CN113784061A - Super-resolution infrared imaging system and image stabilizing method and device thereof - Google Patents
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Abstract
The invention relates to a super-resolution infrared imaging system and an image stabilizing method and device thereof, belonging to the technical field of infrared thermal imaging. The image stabilizing method comprises the following steps: obtaining the vibration quantity of the platform at the current moment and the required displacement quantity of the scanning mirror at the next moment; obtaining the offset of the imaging position and the photosensitive position at the next moment according to the vibration quantity of the platform at the current moment; obtaining the compensation quantity of the scanning mirror at the next moment according to the offset; determining the actual displacement of the scanning mirror at the next moment according to the compensation amount and the required displacement; and obtaining the control quantity of the driving device according to the actual displacement, and controlling the driving device according to the control quantity. According to the invention, the compensation of the displacement of the scanning mirror is realized through the vibration quantity of the platform at the current moment, the coincidence of the imaging position and the photosensitive position is ensured, and the problem of image blurring caused by vibration is avoided.
Description
Technical Field
The invention relates to a super-resolution infrared imaging system and an image stabilizing method and device thereof, belonging to the technical field of infrared thermal imaging.
Background
The infrared imaging technology is a technology for converting invisible infrared radiation energy into a visible image, and collects infrared radiation energy distribution of an object by using an infrared detector sensitive to an infrared band, and restores the image of the object by using a proper algorithm.
The infrared imaging technology is limited by the technical development level of an infrared detector, and although a large-scale infrared focal plane detector can be manufactured at present, the infrared focal plane detector is difficult to prepare due to the fact that an infrared crystal material with large size and good uniformity is difficult to meet the using requirement, and the manufacturing process level of the infrared focal plane detector is still imperfect, so that the infrared focal plane detector is high in cost and low in cost performance. Meanwhile, the infrared imaging system works in an infrared band (1-12 mu m) with a longer wavelength and is limited by a diffraction limit, so that the resolution of the infrared imaging detection system cannot be very high. The resolution of the current infrared detector is generally 384 × 288, 640 × 512 or 1280 × 1024, the improvement of the resolution is accompanied by the increase of the order of magnitude of the cost, and the resolution of the most commonly used refrigeration type infrared detector is 384 × 288.
Therefore, a micro-scanning hyper-resolution method is proposed, which effectively and repeatedly utilizes each pixel of the infrared detector by arranging a scanning mirror, improves the sampling frequency of the imaging system by a micro-scanning mode, reconstructs a pair of high-resolution images from a plurality of images, and can improve the spatial resolution of the imaging system by a micro-scanning technology. Meanwhile, when the micro-scanning over-division method is used, in order to obtain a clearer image, the infrared imaging system has requirements on a view field and exposure time, however, because the inertia of a platform carried by the infrared imaging system is too large, the control capability of the platform on high-frequency vibration is limited, and problems such as universal joint movement axis offset are also caused, so that the micro-scanning over-division infrared imaging is influenced by vibration, and further the image is blurred.
Disclosure of Invention
The application aims to provide an image stabilizing method of a super-resolution infrared imaging system, which is used for solving the problem of image blurring caused by vibration in the existing infrared imaging; meanwhile, an image stabilizing device of the super-resolution infrared imaging system is also provided, and is used for solving the problem of image blurring caused by vibration in the existing infrared imaging; meanwhile, a super-resolution infrared imaging system is also provided to solve the problem that the image is blurred due to vibration in the existing infrared imaging.
In order to achieve the above object, the present application provides a technical solution of an image stabilizing method for a super-resolution infrared imaging system, which includes the following steps:
1) obtaining the vibration quantity of the platform at the current moment and the required displacement quantity of the scanning mirror at the next moment; the required displacement is the sub-pixel displacement in the micro-scanning over-division method;
2) obtaining the offset of the imaging position and the photosensitive position at the next moment according to the vibration quantity of the platform at the current moment;
3) obtaining the compensation quantity of the scanning mirror at the next moment according to the offset;
4) determining the actual displacement of the scanning mirror at the next moment according to the compensation amount and the required displacement;
5) and obtaining the control quantity of the driving device according to the actual displacement, and controlling the driving device according to the control quantity.
In addition, the application also provides an image stabilizing device of the super-resolution infrared imaging system, which comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the technical scheme of the image stabilizing method of the super-resolution infrared imaging system when executing the computer program.
