CN209446767U - Radiant correction apparatus and system - Google Patents
Radiant correction apparatus and system Download PDFInfo
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- CN209446767U CN209446767U CN201822133339.5U CN201822133339U CN209446767U CN 209446767 U CN209446767 U CN 209446767U CN 201822133339 U CN201822133339 U CN 201822133339U CN 209446767 U CN209446767 U CN 209446767U
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Abstract
The utility model discloses a kind of radiant correction apparatus and system, the radiant correction device includes: controller, image-forming module；The controller is electrically connected with the image-forming module；The controller is for sending acquisition instructions up to the image-forming module；The image-forming module is used to obtain reflected image when receiving the acquisition instructions and is sent to the controller.The utility model is able to achieve the imaging device of multispectral camera while operation exposure, under environment locating for the airborne narrow bandwidth multispectral camera of synchronous acquisition, the reflected image of corresponding wave band, and then obtain its spoke luminance data, and the radiation characteristic of the environmental images according to acquired in spoke luminance data amendment multispectral camera, realize the accurate radiant correction to image data.
Description
Technical field
It is the utility model relates to the radiation calibration field of imaging sensor, in particular to a kind of applied to the airborne of unmanned plane
The radiant correction apparatus and system of the image-forming module of narrow bandwidth multispectral camera.
Background technique
The radiant correction of remotely-sensed data is the basic link of remotely-sensed data quantification, only can just be obtained by radiant correction
Image-forming module (imaging sensor) corresponds between pixel, the actual emanations brightness value of atural object and the relative value of image-forming module itself
Relationship, and then calculated result is verified and corrected.
Currently, most popular Calibration Method is to correct mesh to be measured using the radiation characteristic of known standard reflection body
Target radiation characteristic, or clutter reflections rate and solar irradiance are obtained using field spectroradiometer, and then realize the mesh of radiant correction
's.But since small-sized drone flying height is low, image-forming module picture mounted is smaller, if using this radiation calibration
Method then needs large area to be laid with reflecting plate.
The Sequoia multispectral sensor of French Parrot company research and development, which is furnished with, can be placed at the top of unmanned aerial vehicle body too
Sunlight sensor can get the corresponding irradiance value of four wave band of Sequoia multispectral sensor, realize airborne real time correction.
But the fish eye lens field angle of sun optical sensor institute band is big, in observation angle directly to solar elevation when will appear glare,
And sun optical sensor it is obtained be all light sources irradiation level summation, do not represent environment light ingredient, correction error is larger.
Utility model content
The technical problems to be solved in the utility model is to overcome in the prior art to the environmental images of unmanned plane acquisition
The corrected biggish defect of method error, provides a kind of radiant correction apparatus and system.
The utility model is to solve above-mentioned technical problem by following technical proposals:
A kind of radiant correction device, the radiant correction device include: controller, image-forming module；
The controller is electrically connected with the image-forming module；
The controller is for sending acquisition instructions up to the image-forming module；
The image-forming module is used to obtain reflected image when receiving the acquisition instructions and is sent to the controller.
Preferably, the radiant correction device further include:
Ontology is reflected, the reflection ontology is equipped with diffusing reflection plate；
Incident ontology, the incidence ontology and the reflection ontology have an angle；
The image-forming module is set on the incident ontology, and is located at close to the side of the diffusing reflection plate；
The diffusing reflection plate is used to light source reflexing to the image-forming module.
Preferably, the radiant correction device further includes attachment device；
The both ends of the attachment device are separately connected the reflection ontology and the incident ontology；
The attachment device is used to adjust the angle between the reflection ontology and the incident ontology.
Preferably, the value range of the angle is 30 °~45 °.
Preferably, the image-forming module includes photosensitive sensor and multiple imaging subelements；
Each imaging subelement includes: filter, imaging fibre and lenticule；
Light source by diffusing reflection plate reflection is by the filter, the imaging fibre and the lenticule to described
Photosensitive sensor.
