CN113237457B - Spectrum measuring device and target tracking method thereof - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/02—Details
- G01J3/0205—Optical elements not provided otherwise, e.g. optical manifolds, diffusers, windows
- G01J3/0208—Optical elements not provided otherwise, e.g. optical manifolds, diffusers, windows using focussing or collimating elements, e.g. lenses or mirrors; performing aberration correction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/28—Investigating the spectrum
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Abstract
The invention discloses a spectrum measuring device, which comprises a light splitting element, a target tracking system, a DMD (digital micromirror device) device and a hyperspectral measuring system, wherein the light splitting element divides an incident light path into a reflection light path and a transmission light path; the target tracking system is arranged on the reflecting light path and used for tracking a target position, and sending a DMD control signal and a detector trigger control signal to a tracked target position coordinate; the DMD device is arranged on the transmission light path and comprises a DMD controller and a DMD digital micro-mirror, and the DMD controller starts the corresponding digital micro-mirror according to the received DMD control signal; and the hyperspectral measurement system acquires spectral information on the started digital micro-reflector after receiving the trigger control signal of the detector. The tracking system provided by the invention adopts the multispectral detector, and the DMD device is added between the target tracking system and the spectrum measuring system, so that the target tracking system and the hyperspectral measuring system work in a cooperative manner, and the dynamic target hyperspectral data are accurately measured.
Description
Technical Field
The invention belongs to the technical field of photoelectric theodolites, and particularly relates to a target tracking method of a spectral measurement device.
Background
The electro-theodolite can track a target in real time, in the process of tracking a dynamic target, based on a photoelectric tracking principle, an image tracker sends the offset of the tracked target deviating from the central angle of an optical axis in real time, a servo system corrects the angle of the optical axis according to the output value of the image tracker, and finally an ideal tracking system expression form is that the optical axis always swings around a small angle near the target in the moving process of the target.
The traditional technology adopts the following method for measuring the spectral characteristics of a moving target: a spectrum measuring device is added in a light path of the photoelectric theodolite, as shown in figure 1, after the light path is split by a spectroscope, a part of light is distributed to a target tracking system A, a part of light is distributed to a spectrum measuring system B, and optical systems of the target tracking system and the spectrum measuring system are adjusted to enable the optical cross hairs of the two subsystems to be overlapped. Therefore, the spectrum measuring system can obtain the spectrum data, namely the spectrum data of the target at the optical center position of the target tracking system. In the process of tracking a dynamic target by a servo system, an optical axis always fluctuates around the vicinity of the target, and a spectrum acquired by a spectrum measurement system is mainly the background of the field of the moving target and cannot well express the spectral characteristics of the tracked target.
Disclosure of Invention
In order to solve the above problems, the present invention provides a target tracking method for a spectrum measuring device, in which a DMD device is added between a target tracking system and a hyperspectral measurement system, so that the target tracking system and the hyperspectral measurement system work cooperatively to realize accurate measurement of dynamic target hyperspectral data, and the method specifically comprises:
a spectral measuring device, comprising:
a light splitting element for splitting an incident light path into a reflection light path and a transmission light path;
the target tracking system is arranged on the reflection light path and used for tracking a target position, sending a tracked target position coordinate in a DMD control signal form, and sending a detector trigger control signal;
the DMD device is arranged on the transmission light path and comprises a DMD controller and a DMD digital micro-mirror, and the DMD controller starts the corresponding digital micro-mirror according to the received DMD control signal;
and the hyperspectral measurement system is used for collecting the spectral information on the started digital micro-reflector after receiving the detector trigger control signal.
Preferably, the target tracking system comprises a servo system and an image tracker;
the image tracker calculates a target miss distance, sends the target miss distance to the servo system, and sends the DMD control signal and the detector trigger control signal;
and the servo system adjusts the angle of the optical axis according to the target miss distance so that the optical axis closely follows the target.
Preferably, the hyperspectral measurement system comprises a PG light splitting module and a hyperspectral collection module;
the PG light splitting module receives the light emitted by the digital micro-reflector and disperses the light into a multi-color spectrum;
and the hyperspectral acquisition module receives the detector trigger control signal and then performs spectrum acquisition on the PG light splitting module.
