WO2019174648A1 - 跨行时延积分方法、装置及相机 - Google Patents

跨行时延积分方法、装置及相机 Download PDF

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Publication number
WO2019174648A1
WO2019174648A1 PCT/CN2019/078513 CN2019078513W WO2019174648A1 WO 2019174648 A1 WO2019174648 A1 WO 2019174648A1 CN 2019078513 W CN2019078513 W CN 2019078513W WO 2019174648 A1 WO2019174648 A1 WO 2019174648A1
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Prior art keywords
energy
integrated
integral
row
slice
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PCT/CN2019/078513
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English (en)
French (fr)
Chinese (zh)
Inventor
秦军
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Chengdu Zhongxin Huarui Technology Co Ltd
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Chengdu Zhongxin Huarui Technology Co Ltd
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Priority to JP2020549561A priority Critical patent/JP7244025B2/ja
Priority to DE112019000852.8T priority patent/DE112019000852T5/de
Priority to CA3095218A priority patent/CA3095218C/en
Publication of WO2019174648A1 publication Critical patent/WO2019174648A1/zh
Priority to US17/023,270 priority patent/US11128821B2/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
    • H04N25/711—Time delay and integration [TDI] registers; TDI shift registers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
    • H04N25/768—Addressed sensors, e.g. MOS or CMOS sensors for time delay and integration [TDI]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
    • H04N25/713—Transfer or readout registers; Split readout registers or multiple readout registers

Definitions

  • the present application relates to the field of high speed imaging technology, and in particular to a method, device and camera for cross-row delay integration.
  • TDI Time Delay Integration
  • TDI-CCD TDI Charge Coupled Device
  • TDI-CMOS TDI Complementary Metal Oxide Semiconductor
  • the refresh rate of TDI-CCD or TDI-CMOS devices is not infinitely high, so the camera will not work properly after the target and camera relative motion speeds are high.
  • the purpose of the present application is to provide a cross-line delay integration method, apparatus, and camera that can effectively improve the above problems.
  • the integral slice field in the present application is a division of a camera imaging pixel area array, and an imaging range corresponding to an integrated slice field constitutes a scene, and the ith target area is an integral slice field covered scene corresponding to the i line 1 strip imaged area of the image.
  • the xth target area is a strip imaging area corresponding to an x line image in a scene covered by an integrated slice.
  • an embodiment of the present application provides a cross-row delay integration method, where the method includes: acquiring, at an i-th row of a first integration slice, a first-order integration energy in an i-th target region; The first stage integrated energy is transferred to the i-th row of the second integrated slice field; after one integration period, the first level in the ith target area is acquired on the i-th row of the second integrated slice field An integral energy accumulated by the integral and the second-order integral; outputting an image of the i-th target region including the first-order integrated energy and the second-level integrated energy.
  • the camera area array of the inter-row delay integration camera is divided into a plurality of integrated slice fields for imaging, and each of the integrated slice fields is included as a plurality of lines for imaging.
  • the number of rows of each of the integrated slice domains is equal.
  • the method further includes:
  • the integrated energy accumulated in the first-stage integral, the second-level integral, and the third-stage integral in the ith target region is acquired on the i-th row of the third integrated patch region;
  • An image of the i-th target region including the first-order integrated energy, the second-order integrated energy, and the third-order integrated energy is output.
  • the method further includes:
  • the xth target area image including the first level integral energy and the second level integral energy is output.
  • the method further includes:
  • the xth target area image including the first level integrated energy, the second level integrated energy, and the third level integrated energy is output.
  • the method further includes:
  • the stage integral energy includes a first-order integral energy in which the ith target region is sequentially imaged on an i-th row of the first integration slice domain up to an i-th row of the k-th integration slice domain, each of the integration slices
  • the field includes m rows of effective imaging areas;
  • the m rows of k-level integral images are output, and the imaging of the k integrated slices can share an energy harvesting system or use multiple energy harvesting systems.
  • the level integral energy of the previous integral slice field to be transferred to the corresponding row of the next integrated slice domain is an analog quantity or a digital quantity
  • the photosensitive unit at the (i, j) position in the last integrated slice coordinate system shifts the energy transferred by the photosensitive unit at the (i, j) position in the next integrated slice coordinate system by physical connection.