The technical scheme of the image stabilizing method and the device of the super-resolution infrared imaging system has the beneficial effects that: according to the invention, the offset of the next moment can be obtained through the platform vibration amount of the current moment, the compensation amount of the scanning mirror is calculated through the offset, the actual displacement of the scanning mirror is determined according to the compensation amount, the control amount of the driving device is further determined, the displacement compensation of the scanning mirror is realized by controlling the driving device, the coincidence of the imaging position and the photosensitive position is ensured, and the problem of image blurring caused by vibration is avoided.
Further, in the image stabilizing method and the image stabilizing device of the super-resolution infrared imaging system, in order to more accurately obtain the vibration quantity of the platform, the vibration quantity of the platform at the current moment is obtained through the inertial sensor.
Further, in the image stabilizing method and device of the super-resolution infrared imaging system, in order to more accurately control the scanning mirror, the driving device is a micro-scanner.
Further, in the image stabilizing method and the image stabilizing device of the super-resolution infrared imaging system, the sub-pixel displacement amount in the micro-scanning super-resolution method can be flexibly set, and the sub-pixel displacement amount is 0.5 pixel, 0.33 pixel, 0.25 pixel, 0.2 pixel or 0.1 pixel.
In addition, the present application also proposes a super-resolution infrared imaging system, which includes an imaging lens group for imaging, a scanning mirror for micro-scanning image information formed by the imaging lens group, a driving device for driving the scanning mirror to move, and an infrared sensor for receiving the image information, and further includes:
the vibration quantity acquisition device is used for acquiring the vibration quantity of the platform;
the control device comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the following steps when executing the computer program:
1) obtaining the vibration quantity of the platform at the current moment and the required displacement quantity of the scanning mirror at the next moment; the required displacement is the sub-pixel displacement in the micro-scanning over-division method;
2) obtaining the offset of the imaging position and the photosensitive position at the next moment according to the vibration quantity of the platform at the current moment;
3) obtaining the compensation quantity of the scanning mirror at the next moment according to the offset;
4) determining the actual displacement of the scanning mirror at the next moment according to the compensation amount and the required displacement,
5) and obtaining the control quantity of the driving device according to the actual displacement, and controlling the driving device according to the control quantity.
The technical scheme of the super-resolution infrared imaging system has the beneficial effects that: according to the invention, the vibration quantity of the platform at the current moment is obtained through the vibration quantity acquisition device, so that the offset of the next moment is obtained, the compensation quantity of the scanning mirror is calculated through the offset, the actual displacement of the scanning mirror is determined according to the compensation quantity, the control quantity of the driving device is further determined, the displacement compensation of the scanning mirror is realized by controlling the driving device, the coincidence of an imaging position and a photosensitive position is ensured, and the problem of image blurring caused by vibration is avoided.
Further, in order to more accurately obtain the vibration quantity of the platform, the vibration quantity of the platform at the current moment is obtained through the inertial sensor.
Further, for more precise control of the scanning mirror, the driving device is a micro-scanner.
Further, the scanning mirror is a transmission type scanning mirror or a reflection type scanning mirror.
Furthermore, the sub-pixel displacement in the micro-scanning and over-dividing method can be flexibly set, and the sub-pixel displacement is 0.5 pixel, 0.33 pixel, 0.25 pixel, 0.2 pixel or 0.1 pixel.
Drawings
FIG. 1 is a block diagram of a super-resolution infrared imaging system of the present invention;
FIG. 2 is a schematic diagram of the optical path of the infrared imaging of the present invention;
FIG. 3 is a schematic diagram of the micro-scanning hyper-fractionation method of the present invention;
FIG. 4 is an imaging schematic of the micro-scanning hyper-fractionation method of the present invention;
FIG. 5-1 is a schematic clockwise timing diagram of the micro-scanning hyper-separation method of the present invention;
FIG. 5-2 is a schematic diagram of a counterclockwise timing sequence of the micro-scanning and over-partitioning method of the present invention;
5-3 are schematic diagrams of the first crossing timing sequence of the micro-scanning hyper-division method of the present invention;
FIGS. 5-4 are schematic diagrams of the crossing timing sequence of the micro-scanning hyper-separation method of the present invention;
FIG. 6 is a schematic diagram of an image stabilization method of the super-resolution infrared imaging system of the present invention;
FIG. 7-1 is a schematic view of the present invention with the imaging position coincident with the photosensitive position;
FIG. 7-2 is a schematic illustration of the error between the imaging position and the photosensitive position of the present invention;
7-3 are schematic views of the invention with registration adjusted when there is an error between the imaging position and the sensing position;
FIG. 8 is a simplified structural diagram of an imaging system for a reflective scanning mirror in accordance with the present invention;
FIG. 9 is a schematic structural diagram of an image stabilization device of the super-resolution infrared imaging system of the present invention;
in the figure: 1 is an inertial sensor, 2 is an imaging lens group, 3 is a scanning mirror, 4 is a micro-scanner, 5 is an infrared sensor, 6 is a control device, and 7 is a display.