Preferably, the PG light splitting module includes a grating and a prism for dispersing white light into a polychromatic spectrum.
A target tracking method of a spectral measurement device comprises the following steps:
s1: the light splitting element splits an incident light path into a transmission light path and a reflection light path, and adjusts the light cross hairs of the target tracking system and the hyperspectral measurement system to coincide;
s2: the target tracking system tracks the position of a target, sends a DMD control signal to the DMD controller and sends a detector trigger control signal to the hyperspectral acquisition module;
s3: searching M digital micro-reflectors in the DMD digital micro-reflectors, wherein the positions of the M digital micro-reflectors correspond to the accurate coordinates of the M targets, starting the corresponding digital micro-reflectors, and simultaneously starting the hyperspectral acquisition module after receiving the trigger control signal of the detector;
s4: the hyperspectral collection module collects spectrums.
Preferably, the digital micro-mirror turned on in step S3 transmits the received light to the PG light splitting module.
Preferably, the image tracker in step S2 tracks M targets, calculates accurate coordinates of the corresponding targets, and sends the accurate coordinates of the M targets to the servo system, where M is greater than or equal to 1.
Preferably, the method for calculating the precise coordinates comprises: the image tracker calculates the miss distance of each target through a multi-target tracking algorithm, and determines the accurate coordinates of the targets according to the miss distance.
Preferably, the optical axis of the servo mechanism tracks a main root target of the M targets.
Preferably, the method for searching M corresponding digital micro mirrors in step S3 includes:
s301: the image tracker sends the target miss distance to a DMD controller in the form of a DMD control signal;
s302: the DMD controller searches the relation between each digital micro-reflector and a spatial pixel position association table MAP of the image tracker;
s303: and respectively finding the M digital micro-mirrors at the positions corresponding to the M targets according to the spatial pixel position association table MAP.
Preferably, the DMD control signal in step S2 includes a precise target position, and the DMD control signal is sent to the DMD controller according to the following criteria:
s201: judging that the distance between every two targets is close;
s202: and if the two targets are close, not sending the coordinates of the two targets to the DMD controller, and otherwise, sending the coordinates of the targets to the DMD controller.
Preferably, the criterion whether the distance between each two targets is close is as follows:
wherein, abs (x)i-xj) < 6 is that the distance between the abscissas of the two objects is less than 6 pixels, abs (y)i-yj) < 100 means that the two objects come back at a distance of less than 100 pixels on the ordinate.
Has the advantages that: the tracking system provided by the invention adopts the multispectral detector, and the DMD device is added between the target tracking system and the spectrum measuring system, so that the target tracking system and the hyperspectral measuring system work in a cooperative manner, and the dynamic target hyperspectral data are accurately measured.
In the measuring process, in order to avoid interference of spectrums among a plurality of targets, in the multi-target tracking process of the image tracker, conditions of target point positions sent to the DMD controller are set, and target positions with weak energy between two targets are not sent to the DMD controller, so that the spectrums of the plurality of targets in the hyperspectral measuring system are not subjected to aliasing.
Drawings
FIG. 1 is a schematic diagram of a prior art spectral measuring device;
FIG. 2 is a schematic structural diagram of a spectral measurement apparatus according to an embodiment of the present invention;
FIG. 3 is a timing chart of the operation of the critical signals of each unit according to an embodiment of the present invention.
Description of the related figures in fig. 3:
ta: image tracker detector trigger integration start time
Tb: the image tracker starts to calculate the target position moment
Tc: the image tracker calculates the target position and immediately sends the target miss distance moment
Td: DMD controller starts to designate a certain digital micro-reflector time
Te: digital micro-reflector all-off time of DMD controller
Tf: time when hyperspectral acquisition module starts to acquire spectrum
Tg: time when hyperspectral collection module stops collecting spectrum
The coordinate axis position relation of the data is as follows: ta < Tb < Tc < Td < Tf < Tg < Te.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terms first, second, third, etc. are used herein to describe various components or features, but these components or features are not limited by these terms. These terms are only used to distinguish one element or part from another element or part. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. For convenience of description, spatially relative terms such as "inner", "outer", "upper", "lower", "left", "right", "upper", "left", "right", and the like are used herein to describe the orientation relation of the components or parts in the present embodiment, but these spatially relative terms do not limit the orientation of the technical features in practical use.