  • the photosensitive unit at the (i, j) position in the last integrated slice domain coordinate system is connected by circuitry to the photosensitive unit at the (i, j) position in the next integrated slice domain coordinate system.
  • the photosensitive unit located at the (i, j) position in the last integrated slice coordinate system is transferred to the photosensitive unit located at the (i, j) position in the next integrated slice coordinate system, the previous photosensitive
  • the level integral energy acquired by the unit is processed by the computer, converted into a digital signal, and then sent to the next photosensitive unit.
  • the photosensitive unit located at the (i, j) position in the last integrated slice coordinate system transmits energy of the original charge energy to the photosensitive unit located at the (i, j) position in the next integrated slice coordinate system. Or the energy after processing the original charge energy.
  • the lens of the inter-row delay integration camera is a cylindrical lens, or a spherical lens, or a combination of cylindrical lenses, or a combination of spherical lenses, or a combination of a cylindrical lens and a spherical lens.
  • the number of rows spanned when the integrated energy is transferred from the previous integrated slice to the next integrated slice is according to a relative motion speed between the target region and the inter-row delay integration camera and the inter-row delay integral camera The determination of the refresh rate.
  • the embodiment of the present application further provides an inter-row delay integration device, which includes a first acquisition module, configured to acquire a first-level integral in an i-th target region on an i-th row of the first integration slice domain. Energy; a first transfer module, configured to transfer the first-level integrated energy across the row to the ith row of the second integrated slice; and a second acquisition module, configured to pass the integration cycle after the second integration And acquiring, on the i-th row of the slice field, the integrated energy accumulated by the first-stage integral and the second-stage integral in the ith target region; the first output module, configured to output the first-level integrated energy and the An image of the i-th target area of the second-order integrated energy.
  • an embodiment of the present application further provides a cross-line delay integration camera including an imaging element and a controller, the imaging element being coupled to the controller, the imaging element including a plurality of integral slices, each The integral slice field includes a plurality of rows of effective imaging regions, and the controller is configured to separately control the plurality of rows of effective imaging regions to independently perform photoelectric conversion, energy processing, energy transfer, energy integration, and image output, wherein the integral slice
  • the number of domains, the number of rows of the effective imaging zone on each of the integrated slices, the number of rows of energy transfer across rows, and the number of integration stages of energy integration are editable, under the control of the controller.
  • the cross-line delay integration camera implementation method provides the cross-line delay integration method method.
  • the cross-row delay integration method, device and camera provided by the embodiment of the present application first acquire the first i-th target region on the i-th row of the first integration slice domain when imaging the first scene in the first integration slice domain. a first-order integrated energy; then transferring the first-order integrated energy across the line to the i-th row of the second integrated slice; after an integration period, the second integrated slice moves to the top of the first scene, and then Acquiring the second-level integral energy of the i-th target region of the first scene on the i-th row of the second integrated slice region; finally, outputting the first-segment target region of the first scene includes the first-level integrated energy and The i-th target area image of the second-order integrated energy.
  • the present application realizes multiple imaging of the same scene by integrating the energy obtained by a single imaging, and can perform target shooting in a higher speed environment, and can be used on existing optoelectronic devices.
  • the method is implemented by logic programming, and has excellent image quality and wide applicability.
  • FIG. 1 is a structural block diagram of an electronic device applicable to an embodiment of the present application
  • FIG. 2 is a flow chart of a cross-line delay integration method provided by a first embodiment of the present application
  • FIG. 3 is a flow chart of steps S300 to S320 provided by the first embodiment of the present application.
  • FIG. 5 is a flow chart of step S500 to step S520 according to the first embodiment of the present application.
  • FIG. 6 is a flow chart of steps S600 to S610 provided by the first embodiment of the present application.
  • FIG. 7 is a structural block diagram of a cross-line delay integration device according to a second embodiment of the present application.
  • FIG. 8 is a structural block diagram of a second cross-line delay integration device according to a second embodiment of the present application.
  • FIG. 9 is a structural block diagram of a third cross-line delay integration device according to a second embodiment of the present application.