Detailed Description
Super-resolution infrared imaging system embodiment:
the super-resolution infrared imaging system is shown in fig. 1 and comprises an inertial sensor 1, an imaging lens group 2, a scanning mirror 3, a micro-scanner 4, an infrared sensor 5, a control device 6 and a display 7, wherein the infrared imaging system is carried on a movable platform, and infrared imaging is realized through the movement of the platform.
The imaging lens group 2 is used for realizing imaging of an object to be imaged; the micro-scanner 4 is connected with the control device 6 and used for receiving the control quantity of the set time sequence output by the control device 6 to drive the scanning mirror 3 to move;
the scanning mirror 3 is a transmission type high-speed scanning mirror, the precision can reach 0.1 μm, the bandwidth can reach 1KHz, in order to ensure that the size and the weight of a lens of the scanning mirror 3 are smaller, as shown in figure 2, the position of the scanning mirror is arranged in the light path of the imaging lens group 2, and images of different frames after the image surface of the imaging lens group moves are transmitted to the infrared sensor 5 through the movement of the high-speed scanning mirror;
the infrared sensor 5 is connected with the control device 6 and used for sending the acquired image information of different frames to the control device 6, and the control device 6 reconstructs the image information of different frames to obtain a high-resolution image; the infrared sensor 5 adopts a medium-wave refrigeration type infrared detector, has the resolution ratio of 640 multiplied by 512, the frame rate of 100Hz and the pixel size of 15 mu m, and can output 25Hz and 1280 multiplied by 1024 high-resolution images after image reconstruction;
the display 7 is connected with the control device 6 and is used for displaying the obtained high-resolution image;
the inertial sensor 1 is an MEMS inertial device and is used for collecting the vibration quantity of the platform, and the inertial sensor 1 is connected with the signal input end of the control device 6 and sends the vibration quantity of the platform to the control device 6 in real time;
the control device 6 is a core device of the infrared imaging system, and the control device 6 includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the image stabilization method when executing the computer program.
The main conception of the image stabilizing method is that the micro-scanning over-division method is realized by controlling the micro-scanner 4 to control the movement of the scanning mirror 3, and the displacement compensation of the scanning mirror in the micro-scanning over-division imaging is realized according to the vibration quantity acquired by the inertial sensor 1, namely, the image stabilization is carried out on the basis of the micro-scanning over-division method.
Firstly, the principle of the micro-scanning ultrasplitting method is as follows:
the micro-scanner 4 drives the scanning mirror 3 to move according to a set time sequence, when an imaging light beam passes through a last group of lenses connected with the scanning mirror 3 in a light path, an image on a focal plane of the infrared sensor 5 is also translated (wherein the vertical axis magnification of the scanning mirror 3 is 0.5, the image source size of the infrared sensor 5 is 15 μm, so that the image on the focal plane of the infrared sensor 5 is moved by 7.5 μm when the scanning mirror 3 moves by 15 μm), specifically, as shown in fig. 3, the scanning mirror 3 translates according to the required displacement amount at each time in the order of right movement, downward movement, left movement and upward movement, as shown in fig. 4 (the original point in fig. 4 represents the photosensitive position of the infrared sensor 5, and the intersection point of the horizontal and vertical lines is the imaging position), so that the optical image on the infrared sensor 5 between adjacent frames is displaced by 0.5 pixel, and the original position obtains a first frame image, before the infrared sensor 5 starts the exposure of the second frame, the image surface moves 0.5 pixel to the right; the image surface of the third frame of image moves 0.5 pixel downwards, and the image surface of the fourth frame of image moves 0.5 pixel leftwards; and sends the four frame images to the control device 6;
the control device 6 fills the obtained four frames of images into a blank image with the resolution increased to 2 x 2 times according to the positions of the pixel points, and the high-resolution image can be obtained through algorithm processing such as airspace iterative hyper-resolution reconstruction and the like.
The scanning sequence of the micro-scanning and over-dividing method is a clockwise sequence as shown in fig. 5-1, as another embodiment, the scanning sequence may also be a counterclockwise sequence as shown in fig. 5-2 or a cross sequence as shown in fig. 5-3 and 5-4, which is not limited in this respect.