Preferably, the image-forming module includes a main imaging unit and several single channel imaging units；
Several single channel imaging unit scattering devices are around the main imaging unit；
The main imaging unit include image-forming objective lens, anti alias filter, infrared fileter, lenticule, Baeyer filter and
Photodiode, light source by diffusing reflection plate reflection is by the image-forming objective lens, anti alias filter, described infrared
Optical filter, the lenticule, the Baeyer filter to the photodiode；
The single channel imaging unit includes filter, image-forming objective lens, collimating mirror and photodiode, by described unrestrained
The light source of baffle reflection passes through the filter, the image-forming objective lens, the collimating mirror to the photodiode.
Preferably, the reflection ontology is equipped with sliding slot, the diffusing reflection plate is slid by the sliding slot and is fixed on institute
It states on reflection ontology.
A kind of radiant correction system, the radiant correction system include: radiation described in server and above-mentioned any one
Means for correcting；
The server is connect with the radiant correction device and UAV Communication to be corrected；
When the server is used at a distance from the radiant correction device is between the unmanned plane within a preset range,
The acquisition instructions are sent to the radiant correction device.
The positive effect of the utility model is: the imaging device that the utility model is able to achieve multispectral camera is being made
While industry exposes, under environment locating for the airborne narrow bandwidth multispectral camera of synchronous acquisition, the reflected image of corresponding wave band, in turn
Its spoke luminance data is obtained, and the radiation of the environmental images according to acquired in spoke luminance data amendment multispectral camera is special
Property, realize the accurate radiant correction to image data.
Detailed description of the invention
Fig. 1 is the first structure diagram of the radiant correction device of the utility model embodiment 1.
Fig. 2 is the second structural schematic diagram of the radiant correction device of the utility model embodiment 1.
Fig. 3 is the module diagram of the radiant correction device of the utility model embodiment 1.
Fig. 4 is the scheme of installation of the radiant correction device of the utility model embodiment 1.
Fig. 5 is the module diagram of the radiant correction system of the utility model embodiment 2.
Specific embodiment
A preferred embodiment is named, and completely illustrates the utility model in conjunction with attached drawing to become apparent from.
Embodiment 1
The present embodiment provides a kind of radiation of image-forming module suitable for the airborne narrow bandwidth multispectral camera on unmanned plane
Means for correcting, as shown in Figure 1-3, the radiant correction device includes: controller 6, image-forming module 3, reflection ontology 4, incident ontology 2
With attachment device 5.Controller 6 is electrically connected with image-forming module 3.Reflection ontology 4 and incident ontology 2 are connected by attachment device 5.Spoke
Penetrating the imaging parameters of image-forming module 3 of means for correcting use, specification, performance need to be with image-forming module phase to be corrected on unmanned plane
Together.
It reflects ontology 4 and is equipped with diffusing reflection plate 1, which is to use with certain Lambertian characteristics standard diffusing reflection plate
With the light source namely sunlight in reflection environment.Lambertian characteristics refer to that the radiance of radiating surface source directive all directions is not
With, there is directionality, if spoke brightness does not change with direction x (angle of cut of the x between spoke luminance directions and plane normal), this
Class radiator is known as the bright body of uncle.Currently, diffusing reflection plate coating includes using common combined type diffusing reflection coating material
Spectralon, Infragold, Permaflect etc., main component include barium sulfate, polytetrafluoroethylene (PTFE), water base ethane with
And other synthesis chemical components etc., different materials have different reflectivity.
It reflects ontology and is equipped with sliding slot, diffusing reflection plate is slid by the sliding slot and is fixed on reflection ontology, is similar to and take out
Drawer formula structure, user can replace at any time the standard diffusing reflection plate of different reflectivity according to different scenes application demand.
Incident ontology is located at side namely image-forming module close to diffusing reflection plate for installing image-forming module, image-forming module
Towards diffusing reflection plate, image-forming module is enable to receive the light source of diffusing reflection plate reflection.
Specifically, dot matrix imaging array (referring to Fig. 1) or face battle array imaging array can be used in image-forming module in the present embodiment
(referring to fig. 2), user can voluntarily select.Wherein, dot matrix imaging device, since optical fiber boundling is small in size, dot matrix imaging dress
Setting can be with lightweight, convenient for integrated；Face battle array imaging device, it is consistent with airborne end on imaging performance from device composition, so
In the processing of data, the influence of systematical difference bring can be reduced, confidence level is higher.