  • FIG. 10 is a structural block diagram of a fourth cross-row delay integration device according to a second embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a cross-line delay integration camera according to a third embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of an imaging element according to a third embodiment of the present application.
  • FIG. 1 is a block diagram showing the structure of an electronic device 100 that can be applied to an embodiment of the present application.
  • the electronic device 100 can include a memory 110, a memory controller 120, a processor 130, a display screen 140, and an interline delay integration device.
  • the electronic device 100 can be a cross-line delay integration camera, a controller for controlling an inter-bank delay integration camera, or other electronic device for controlling a cross-line delay integration camera.
  • the components of the memory 110, the memory controller 120, the processor 130, and the display screen 140 are electrically connected directly or indirectly to implement data transmission or interaction.
  • these components can be electrically connected by one or more communication buses or signal buses.
  • the inter-bank delay integration method includes at least one software function module that can be stored in the memory 110 in the form of software or firmware, such as a software function module or a computer program included in the inter-bank delay integration device.
  • the memory 110 can store various software programs and modules, such as the inter-row delay integration method and device provided by the embodiments of the present application, and program instructions/modules corresponding to the camera.
  • the processor 130 executes various functional applications and data processing by executing software programs and modules stored in the memory 110, that is, implementing the inter-bank delay integration method in the embodiments of the present application.
  • the memory 110 can include, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), and erasable read-only Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), and the like.
  • the processor 130 can be an integrated circuit chip with signal processing capabilities.
  • the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP processor, etc.), or a digital signal processor (DSP) or an application specific integrated circuit (ASIC). ), Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
  • CPU central processing unit
  • NP processor network processor
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA Field Programmable Gate Array
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the electronic device 100 applied in the embodiment of the present application is configured to implement a cross-line delay integration method, and may also have a self-display function, wherein the display screen 140 may provide an interaction interface between the electronic device 100 and the user (for example, user operation). Interface) or for displaying image data for user reference. For example, an original image acquired by photoelectric conversion by the cross-line delay integration device and a complete image generated by energy integration may be displayed.
  • the present application relates to technologies such as computer technology, electronic technology, image processing, etc., and in the implementation process of the present application, applications of multiple software function modules are involved. Applicants believe that, after carefully reading the application documents, accurately understanding the implementation principle and the purpose of the present application, those skilled in the art can fully implement the application by using the software programming skills they have mastered in combination with the prior art.
  • the software function modules mentioned in the application documents of this application belong to this category, and the applicants will not list them one by one.
  • the inter-row delay integral camera used in the embodiment of the present application may be a camera with an area array image energy transfer structure, and the imaging target surface is divided into k integral slices according to the specifications of the i rows and j columns, k integral slices. Domains may be spatially contiguous or discontinuous.
  • the direction of the cross-line integration is the direction of the push-sweep motion, that is, the target area to be photographed is integrated with the direction of motion of the camera relative to the inter-row delay.
  • the embodiment provides a cross-line delay integration method, which is applied to an inter-row delay integration camera, and the method includes:
  • Step S200 acquiring first-level integral energy in the i-th target region on the i-th row of the first integration slice field;
  • the ith target area may be an area of the first scene corresponding to the i-th row of the first integration slice, and the first integration area may be an inter-line delay integration camera light sensation. Part of the face array.
  • the camera area array (imaging target surface) is divided into a plurality of integrated slice fields for imaging, and each integrated slice field is further divided into a plurality of lines of imaging regions, and the i-th image of the first integrated slice field
  • the row may refer to any one of the plurality of rows of imaging regions of the first integrating region, for example, may be the first row, or the second row, or the mth row; or may refer to the first integral region
  • Any of a plurality of rows of imaging regions in the multi-line imaging zone may be, for example, rows 1 through 2, or rows 1 through 3, or rows 2 through 3, or rows 1 through m.
  • the multi-line imaging area on one integrated slice always images a target area corresponding to its position and acquires the level integral energy in the same integration period.
  • the number of lines of the imaging area in the working state may be a single line, such as the first line; or may be multiple lines, such as the first line to the mth line; it may be a continuous plurality of lines, for example, 1 line, 2nd line, and 3rd line; it can also be a plurality of lines, such as the 1st line, the 3rd line, and the 5th line.