The required displacement amount of the scanning mirror 3 at each time is a sub-pixel displacement amount, that is, a displacement amount required for image plane movement, and is 0.5 pixel, but in other embodiments, the required displacement amount may be set as needed, or may be 0.33 pixel, 0.25 pixel, 0.2 pixel, 0.1 pixel, or the like.
In order to avoid image blurring caused by vibration during micro-scanning and over-resolution imaging, an image stabilizing method implemented by the control device 6 is shown in fig. 6, and specifically includes the following implementation steps:
1) when the platform does not vibrate, the imaging position and the photosensitive position of the infrared imaging system on the focal plane of the infrared sensor 5 are coincident as shown in fig. 7-1, and no blur occurs;
2) when the platform vibrates, the vibration quantity of the platform at the current moment and the required displacement quantity of the scanning mirror 3 at the next moment are obtained through the inertial sensor 1;
3) obtaining the imaging position and the desired photosensitive position (the desired photosensitive position is the intersection of the horizontal and vertical lines) on the focal plane of the infrared sensor 5 at the next time from the measured vibration amount of the stage at the current time as shown in fig. 7-2, there is an offset Δ S, assuming that the vibration amount of the stage is Δ S0From the optical path shown in fig. 3, the offset Δ S at the next time becomes — Δ S0；
4) Obtaining the compensation amount of the scanning mirror 3 at the next moment according to the offset, wherein the relationship between the offset and the compensation amount can be determined according to the magnification of the scanning mirror 3; for example: the magnification of the scanning mirror 3 is 0.5, and if the offset deltas is-4 mm, the compensation quantity should be-2 mm;
5) determining the actual displacement of the scanning mirror 3 at the next moment according to the compensation amount and the required displacement; the method specifically comprises the following steps: adding the compensation amount and the required displacement amount to obtain the actual displacement amount of the scanning mirror 3 at the next moment;
6) the control amount of the micro-scanner 4 is obtained from the actual displacement amount, and the micro-scanner 4 is controlled by the control amount so that the imaging position on the focal plane of the infrared sensor 5 and the photosensitive position coincide again as shown in fig. 7-3.
The process of obtaining the control quantity of the micro-scanner 4 through the actual displacement in the step 6) is the prior art, and is the same as the process of obtaining the control quantity of the micro-scanner 4 through the required displacement in the micro-scanning over-division method, and is not described herein again.
In the above embodiment, the scanning mirror 3 is a transmissive scanning mirror, as another embodiment, the scanning mirror 3 may also be a reflective scanning mirror as shown in fig. 8, and the imaging light beam formed by the imaging lens group 2 is reflected by the scanning mirror 3 and enters the infrared sensor 5.
In the above embodiment, the inertial sensor 1 collects the amount of vibration of the stage, and is an inertial sensor, but in another embodiment, the amount of vibration may be collected by a sensor of a relative type.
In the above embodiments, the control device is DSP + FPGA, and as another embodiment, another high-speed processing chip or the like may be used.
In the above embodiment, the scanning mirror 3 is driven by the micro-scanner 4, as another embodiment, another driving device may be used to drive the scanning mirror 3, and the invention is not limited thereto.
According to the invention, the required displacement of the scanning mirror 3 in the micro-scanning over-division method is compensated by collecting the vibration quantity of the platform, so that the coincidence of the imaging position on the focal plane of the infrared sensor 5 and the photosensitive position is ensured, the phenomenon of image blurring is avoided, and optical image stabilization is realized while micro-scanning over-division is realized.
The embodiment of the image stabilizing device of the super-resolution infrared imaging system comprises:
the image stabilization apparatus of the super-resolution infrared imaging system, that is, the control apparatus in the super-resolution infrared imaging system, as shown in fig. 9, includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the image stabilization method of the super-resolution infrared imaging system when executing the computer program.
The specific implementation process and effect of the image stabilizing method of the super-resolution infrared imaging system are introduced in the above-mentioned embodiment of the super-resolution infrared imaging system, and are not described herein again.
That is, the image stabilization method in the above embodiments of the super-resolution infrared imaging system should understand the flow of the image stabilization method of the super-resolution infrared imaging system that can be implemented by computer program instructions. These computer program instructions may be provided to a processor (e.g., a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus), such that the instructions, which execute via the processor, create means for implementing the functions specified in the method flow.