Dot matrix imaging array includes photosensitive sensor and multiple imaging subelements 31.Each imaging subelement include: filter,
Imaging fibre and lenticule.Multiple imaging subelement scattering devices are in incident ontology, and imaging fibre is vertical with incident ontology, at
As the incidence end of optical fiber and the normal vector of diffusing reflection plate are in a certain angle.The central axis of each imaging fibre and photosensitive sensor
Central axis is parallel.Interval between adjacent imaging subelement is determined according to imaging fibre field angle size, need to guarantee adjacent fields of view
It is non-overlapping.Preferably, multiple imaging subelements using same specification as imaging fibre, and arranged at equal intervals.The area of filter is greater than
The area of the cross section of imaging fibre.In the present embodiment, the surface of filter is coated with layer oxide film, the optical characteristics and nothing of filter
The optical characteristics of the filter in image-forming module on man-machine corresponds to each other.Light source after the reflection of diffusing reflection plate, by filter, from
The incidence end of imaging fibre is injected, and imaged optical fiber transmitting, microlens array convergence form a branch of imaging fibre boundling, feeling
It is imaged on optical sensor, obtains reflected image, one group of hot spot is shown on reflected image.
Face battle array imaging array includes a main imaging unit 32 and the multiple single channels being arranged in around main imaging unit imaging
Unit.Main image-forming module includes the first face battle array photosensitive sensor, and the first face battle array photosensitive sensor includes image-forming objective lens, anti-aliasing filtering
Device, infrared fileter, lenticule, Baeyer filter and photodiode, by emitting the light source of proprioceptive reflex by imaging object
Mirror, anti alias filter, infrared fileter, lenticule, Baeyer filter to photodiode.Each single channel imaging unit includes the
Two faces battle array photosensitive sensor, the second face battle array photosensitive sensor includes filter, image-forming objective lens, collimating mirror and photodiode,
Light source by emitting proprioceptive reflex passes through filter, image-forming objective lens, collimating mirror to photodiode.Equally, main imaging unit
Layer oxide film is coated with the filter outer surface of single channel imaging unit.Imaging mould in the optical characteristics and unmanned plane of filter
The optical characteristics of filter in block corresponds to each other.
Attachment device 5 is used to adjust the angle between reflection ontology and incident ontology, when carrying out radiant correction, reflects ontology
Conveniently between 30 °~45 °, image-forming module can receive reflection source to angle between incident ontology to greatest extent at this time.
When being corrected, referring to fig. 4, radiant correction device is fixed on the open area near unmanned machine operation, and
Make device towards the sun, ambient enviroment is avoided to block device.Controller is formed as module receiving acquisition instructions time control
Reflected image is obtained, which has temporal information, characterize the acquisition moment of image.The control signal of controller uses arteries and veins
Rush trigger signal such as PPS (pulses per second), PWM (pulse width modulation) etc., using pulse signal effective edge control at
As module data acquisition.The reflected image that controller is also used to be acquired according to image-forming module obtains synchronization unmanned plane
Environmental images be corrected.
Specifically, controller includes: receiving unit 61, radiation calibration unit 62, computing unit 63, storage unit 64 and figure
As processing unit 65.
Receiving unit 61 is used to receive the environmental images of the image-forming module acquisition of unmanned plane, which unifies band sometimes
Between information, characterize the acquisition moment of image.Receiving unit be also used to according to acquisition moment of uniform time reference and image when
Between stamp, environmental images of with wave band identical with the acquisition moment of reflected image are selected from the environmental images of acquisition, and send
To computing unit 63.
Storage unit 64 is used to store the reflected image that the image-forming module of radiant correction device obtains.
Radiation calibration unit 62 is used to carry out radiation calibration to the image-forming module of radiant correction device, to determine radiant correction
The quantum efficiency model for the image-forming module that device and unmanned plane use, such as:
L=a × DN+b；
Wherein, L characterizes radiance, and DN characterizes gray value, the coefficient of a and b characterization quantum efficiency Model.Calibration mode can
Using current common method, details are not described herein again.