  • each integrated slice field can also be divided into multiple rows and multiple columns of imaging regions, and the number of rows of each of the integrated segments is equal.
  • An integral slice domain coordinate system is formed on each integrated slice domain, wherein the photosensitive cells located at (i, j) position in each integrated slice domain coordinate system are the i-th row and the first row of each integrated slice domain.
  • the photosensitive unit of column j, the photosensitive unit located at each coordinate position can be used independently for working (imaging and acquiring the level integral energy) or not working.
  • the subject and the camera move relative to each other at a certain speed.
  • the imaging area corresponding to the i-th row on the first integration slice of the camera is the first scene i-th target area, and the i-th target area is on the i-th line of the first integration slice field Imaging
  • the photoelectric signal carrying the image information of the ith target region, that is, the first-stage integrated energy is obtained through photoelectric conversion.
  • the first moment may refer to the first integration period when the camera first starts working, and may also refer to an integration period after the camera works for a period of time.
  • an integration period can be understood as the first exposure of the CCD pixel, the exposure energy is shifted out, cleared, and the second exposure is prepared.
  • the ith row of the first integration slice field may refer to any one of the effective imaging regions on the first integration slice field, that is, at the first moment, on the first integration slice field.
  • Each line of effective imaging area is working.
  • the first line to the fifth line of the first integral slice have target imaging, but after the sixth and sixth lines of the first integrated slice
  • There is no target imaging in the line it can be understood as: no image after the 6th line is needed, or the imaging area corresponding to the 6th line of the first field overlaps with the target area of the first line of the second integrated slice, so it is not necessary Image after line 6
  • the first level of integrated energy is zero.
  • the lengths of the integrated segments on the camera in this embodiment may not be exactly the same in the relative moving direction, and the width of each of the imaging regions on each integrated segment may not be completely the same. The size can be adjusted according to the actual shooting needs.
  • Step S210 Transfer the first-level integral energy across the row to the i-th row of the second integration slice field
  • each of the imaging regions of each of the integrating regions on the camera array can independently perform photoelectric conversion, energy processing, energy transfer, energy integration, and image output.
  • After acquiring the first-stage integral energy in the previous step it is temporarily stored in the storage unit corresponding to the i-th row of the first integration slice, and waits for the photosensitive element of the i-th row in the second domain to be cleared and output to the second integration.
  • the photosensitive element of the i-th row in the second domain On the i-th line of the slice field.
  • the first-order integrated energy is transferred from the ith row of the first integrated slice to the i-th row of the second integrated slice,
  • the first level of integrated energy is transferred across the p rows.
  • the first-order integral energy is also across the p-row. The transfer is performed, except that only m rows of the p rows spanned are valid imaging regions. It can be understood that p is greater than or equal to m.
  • each line of the effective imaging area on the camera is working. Specifically, the energy obtained by imaging on the first line on the first integration field is transferred to the second integration area across the p line. In 1 row, the energy obtained by imaging on the second line on the first integration slice is transferred across the p line to the second line on the second integration slice, and so on, each line on the first integration slice The first-order integral energy is simultaneously transferred across the p-row to the row corresponding to the second integrated slice. It can be understood that the information carried by the energy obtained by imaging the i-th row on the plurality of integrated slice fields corresponds to the ith target area of the first scene.
  • each row of each integrated slice field may include an energy storage area in addition to the imaging area.
  • the integrated energy obtained by imaging the imaging area of the i-th row of the previous integrated slice may be transferred to the energy storage area of the row to complete the next integral slice i
  • the preparation of the imaging element transfer is performed, and the energy in the imaging area of the line is cleared to zero to prepare the photosensitive image for the next target area.
  • the energy storage area of each row of the integrated slice field may be an energy storage circuit connected to the photosensitive element of the integrated slice field, or may be a storage medium such as a computer hard disk.
  • Step S220 After an integration period, acquire the second-level integral energy of the i-th target region of the first scene on the i-th row of the second integration region;
  • the second-stage integrated energy may be the accumulation of the first-level integrated energy and the second-order integrated energy of the same target region, or may be only the second-order integrated energy, which may be implemented in the energy processing unit and the first-level integrated energy.