According to a conventional moving target hyperspectral acquisition method, a moving target spectrum and a background spectrum are often mixed together, and a target spectrum curve is difficult to accurately obtain. However, the image tracker miss distance and the DMD controller work cooperatively, and moving target hyperspectral data can be accurately obtained, so that the spectral measurement device provided by the invention employs the DMD device, and the cooperative cooperation of the hyperspectral measurement device and a tracking system is realized.
The spectrum calibration experience of the snapshot type video imaging spectrometer shows that on the basis of the snapshot type video imaging spectrometer of the micro lens array, in the process that the theoretical position of a spectrum design model is matched with the actual position of a light spot on a detector, effective light spots on the detector are extracted firstly, but the difficulty in extracting the bright spots is increased due to the fact that the brightness of a background target surface is uneven. Generally, if the set threshold is large, the extraction of the bright spots may be incomplete, while if the set threshold is small, the image plane background may be extracted, and the error of the extraction of the bright spots is large. Therefore, the embodiment of the invention provides the method for dividing the sub-region and the initial gray threshold T passing through the neighborhood of the sub-region0The optimal gray threshold of the central area is determined, so that the accurate position of the bright spot is determined, the effectiveness of the bright spot is judged, and the spectral calibration precision of the snapshot type video imaging spectrometer is improved. The method comprises the following specific steps:
as shown in fig. 2 to 3, a spectrum measuring apparatus includes:
a light splitting element for splitting an incident light path into a reflection light path and a transmission light path;
the target tracking system is arranged on the reflection light path and used for tracking a target position and sending a DMD control signal and a detector trigger control signal to the tracked target position coordinate;
the DMD device is arranged on the transmission light path and comprises a DMD controller and a DMD digital micro-mirror, and the DMD controller starts the corresponding digital micro-mirror according to the received DMD control signal;
and the hyperspectral measurement system acquires spectral information on the started digital micro-reflector after receiving the trigger control signal of the detector.
The concrete structure of this device does: the light path is divided into a reflection light path and a transmission light path by the light splitting element, a target tracking system is arranged at the terminal of the reflection light path, and a DMD controller and a hyperspectral measurement system are sequentially arranged on the transmission light path. The target tracking system can send a control signal to the DMD device and send a detection signal to the hyperspectral collection module.
In a preferred embodiment, the target tracking system comprises a servo system, an image tracker; the image tracker calculates the target miss distance, sends the target miss distance to a servo system, and sends a DMD control signal and a detector trigger control signal; and the servo system adjusts the angle of the optical axis according to the target miss distance so that the optical axis closely follows the target. The hyperspectral measurement system comprises a PG light splitting module and a hyperspectral acquisition module; the PG light splitting module receives light emitted by the digital micro-reflector and disperses the light into a multi-color spectrum; the hyperspectral collection module receives the detector trigger control signal and then carries out spectrum collection on the PG light splitting module. The PG light splitting module includes a grating and a prism for dispersing white light into a polychromatic spectrum.
The specific work of the device is as follows: after the light path passes through the light splitting element, one path of light is split to the target tracking system, and the other path of light is split to the DMD controller and the hyperspectral measurement system. The target tracking system core part comprises an image tracker and a servo system, wherein the image tracker calculates an accurate numerical value of a target deviating from the center of a target surface and sends a target miss distance to the servo system, and the servo system adjusts the angle of an optical axis in time according to the target miss distance to ensure that the optical axis swings around the target at a small angle. A path of control signal is added between the image tracker and the DMD controller and is used as a DMD control signal, and a path of external trigger signal is added between the image tracker and the spectrum acquisition module and is used as a detector trigger control signal.
