CN105430280A - Double-field thermal imager and automatic focusing method thereof - Google Patents
Double-field thermal imager and automatic focusing method thereof Download PDFInfo
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- H—ELECTRICITY
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The invention discloses a double-field thermal imager, comprising a thermal imaging lens, an infrared detector, a signal processing and control circuit and a servo motor control system, wherein the signal processing and control circuit is composed of an FPGA (Field Programmable Gate Array) controller circuit, an image processing circuit and a power circuit; the servo motor control system is composed of a focal length positioning controller, a servo motor, a motor drive circuit and a coder, and accomplishes the switching and focusing functions of large and small fields of view. The invention further discloses an automatic focusing method, wherein the definition of an image is reflected by a focusing evaluation function value, and the focusing search direction is determined by three points, so that the reliability of the automatic focusing effect is ensured; meanwhile, the search step length is adjusted in time according to the focusing evaluation function difference of two adjacent points, so that the focusing efficiency is improved.
Description
Technical field
The present invention relates to a kind of double-view field thermal imager and auto focusing method thereof, in particular, particularly relate to a kind of the double-view field thermal imager and the auto focusing method thereof that adopt the mountain-climbing searching algorithm of focus criteria function and optimization to carry out focusing on judgement.
Background technology
In the infraed early warning system of low latitude, need the optical system of thermal infrared imager can work under various modes, with the search of completion system to target, the function aiming at and follow the tracks of.Fixed-focus system is difficult to meet the demands, and continuous vari-focus system is best selection, but difficulty is in design comparatively large, and dual field-of-view infrared optical system is a kind of simple and practical approach realizing above-mentioned requirements.Double-view field thermal imager can be used for observing large scene areas under Large visual angle pattern, search suspected target; Under small field of view pattern, can be used for examining or amplification target, target is identified, follow the tracks of and aim at, complete fixed-focus system impossible mission.
We find, existing double-view field thermal imager is in debugging and use procedure, and use is after focal length locates a period of time, gear is due to long wearing and tearing, the error that gap between gear can increase and cause focal length to locate, thus it is inaccurate to cause focal length to be located, not fogging clear problem.Traditional manual focusing relies on range estimation and the hand adjustment of people, length consuming time, repeatable little, and Adjustment precision is comparatively large by people's subjective impact, is unfavorable for realizing the automatic focus after Large visual angle and small field of view switch.
Summary of the invention
The present invention, in order to overcome the shortcoming of above-mentioned technical problem, provides a kind of double-view field thermal imager and auto focusing method thereof.
Double-view field thermal imager of the present invention, comprise imaging lens, Infrared Detectors, signal transacting and control circuit and servo control system, the infrared light of extraneous radiation converges on the photosurface of Infrared Detectors by imaging lens, the light signal of reception is converted into the signal of telecommunication by Infrared Detectors, and inputs in signal transacting and control circuit; Signal transacting and control circuit, by the process to the infrared image gathered, send a control signal to servo control system, and servo control system performs Large visual angle and small field of view switches and focus movement; It is characterized in that: described signal transacting and control circuit are made up of FPGA controller circuit, image processing circuit and power circuit, image processing circuit amplifies and A/D conversion process the analog video signal that Infrared Detectors exports, and the work that power circuit is thermal imager provides stable voltage;
The encoder that described servo control system is measured by focal length register control, servomotor, motor-drive circuit and the rotational angle to servomotor forms, focal length register control, according to the value of feedback of encoder, controls switching and focusing function that servomotor completes Large visual angle and small field of view.
Double-view field thermal imager of the present invention, described FPGA controller circuit is connected with communicating circuit and key control circuit, and communicating circuit comprises RS232 communication module, RS485 communication module and RS422 communication module; Be provided with buffer circuit between described focal length register control and motor-drive circuit, to ensure the even running of servomotor, the output of servomotor orders about the Large visual angle of imaging lens through reduction box and small field of view switches and focus movement.