  • the accumulation of the integrated energy, the first-order integrated energy and the second-order integrated energy may be the original energy, or may be the energy of the specified treatment.
  • the integration period may be a refresh rate of the camera, that is, a minimum time interval required for the photoelectric element to perform imaging twice.
  • the first integral field of the camera has moved to the next position of the subject, and moved to Above the first scene is the second integration slice, that is, at the second integration start time, the first scene is imaged on the second integration slice.
  • the i-th row of the second integration slice field stores not only the second-order integral energy imaged by the i-th target region but also the first time from the first integration slice domain on the i-th row. The first level of integrated energy coming over.
  • the distance between the ith row of the first integrated slice field of the camera and the ith row of the second integrated slice field corresponds to the distance that the camera moves relative to the target region in the imaging field of view during an integration period.
  • Step S230 Output an image of the i-th target area including the first-stage integration energy and the second-stage integration energy.
  • the first stage integral energy and the second level integral energy are integrated, and an ith target area image including the first level integral energy and the second level integral energy is obtained.
  • the integral level k of the camera is 2
  • the ith target area image is an integral of the first stage integral energy and the second level integral energy; when the camera's integral level k exceeds 2,
  • the i-th target area image may also include level integrated energy obtained by imaging on other integral slices.
  • the camera can set the integration level k. For example, if there are a total of k effective integral regions on the camera array, then from the moment of the first-level integral sensitization, after k integration periods, a total of k-level integral energies are obtained, and the k-level integral energies are respectively
  • the i-th row of the k effective integrated slice fields is obtained by imaging the same i-th target region, and after k-1 cross-row output transfer, the k-level integrated energy is concentrated to the i-th row of the last integrated slice field. Above, the i-th line of the last integrated slice field outputs an image containing the k-level integrated energy.
  • the last integrated region outputs an image in which m rows undergo k-level integration. It can be understood that the number of rows of each integrated slice field is greater than or equal to the number m of rows of the output image.
  • the applicant has found through experimental research that in the prior art, since the level integral energy of the camera is always transferred from the previous line to the adjacent next line, when the relative movement speed of the camera and the shooting target exceeds the refreshing speed of the photoelectric element, The i-th target area corresponding to the first integration line at the first moment may move directly to the corresponding position of the third line across the second line after an integration period, and the second line only exists.
  • the cross-row delay integration method provided by this embodiment is to solve the above problems in the prior art, and is set according to the relationship between the relative motion speed and the camera refresh frequency in the environment of high-speed relative motion by the inter-row delay integration.
  • the number of rows is determined so that after each integration period, the energy imaged by the target area on the previous integration line must be transferred across the line to the next integral line corresponding to the target area, realizing the correct energy integration process in a high-speed motion environment. .
  • step S220 the following steps may be further included:
  • Step S300 transferring the first-stage integrated energy and the second-level integrated energy to the i-th row of the third integrated slice field;
  • the integral level k is greater than 2
  • other integral segments after the second integral slice field also need to participate in the shooting work, so after acquiring the second-level integral energy on the i-th row of the second integrated slice domain
  • the first-order integrated energy transferred to the i-th row of the second integrated slice field and the second-order integrated energy just acquired by the imaging may be transferred to the i-th row of the third integrated slice field.
  • Step S310 After an integration period, acquire the third-level integral energy in the ith target area on the i-th row of the third integration slice field;
  • the i-th row of the third integral slice moves to the top of the i-th target area of the first scene, and the i-th target of the third integrated slice is imaged to obtain the third-level integral. energy. It can be understood that, at this time, the first stage integral energy, the second level integral energy, and the third level integral energy are stored on the i-th row of the third integral slice field.
  • Step S320 Output an image of the i-th target area including the first-stage integrated energy, the second-stage integrated energy, and the third-stage integrated energy.
  • the output i-th target area image is obtained by integrating the first-stage integral energy, the second-stage integral energy, and the third-order integral energy;
  • the output i-th target area image is obtained by integrating the first-stage integral energy, the second-stage integral energy, the third-stage integral energy, and the obtained other-stage integral energy.