A preferred embodiment: after the image tracker calculates the target miss distance, the target position (X1, Y1) is sent to the DMD controller in the form of a DMD control signal, the DMD controller searches a digital micro-mirror and target tracker space pixel position association table MAP in the DMD digital micro-mirror, the DMD digital micro-mirror position (X1 ', Y1') corresponding to the image tracker target position (X1, Y1) is found, and the DMD controller opens the digital micro-mirror, so that the hyperspectral measurement system can obtain hyperspectral data at the digital micro-mirror position, and the hyperspectral micro-mirror is the imaging position of the tracked target in the DMD array. The image tracker sends a control signal to the DMD controller, and simultaneously sends an external trigger command to the hyperspectral acquisition module, and the hyperspectral acquisition module starts to acquire hyperspectral data.
As shown in fig. 2 and 3, a target tracking method of a spectrum measuring apparatus includes the steps of:
s1: the light splitting element splits an incident light path into a transmission light path and a reflection light path, and light cross light wires of the target tracking system and the hyperspectral measurement system are adjusted to be overlapped;
s2: the target tracking system tracks the position of a target, sends a DMD control signal to the DMD controller and sends a detector trigger control signal to the hyperspectral acquisition module;
s3: searching M digital micro-reflectors in the DMD, wherein the positions of the M digital micro-reflectors correspond to the M accurate target coordinates, starting the corresponding digital micro-reflectors, and simultaneously starting the hyperspectral acquisition module after receiving a detector trigger control signal;
s4: the high spectrum acquisition module acquires the spectrum.
According to the timing schedule combined with fig. 3, the DMD controller turns on one of the digital micromirrors of the DMD at time Td, the Tf-to-Tg hyperspectral acquisition module starts to acquire spectral data, Tf is substantially equal to Td, and generally Tf lags behind Td by about 20 μ s. At time Te, the DMD controller turns off all of the digital micromirrors of the DMD digital micromirrors.
The sending time of the probe activation control signal of an embodiment of the present invention is the optimum turn-on timing for the saving device because no valid spectral information enters even if the probe activation control signal is turned on early.
In a preferred embodiment, the digital micro-mirrors turned on in step S3 transmit the received light to the PG light splitting module. The image tracker in the step S2 tracks the M targets, calculates accurate coordinates of the corresponding targets, and sends the accurate coordinates of the M targets to the servo system, where M is greater than or equal to 1. The calculation method of the precise coordinate comprises the following steps: the image tracker calculates the miss distance of each target through a multi-target tracking algorithm, and determines the accurate coordinates of the targets according to the miss distance.
The method for searching M corresponding digital micro mirrors in step S3 includes:
s301: the image tracker sends the target miss distance to a DMD controller in the form of a DMD control signal;
s302: the DMD controller searches the relation between each digital micro-reflector and a space pixel position association table MAP of the image tracker;
s303: and respectively finding M digital micro-mirrors at the positions corresponding to the M targets according to the spatial pixel position association table MAP.
Preferably, the DMD control signal in step S2 includes the precise target position, and the DMD control signal is sent to the DMD controller according to the following criteria:
s201: judging that the distance between every two targets is close;
s202: if the two targets are close, the coordinates of the two targets are not sent to the DMD controller, otherwise, the coordinates of the targets are sent to the DMD controller.
Preferably, the distance between each two targets is similar as follows:
wherein, abs (x)i-xj) < 6 is that the distance between the abscissas of the two objects is less than 6 pixels, abs (y)i-yj) < 100 means that the two objects come back at a distance of less than 100 pixels on the ordinate.
In the measuring process, in order to avoid interference of spectrums among a plurality of targets, in the multi-target tracking process of the image tracker, conditions of target point positions sent to the DMD controller are set, and target positions with weak energy between two targets are not sent to the DMD controller, so that the spectrums of the plurality of targets in the hyperspectral measuring system are not subjected to aliasing.
The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments may be combined with each other into a new embodiment. The above embodiments are only for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the technical solutions of the present invention.