Computing unit 63 is used for the gray scale according to the quantum efficiency model and the reflected image obtained from storage unit 64
Value calculates the radiance of reflected image, and corrects environmental images according to radiance, which is and the reflected image
The image that synchronization is acquired by the image-forming module of unmanned plane.Radiant correction formula is as follows:
Wherein,Characterize the radiance of reflected image；Characterize the radiance of environmental images；RsIndicate unrestrained anti-
Penetrate the reflectivity (being determined by the material of diffusing reflection plate) of plate, RGIndicate atural object clutter reflections rate；Environment shadow after the correction of L ' characterization
The radiance of picture.
In the present embodiment, computing unit 63 is before calculating radiance, also calling image processing unit 65, with from reflection
Exceptional value caused by influence of the rejecting because disposing environment and the image inconsistent with environmental images brightness change rule in image.Its
In, the brightness change rule of reflected image can be described using histogram.Brightness histogram indicates each intensity level in the picture
Occupation rate；Picture contrast is measured by brightness level range.It is particular luminance level pixel shown in histogram
Number.For 8 pixels, brightness level range is 0 (black) to 255 (white).What it is due to the shooting of radiant correction device is that standard is anti-
The image of plate is penetrated, therefore under identical environment light, image brilliance should show center pixel brightness height, from center to edge-smoothing
Reduced rule should be rejected if image does not meet above-mentioned rule.In subsequent processing, the central area ginseng of mainly image
With calculating.When in total pixel number, (numerical value can according to actual needs certainly lower than 70% for pixel number shared by high brightness levels in selected areas
Row setting), which should reject as abnormal image processing.
It should be noted that if realizing that image collection, image processing unit are also needed to reflection using face battle array imaging array
Image carries out image segmentation, and image is divided into region specific, with unique properties, and according to radiant correction demand, identification is simultaneously
Extract effective region.It is specific: make the histogram of reflected image, if gray level histogram has apparent bimodal shape,
Select gray value corresponding to the lowest point between two peaks as threshold value, then according to Threshold segmentation image；Pass through grid and vector
The effective coverage of method extraction image.According to specified invalid value, image is subjected to binaryzation, mask artwork is obtained, then passes through
Grid and vector function generates valid data of the vector file as reflected image, and is sent to computing unit to be radiated
Correction.
In the present embodiment, the imaging device of multispectral camera is able to achieve while operation exposure, synchronous acquisition is airborne narrow
Under environment locating for bandwidth multispectral camera, the reflected image of corresponding wave band, and then its spoke luminance data is obtained, and according to this
Spoke luminance data corrects the radiation characteristic of environmental images acquired in multispectral camera, realizes the accurate radiation to image data
Correction.
Embodiment 2
The present embodiment provides a kind of radiation of image-forming module suitable for the airborne narrow bandwidth multispectral camera on unmanned plane
Correction system under same light source, it can be achieved that complete the radiant correction of the image-forming module of unmanned plane.As shown in figure 5, the radiation school
Positive system includes server (earth station) and the radiant correction device shown in embodiment 1, the server and radiant correction device and
UAV Communication connection to be corrected, which includes image-forming module.
When being corrected, radiant correction device is installed, and carry out parameter setting, it is ensured that image-forming module and image-forming module
Photosensitive element performance parameter (size, pixel number and signal-to-noise ratio etc.) and imaging parameters (film speed, exposure compensating, shutter and white
Balance etc.) it is consistent.When unmanned plane operation in course line, server passes real-time logs according to number and judges unmanned plane in course line
In position, when the distance between radiant correction device and unmanned plane within a preset range when, server is to radiant correction device
Controller send acquisition instructions, to realize unmanned plane while acquire environmental images, radiant correction device is for each wave
Section completes the acquisition of primary event image.
The controller of radiant correction device then controls image-forming module and obtains reflected image when receiving acquisition instructions, real
Now with the image-forming module synchronous acquisition image of unmanned plane.When needed, radiant correction device is according to reflected image to same
The environmental images that moment unmanned plane obtains are corrected.For the environmental images that needs correct, unmanned plane can be straight by environmental images
Radiant correction device is given in sending and receiving, environmental images can also be sent to radiant correction device by server.
It should be noted that multiple acquisitions can be transmitted in server when needing to carry out radiant correction to several environmental images
It instructs to radiant correction device；Acquisition interval can also be written in acquisition instructions, obtain radiant correction device according to acquisition interval
Take reflected image.