  • step S210 the following steps may be further included:
  • Step S400 Acquiring the first-order integrated energy of the i-th target region on the i-th row of the first integrated slice region, and acquiring the first I-th in the x-th target region on the x-th row of the first integrated slice region Level integral energy, wherein the xth behavior is any row other than the ith row;
  • the xth row of the first integration slice field images the xth target region and acquires the first level integral energy.
  • the first integration slice field moves to Above the new imaging target area in the forward direction, the second integral slice moves to the upper of the first integral slice imaging target area in the previous integration period.
  • the xth row of the second integrating slice image images the xth target region and acquires the second level of integrated energy.
  • the ith target area and the xth target area may be a spatially separated neighborhood relationship or a spatially spaced relationship, so that a plurality of target areas that are spatially continuous may be captured. Or shoot multiple target areas with spatial separation.
  • Step S410 Transfer the first-order integral energy to the x-th row of the second integration slice field
  • the x-th row of the second integrated slice domain can receive the first-level transferred from the xth row of the first integrated slice domain. Integral energy.
  • Step S420 After an integration period, acquire the integrated energy of the first-order integral energy and the second-order integral energy accumulated in the x-th target region on the x-th row of the second integration region;
  • the camera and the target continue to move relative to each other. After one integration period, the first integral slice moves to other regions, and the xth row of the second integrated slice moves to the corresponding xth target region, and the second integral region
  • the xth line images the xth target area.
  • Step S430 Output an xth target area image including the first level integral energy and the second level integral energy.
  • the integral slice field is a division of a camera imaging pixel matrix
  • the ith target region and the xth target region are two strip images corresponding to two rows of images in an imaging region covered by an integrated slice region.
  • the area belongs to 2 lines in the m line.
  • the first-order integral energy of each row on the first integration slice field is simultaneously acquired, and the integrated energy of each row on the acquired first integration slice domain is separately transferred to the second integration slice domain. On the corresponding line. Then, after an integration period, the accumulated energy accumulated in each row on the second integration slice is acquired at the same time.
  • step S420 the following steps may be further included:
  • Step S500 transferring the accumulated energy of the first-stage integrated energy and the second-order integrated energy across the row to the x-th row of the third integrated slice domain;
  • Step S510 After an integration period, acquire the integral energy of the first-order integral, the second-order integral, and the third-level integral accumulated in the x-th target region on the x-th row of the third integrated region ;
  • Step S520 Output an xth target image including the first level integral energy, the second level integral energy, and the third level integral energy.
  • the output xth target image is obtained by integrating the first level integral energy, the second level integral energy, and the third level integral energy; when the integral level k When it is greater than 3, the output xth target image is obtained by integrating the first stage integrated energy, the second stage integral energy, the third stage integral energy, and other obtained integrated energy.
  • step S230 the following steps may be further included:
  • Step S600 accumulating the k-1 level integrated energy transferred to the i-th row of the k-th integral slice field and the energy obtained by the k-th photosensitive, to obtain a k-level integrated image including the k-level integrated energy, wherein
  • the k-level integrated energy includes integral energy of the i-th target region sequentially imaged on the i-th row of the first integrated patch domain up to the i-th row of the k-th integral patch domain, each of the integral slices
  • the field includes m rows of effective imaging areas;
  • the k-level integration energy includes a first-order integral in which the ith target region is sequentially imaged on the i-th row of the first integration slice domain up to the i-th row of the k-th integration slice domain. The energy is accumulated until the k-th order integral energy.
  • Step S610 Output the m rows of k-level integral images, and the imaging of the k integrated slices may share one energy harvesting system or use multiple energy harvesting systems.
  • the first integration slice field to the k-th integration slice domain each include an m-line effective imaging area.
  • the first integration slice field light-sensing start time is the start time point of the first-stage integration period
  • the second integrated slice-domain light-sensing start time is the end time point and the second level of the first-stage integration period.
  • the first scene and the second scene are sorted according to the imaging scene corresponding to the first integral slice in the backward direction according to the time, and refer to the order relationship of the k integrated regions; after k integration periods, The relative motion of the camera and the imaging scene spans the distance of the k integral slices, and the k-level integral of the m-line image corresponding to the m target regions is completed.