The processor referred to in this embodiment refers to a processing device such as a microprocessor MCU or a programmable logic device FPGA;
the memory of the present embodiment is used for storing computer program instructions formed by implementing an image stabilization method of a super-resolution infrared imaging system, and includes a physical device for storing information, and the information is usually digitized and then stored in a medium using an electric, magnetic or optical method. For example: various memories for storing information by using an electric energy mode, such as RAM, ROM and the like; various memories for storing information by magnetic energy, such as hard disk, floppy disk, magnetic tape, magnetic core memory, bubble memory, and U disk; various types of memory, CD or DVD, that store information optically. Of course, there are other ways of memory, such as quantum memory, graphene memory, and so forth.
The image stabilizing device of the super-resolution infrared imaging system, which is formed by the memory and the processor, wherein the memory is used for storing computer program instructions formed by the image stabilizing method for realizing the super-resolution infrared imaging system, and the processor executes corresponding program instructions in the computer, the computer can be realized by using a windows operating system, a linux system or other systems, for example, the computer can be realized by using android and iOS system programming languages in an intelligent terminal, and can be realized by processing logic based on a quantum computer.
As another embodiment, the image stabilizing device of the super-resolution infrared imaging system may further include other processing hardware, such as a database or a multi-level cache, a GPU, and the like.
The embodiment of the image stabilizing method of the super-resolution infrared imaging system comprises the following steps:
the specific implementation process and effect of the image stabilizing method of the super-resolution infrared imaging system are introduced in the above-mentioned embodiment of the super-resolution infrared imaging system, and are not described herein again.
Claims (10)
1. An image stabilizing method of a super-resolution infrared imaging system is characterized by comprising the following steps:
1) obtaining the vibration quantity of the platform at the current moment and the required displacement quantity of the scanning mirror at the next moment; the required displacement is the sub-pixel displacement in the micro-scanning over-division method;
2) obtaining the offset of the imaging position and the photosensitive position at the next moment according to the vibration quantity of the platform at the current moment;
3) obtaining the compensation quantity of the scanning mirror at the next moment according to the offset;
4) determining the actual displacement of the scanning mirror at the next moment according to the compensation amount and the required displacement;
5) and obtaining the control quantity of the driving device according to the actual displacement, and controlling the driving device according to the control quantity.
2. The image stabilization method for the super-resolution infrared imaging system according to claim 1, wherein the vibration amount of the stage at the current time is obtained by an inertial sensor.
3. The image stabilization method of the super-resolution infrared imaging system according to claim 1 or 2, wherein the driving device is a micro-scanner.
4. The image stabilization method of the super-resolution infrared imaging system according to claim 1 or 2, wherein the sub-pixel displacement amount is 0.5 pixel, 0.33 pixel, 0.25 pixel, 0.2 pixel, or 0.1 pixel.
5. An image stabilization apparatus of a super-resolution infrared imaging system, comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the image stabilization method of the super-resolution infrared imaging system according to any one of claims 1 to 4 when executing the computer program.
6. A super-resolution infrared imaging system including an imaging lens group for imaging, a scanning mirror for micro-scanning image information formed by the imaging lens group, a driving device for driving the scanning mirror to move, and an infrared sensor for receiving the image information, characterized by further comprising:
the vibration quantity acquisition device is used for acquiring the vibration quantity of the platform;
the control device comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the following steps when executing the computer program:
1) obtaining the vibration quantity of the platform at the current moment and the required displacement quantity of the scanning mirror at the next moment; the required displacement is the sub-pixel displacement in the micro-scanning over-division method;
2) obtaining the offset of the imaging position and the photosensitive position at the next moment according to the vibration quantity of the platform at the current moment;
3) obtaining the compensation quantity of the scanning mirror at the next moment according to the offset;
4) determining the actual displacement of the scanning mirror at the next moment according to the compensation amount and the required displacement,
5) and obtaining the control quantity of the driving device according to the actual displacement, and controlling the driving device according to the control quantity.
7. The super-resolution infrared imaging system according to claim 6, wherein the vibration amount acquiring means is an inertial sensor.
8. The super resolution infrared imaging system of claim 6 or 7, wherein the driving means is a micro-scanner.
9. The super resolution infrared imaging system of claim 6 or 7, wherein the scanning mirror is a transmissive scanning mirror or a reflective scanning mirror.
10. The super resolution infrared imaging system of claim 6 or 7, wherein the sub-pixel displacement amount is 0.5 pixel, 0.33 pixel, 0.25 pixel, 0.2 pixel or 0.1 pixel.
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