And it is the unification for realizing system time reference, the time service of image-forming module may be implemented in controller.Image-forming module
Trigger pulse and clock signal can be received simultaneously, while photosensitive sensor imaging, by image store to storage unit and real
When update event file, make image with accurate temporal information.
A kind of possible implementation of settling time presented below substantially: it is connect by asynchronous serial communication interface chip, GPS
The time service unit of receipts machine, GPS second impulse level conversion chip, crystal oscillator composition control device.The transmission of asynchronous serial communication interface chip
High-precision markers；GPS receiver receives GPS signal, and the GPS second pulse signal sent is to GPS second impulse level conversion chip；
GPS second pulse is converted to Transistor-Transistor Logic level by differential level by GPS second impulse level conversion chip；When crystal oscillator is used to generate stable
Clock signal.
Although the foregoing describe specific embodiment of the present utility model, it will be appreciated by those of skill in the art that
This is merely illustrative of, and the protection scope of the utility model is defined by the appended claims.Those skilled in the art
Under the premise of without departing substantially from the principles of the present invention and essence, many changes and modifications may be made,
But these change and modification each fall within the protection scope of the utility model.
Claims (8)
1. a kind of radiant correction device, which is characterized in that the radiant correction device includes: controller, image-forming module；
The controller is electrically connected with the image-forming module；
The controller is for sending acquisition instructions up to the image-forming module；
The image-forming module is used to obtain reflected image when receiving the acquisition instructions and is sent to the controller.
2. radiant correction device as described in claim 1, which is characterized in that the radiant correction device further include:
Ontology is reflected, the reflection ontology is equipped with diffusing reflection plate；
Incident ontology, the incidence ontology and the reflection ontology have an angle；
The image-forming module is set on the incident ontology, and is located at close to the side of the diffusing reflection plate；
The diffusing reflection plate is used to light source reflexing to the image-forming module.
3. radiant correction device as claimed in claim 2, which is characterized in that the radiant correction device further includes connection dress
It sets；
The both ends of the attachment device are separately connected the reflection ontology and the incident ontology；
The attachment device is used to adjust the angle between the reflection ontology and the incident ontology.
4. radiant correction device as claimed in claim 3, which is characterized in that the value range of the angle is 30 °~45 °.
5. radiant correction device as claimed in claim 2, which is characterized in that the image-forming module includes photosensitive sensor and more
A imaging subelement；
Each imaging subelement includes: filter, imaging fibre and lenticule；
Light source by diffusing reflection plate reflection is by the filter, the imaging fibre and the lenticule to described photosensitive
Sensor.
6. radiant correction device as claimed in claim 2, which is characterized in that the image-forming module include a main imaging unit and
Several single channel imaging units；
Several single channel imaging unit scattering devices are around the main imaging unit；
The main imaging unit includes image-forming objective lens, anti alias filter, infrared fileter, lenticule, Baeyer filter and photoelectricity
Diode, the light source by diffusing reflection plate reflection pass through the image-forming objective lens, the anti alias filter, the infrared filtering
Piece, the lenticule, the Baeyer filter to the photodiode；
The single channel imaging unit includes filter, image-forming objective lens, collimating mirror and photodiode, by the diffusing reflection
The light source of plate reflection passes through the filter, the image-forming objective lens, the collimating mirror to the photodiode.
7. radiant correction device as claimed in claim 2, which is characterized in that the reflection ontology is equipped with sliding slot, described unrestrained
Reflecting plate is slid by the sliding slot and is fixed on the reflection ontology.
8. a kind of radiant correction system, which is characterized in that the radiant correction system includes: server and such as claim 1-7
Any one of described in radiant correction device；
The server is connect with the radiant correction device and UAV Communication to be corrected；
When the server is used at a distance from the radiant correction device is between the unmanned plane within a preset range, send
The acquisition instructions are to the radiant correction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822133339.5U CN209446767U (en) | 2018-12-19 | 2018-12-19 | Radiant correction apparatus and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822133339.5U CN209446767U (en) | 2018-12-19 | 2018-12-19 | Radiant correction apparatus and system |
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| CN209446767U true CN209446767U (en) | 2019-09-27 |
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| CN201822133339.5U Active CN209446767U (en) | 2018-12-19 | 2018-12-19 | Radiant correction apparatus and system |
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