Claims (10)
1. A spectral measuring device, comprising:
a light splitting element that splits one incident light path into a reflection light path and a transmission light path;
the target tracking system is arranged on the reflection light path and used for tracking a target position, sending a tracked target position coordinate in a DMD control signal form, and sending a detector trigger control signal; the target tracking system comprises a servo system and an image tracker; the image tracker calculates a target miss distance, sends the target miss distance to the servo system, and sends the DMD control signal and the detector trigger control signal; the servo system adjusts the angle of the optical axis according to the target miss distance to enable the optical axis to follow the target closely;
the DMD device is arranged on the transmission light path and comprises a DMD controller and a DMD digital micro-mirror, and the DMD controller starts the corresponding digital micro-mirror according to the received DMD control signal;
and the hyperspectral measurement system is used for collecting the spectral information on the started digital micro-reflector after receiving the detector trigger control signal.
2. The spectral measurement device of claim 1, wherein the hyperspectral measurement system comprises a PG light splitting module and a hyperspectral collection module;
the PG light splitting module receives the light emitted by the digital micro-reflector and disperses the light into a multi-color spectrum;
and the hyperspectral acquisition module receives the detector trigger control signal and then performs spectrum acquisition on the PG light splitting module.
3. The spectral measurement device of claim 2, wherein the PG spectroscopy module comprises a grating and a prism for dispersing white light into a polychromatic spectrum.
4. A target tracking method of a spectral measurement device is characterized by comprising the following steps:
s1: the light splitting element splits an incident light path into a transmission light path and a reflection light path, and adjusts the light cross hairs of the target tracking system and the hyperspectral measurement system to coincide;
s2: the target tracking system tracks the position of a target, sends a DMD control signal to the DMD controller and sends a detector trigger control signal to the hyperspectral acquisition module; the image tracker in the step S2 tracks the M targets, calculates accurate coordinates of the corresponding targets, and sends the accurate coordinates of the M targets to the servo system, wherein M is more than or equal to 1;
s3: searching M digital micro-reflectors in the DMD, wherein the positions of the M digital micro-reflectors correspond to M accurate target coordinates, starting the corresponding digital micro-reflectors, and simultaneously starting a hyperspectral acquisition module after receiving a detector trigger control signal;
s4: the hyperspectral collection module collects the spectrum.
5. The method for tracking the target of the spectroscopic measuring device of claim 4 wherein the digital micromirror turned on in step S3 transmits the received light to the PG light splitting module.
6. The target tracking method of the spectroscopic measuring device as set forth in claim 4, wherein the calculation method of the precise coordinate is: the image tracker calculates the miss distance of each target through a multi-target tracking algorithm, and determines the accurate coordinates of the targets according to the miss distance.
7. The method of claim 4, wherein an optical axis of the servo system tracks a main root target of the M targets.
8. The method for tracking the target of the optical spectrum measuring device according to claim 4, wherein the step S3 for finding the M corresponding digital micro-mirrors comprises:
s301: the image tracker sends the target miss distance to the DMD controller in the form of a DMD control signal;
s302: the DMD controller searches the relation between each digital micro-reflector and a spatial pixel position association table MAP of the image tracker;
s303: and respectively finding the M digital micro-mirrors at the positions corresponding to the M targets according to the spatial pixel position association table MAP.
9. The method for tracking the target of the optical spectrum measuring device according to claim 4, wherein the DMD control signal of step S2 comprises a precise target position, and the DMD control signal is sent to the DMD controller according to the following criteria:
s201: judging whether the distance between every two targets is close or not;
s202: and if the two targets are close, not sending the coordinates of the two targets to the DMD controller, and otherwise, sending the coordinates of the targets to the DMD controller.
10. The method for tracking an object of the spectroscopic measuring device as set forth in claim 9, wherein the distance between each two objects is similar as follows:
wherein, abs (x)i-xj) < 6 is that the distance between the abscissas of the two objects is less than 6 pixels, abs (y)i-yj) < 100 means that the two objects come back at a distance of less than 100 pixels on the ordinate.
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| CN110081977B (en) * | 2019-05-22 | 2020-06-19 | 北京理工大学 | Adjustable filter type hyperspectral imager based on compressed sensing and method |
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| CN101303291A (en) * | 2008-06-05 | 2008-11-12 | 苏州大学 | Multi-channel multi-target ultra-optical spectrum imaging method and system based on digital micro lens device |
| CN105181595A (en) * | 2015-05-25 | 2015-12-23 | 中山大学 | Plant leaves health monitoring system based on visual image spectrum detection technology |
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