  • the first integrated region is in the k+1th scene, the k-th integral slice
  • the domain is above the second scene, and the output is the m-line image after the k-level integration of the first scene is completed; in this cycle mode, the continuous inter-row delay integral imaging of all target regions is completed.
  • the energy transferred from the previous integrated slice to the corresponding row of the integrated slice may be an analog quantity, such as a charge, a current, a voltage, or a digital quantity.
  • an analog quantity such as a charge, a current, a voltage, or a digital quantity.
  • the photosensitive integrated unit at the (i, j) position in the last integrated slice coordinate system shifts the level integral energy of the photosensitive unit at the (i, j) position in the next integrated slice coordinate system. It can be transferred by physical connection, for example, circuit connection between two units; or by digital transfer, for example, the stage integral energy obtained by the previous photosensitive unit is processed by a computer, converted into a digital signal, and then cross-lined Send to the next photosensitive unit.
  • the level integral energy of the photosensitive unit located at the (i, j) position in the next integral slice domain coordinate system in the last integrated slice domain coordinate system may be
  • the original charge energy for example, the original charge energy obtained by photoelectrically converting the last photosensitive unit is directly transmitted to the next photosensitive unit; or the energy obtained by performing the preset processing on the original energy.
  • the preset processing may be processing the original energy through a circuit such as amplification or filtering, or may perform processing such as analog-to-digital conversion on the original energy by a computer.
  • the process of realizing k-level integration of the photosensitive unit at the (i, j) position in the previous integrated slice coordinate system can be completed by the processing unit outside the photosensitive unit, for example, in the previous integrated slice coordinate system.
  • the photosensitive unit energy of the (i, j) position is output to a processing module, processed and placed in the memory, waiting for the energy of the photosensitive unit at the (i, j) position in the next integrated slice coordinate system to be output to the processing module.
  • the sensitized energy processed data at the (i, j) position in the last integrated slice domain coordinate system already stored in the memory is integrated, and the result is stored in the memory.
  • This integration mode can be extended to k-level integration.
  • the lens of the inter-row delay integration camera may be a cylindrical lens; or may be a spherical lens; may be a combination of cylindrical lenses, such as a lens group composed of a plurality of cylindrical lenses; or a spherical lens A combination of, for example, a lens group composed of a plurality of spherical lenses; or a combination of a cylindrical lens and a spherical lens, such as a lens group including a cylindrical lens and a spherical lens.
  • the lens of the cross-line delay integration camera may further include an aspherical lens or a lens group.
  • the acquisition system of the inter-row delay integral camera optical energy can select lenses formed by various optical systems as needed, such as a telecentric lens.
  • the method provided by the embodiment can perform the target shooting in a higher speed environment than the prior art by integrating the energy obtained by the imaging, and can pass the switch integrated circuit or the logic programming circuit on the existing photoelectric device.
  • FPGA field-programmable gate array
  • an inter-row delay integration device 700 which includes:
  • a first obtaining module 711 configured to acquire, at an i-th row of the first integrated slice field, a first-order integrated energy in the i-th target region;
  • a first transfer module 712 configured to transfer the first-level integrated energy across the row to the i-th row of the second integrated slice domain
  • a second obtaining module 713 configured to acquire, after an integration period, the integrated energy accumulated by the first-level integral and the second-level integral in the ith target region on the i-th row of the second integrated region;
  • the first output module 714 is configured to output an image of the ith target region including the first-stage integrated energy and the second-level integrated energy.
  • the inter-row delay integration device 700 may further include:
  • a second transfer module 721, configured to transfer the integrated energy accumulated by the first level integral and the second level integral to the ith row of the third integrated slice field;
  • a third obtaining module 722 configured to acquire a first-level integral, a second-level integral, and a third-level in the ith target area on an ith row of the third integrated slice after an integration period The integral energy accumulated by the points;
  • the second output module 723 is configured to output an image of the ith target region including the first-stage integrated energy, the second-stage integrated energy, and the third-stage integrated energy.
