly the gating image comprising far and near target required for us.
It should be noted that the synthesis of image and imaging process are synchronously carried out, therefore can save to greatest extent
Time.
The technology of image synthesis can be using the prior art for including contour extraction of objects, histogram equalization etc..
The image for obtaining in each step is all transmitted using gigabit Ethernet, more can adopt solid state hard disc further
(SSD, Solid State Disk) is stored.
The above is only the description to preferred embodiment, it is impossible to be interpreted as limiting the scope of the invention.This
Simple replacement and change that skilled person is carried out on the basis of technical solution of the present invention, all should fall into the appended power of the present invention
The scope of sharp claim protection.
Claims (4)
1. a kind of longitudinal scanning synthetic method of large area array range gating laser imaging, it is characterised in that
The angle of divergence of pulse laser and the gating distance of large area array COMS imager be set automatically by controller, and from nearest
Initial target object starts scanning imagery, incrementally increases image-forming range, until farthest target object；
In the step of each scanning imagery, by the processor in large area array COMS imager synchronously to acquired gating figure
As carrying out synthesis process, can be while showing the composograph of far and near target object so as to obtain a width within the shortest time.
2. the longitudinal scanning synthetic method of a kind of large area array range gating laser imaging according to claim 1, its feature
It is, mainly comprises the steps：
Step one, determines direction of observation and adjusts the initial position of pulse laser；
Step 2, when being imaged for the first time, the initial angle of the pulse laser angle of divergence is A0, pulse laser sent to initial target
The time that object is returned is set as the opening time t of storbing gate0, the distance between initial target object and imager are set as
Initial strobe is apart from S0；
After pulse laser starts transmitting, in t0=2*S0In/c the time, the light echo for being reflected by initial target object will be reached greatly
Face battle array cmos imager, now controller control storbing gate open, so as to get gating figure in large area array cmos imager
As I0；Wherein c represents the light velocity；
Step 3, second when being imaged, and sets the opening time of storbing gate as t1, and t1=t0+ △ t, △ t is laser herein
The traveling of distance and reciprocal time between the second target object and initial target object；Then can determine that the second gating distance is
S1, S1=t1*c/2；
The pulse laser angle of divergence is set as A1, A1=A0-△A；
After pulse laser is again started up transmitting, in t1=t0In+△ t the time, will be to by the light echo of the second target object reflection
Large area array cmos imager is reached, and now controller control storbing gate is opened, so as to choosing is got in large area array cmos imager
Logical image I1；
Step 4, obtains I1After image, within a processor will gating image I0With gating image I1Synthesized, formed composite diagram
As I1′；
Step 5, according to step 2 to four by that analogy, during n-th imaging, the opening time of storbing gate is tn-1, tn-1=tn-2+
△ t, then gating distance is Sn-1, Sn-1=tn-1* c/2, laser beam divergence ben-1, An-1=A0(n-1) * △ A, now gets
Gating image In-1, with composograph I 'n-2Synthesis process is carried out, forms composograph I 'n-1.
3. the longitudinal scanning synthetic method of a kind of large area array range gating laser imaging according to claim 2, its feature
It is,
Described image synthesis processes the method using contour extraction of objects, histogram equalization is included.
4. the longitudinal scanning synthetic method of a kind of large area array range gating laser imaging according to claim 2, its feature
It is,
The image for obtaining in above-mentioned each step is all transmitted using gigabit Ethernet, and is stored using solid state hard disc.
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| CN104459711A (en) * | 2014-12-09 | 2015-03-25 | 中国科学院半导体研究所 | Real-time distance gating three-dimensional imaging system and method |
| CN105405099A (en) * | 2015-10-30 | 2016-03-16 | 北京理工大学 | Underwater image super-resolution reconstruction method based on point spread function |
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- 2016-10-11 CN CN201610888074.2A patent/CN106443704B/en active Active
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| EP2594959A1 (en) * | 2011-11-17 | 2013-05-22 | MESA Imaging AG | System and method for multi TOF camera operation using phase hopping |
| CN102692693A (en) * | 2012-06-08 | 2012-09-26 | 中国科学院半导体研究所 | Intelligent focusing device for range-gated laser night vision |
| CN102927972A (en) * | 2012-11-01 | 2013-02-13 | 中国科学院半导体研究所 | Range gating super-resolution three-dimensional imaging device and method |
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