  • the inter-row delay integration device 700 may further include:
  • the first obtaining module 731 is configured to acquire the first-level integrated energy in the i-th target region on the i-th row of the first integrated patch domain, and obtain the xth on the x-th row of the first integrated patch domain a first-order integrated energy of the target region, wherein the xth behavior is any row other than the i-th row;
  • the first transfer module 732 is configured to transfer the first-order integrated energy to the x-th row of the second integrated slice domain
  • the second obtaining module 733 is configured to acquire, after an integration period, an integral energy of the first-order integral energy and the second-order integral energy accumulated in the x-th target region on the x-th row of the second integrated region ;
  • the first output module 734 is configured to output an xth target area image including the first level integral energy and the second level integral energy.
  • the inter-row delay integration device 700 may further include:
  • the integration module 741 is configured to accumulate the k-1 level integrated energy transferred to the i-th row of the k-th integral slice field and the energy obtained by the k-th photosensitive, to obtain a k-level integral image including the k-level integrated energy.
  • the k-level integration energy includes a first-order integral energy that the i-th target region sequentially images on an i-th row of the first integration slice domain up to an i-th row of the k-th integration slice domain,
  • Each of the integral slice domains includes m rows of effective imaging regions;
  • the image module 742 is configured to output the m rows of k-level integral images, and the imaging of the k integrated regions may share one energy harvesting system or use multiple energy harvesting systems.
  • the embodiment provides a cross-line delay integration camera 1000, which can be used to implement the cross-line delay integration method provided by the first embodiment of the present application.
  • the inter-row delay integration camera 1000 includes an imaging element 800 and a controller 900 that is coupled to the controller 900.
  • the imaging element 800 can be used for photographic imaging and acquiring stage integrated energy.
  • the imaging element 800 includes a plurality of integrating slice fields 820, each of which includes a plurality of rows of effective imaging regions 822, and the controller 900 is configured to respectively control the plurality of rows of effective imaging regions. 822 independently performs photoelectric conversion, energy transfer, energy processing, energy integration, and image output.
  • the number of the integrated slice fields 820, the number of rows of the effective imaging area 822 on each of the integrated slice fields 820, the number of rows of energy transfer across rows, and the number of integration stages of energy integration can all pass through the controller. 900 for editing.
  • the imaging element 800 may further include a plurality of columns of the integral slice field 820, and laterally expanding the camera area array perpendicular to the moving direction to form an integral slice field 820 coordinate system, and each coordinate point position corresponds to the photosensitive light.
  • the units can be individually controlled by the controller 900 and can be adapted for shooting in complex directions of relative motion.
  • the controller 900 may be a PCB circuit or an FPGA circuit, and the number of the integrated slice fields 820 and the effective imaging area on each of the integrated slice fields 820 are implemented by logically programming the circuit.
  • the cross-row delay integration method, device and camera provided by the embodiments of the present application first acquire the first-order integral energy imaged by the i-th target region on the i-th row of the first integration region; and then the first-level integration energy Transferring to the i-th row of the second integration slice field; after an integration period, acquiring the second-order integral energy imaged by the ith target region on the i-th row of the second integration slice; Finally, a first target image including the first level of integrated energy and the second level of integrated energy is output.
  • the present application can perform target shooting in a higher speed environment by performing cross-row integration of energy obtained by imaging, and can implement the method by logic programming on existing optoelectronic devices, and has excellent imaging. Quality and wide applicability.

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  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)
  • Image Processing (AREA)
PCT/CN2019/078513 2018-03-16 2019-03-18 跨行时延积分方法、装置及相机 Ceased WO2019174648A1 (zh)

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JP2020549561A JP7244025B2 (ja) 2018-03-16 2019-03-18 クロスロー時間遅延積分方法、装置及びカメラ
DE112019000852.8T DE112019000852T5 (de) 2018-03-16 2019-03-18 Reihenübergreifendes Zeitverzögerungs-Integrationsverfahren, -vorrichtung und -kamera
CA3095218A CA3095218C (en) 2018-03-16 2019-03-18 Cross-row time delay integration method, apparatus and camera
US17/023,270 US11128821B2 (en) 2018-03-16 2020-09-16 Cross-row time delay integration method, apparatus and camera

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