The auto focusing method of double-view field thermal imager of the present invention, is realized by following steps:
A). visual field switch, thermal imager under Large visual angle state, for monitoring large scene areas, under small field of view state, for observing the details of target in scene, to realize tracking and aiming; When FPGA controller circuit receives by Large visual angle after small field of view or the instruction that switched to Large visual angle by small field of view, visual field switching command is sent to focal length register control, order about servomotor by focal length register control and complete visual field switching, perform step b);
B). calculate the focus criteria function of first, FPGA controller circuit calculates the focus criteria function of current the obtained image of thermal imager by formula (1):
F (i) to represent in piece image gray value difference and, f (x, y) gray value of xth row, y row pixel in piece image is represented, | f (x, y)-f (x, y-1) | represent the absolute value of the difference of xth row adjacent column grey scale pixel value, | f (x, y)-f (x+1, y-1) | represent the absolute value of the difference of y row adjacent lines grey scale pixel value;
If now the focus criteria function of first is F
1(i);
C). calculate the focus criteria function of second point, servomotor rotates along the current direction of search and step-length, moves to second point, calculates focus criteria function F now by formula (1)
2i (), performs steps d);
D). the focus criteria function calculating at first 2 is poor, is calculated focus criteria function difference Δ F (i) of first 2 by formula (2)
1:
ΔF(i)
1＝F
2(i)-F
1(i)(2)
If, Δ F (i)
1> 0, shows that current search is in the right direction, performs step e);
If, Δ F (i)
1≤ 0, show current search anisotropy, change the current direction of search, servomotor orders about imaging lens and comes back to the first point, performs step b);
E). calculate focus criteria function thirdly, servomotor rotates along current search direction, moves to thirdly, calculates focus criteria function F now by formula (1)
3i (), performs step f);
F). the focus criteria function calculating at latter 2 is poor, is calculated focus criteria function difference Δ F (i) of latter 2 by formula (3)
2:
ΔF(i)
2＝F
3(i)-F
2(i)(3)
If, Δ F (i)
2> 0, shows the confirmation by three points, and the current direction of search of servomotor is correct, performs step g);
If, Δ F (i)
2≤ 0, show the focus criteria function of continuous 3 have first rise, after the trend of falling, then using the first point that second point calculates as a new round, execution step b);
G). judge whether focal position meets the demands, the step-length of threshold value or current servo motor that judgement focus criteria function is thirdly greater than the focus criteria function of setting is whether minimum step is set up, if set up, then thirdly be final focus point, order about imaging lens between servomotor and move to this point, complete focusing, now the focusing of target is the clearest; If be false, then thirdly as the first point that a new round calculates, perform step b).
The auto focusing method of double-view field thermal imager of the present invention, steps d) and step f) in, if the difference of the focus criteria function of adjacent 2 is less than bottom threshold Δ F (i) of setting
min, then show that the current step that servomotor rotates is little to the influential effect of focusing, then increase current focusing step-length; If the difference of the focus criteria function of adjacent 2 is greater than upper threshold Δ F (i) of setting
max, then show that the current step that servomotor rotates is comparatively large to the influential effect of focusing, show to search for the region entered near focus point simultaneously, then reduce step-size in search.
The invention has the beneficial effects as follows: double-view field thermal imager of the present invention, by arranging the signal transacting and control circuit that are made up of image processing circuit, FPGA controller circuit, after the analog signal that Infrared Detectors exports by image processing circuit carries out amplification and A/D conversion, input in FPGA controller circuit, to realize the process of infrared image; By arranging the servo control system be made up of focal length register control, servomotor and encoder, focal length register control orders about imaging lens by servomotor and focuses, the positional information of encoder is obtained, to realize focusing on by the output signal of encoder.
The auto focusing method of double-view field thermal imager of the present invention, the readability of present convergence location infrared image is reflected by the focus criteria function value calculating infrared image, and utilize three points to determine the direction of search of focusing, avoid and adopt two somes when judging the direction of search in the past, easily local extremum is worth the generation of situation as the overall situation most, ensure that the reliability of automatic focusing effect.Meanwhile, according to the size of the focus criteria function difference of adjacent 2, in time adjust the step-length of search, improve focusing efficiency.
Double-view field thermal imager of the present invention and auto focusing method, after visual field has switched, focusing value is finely tuned, and can well make up the deficiency of location focusing, uses photoelectric encoder to provide the position feedback of motor, structure closed loop location FEEDBACK CONTROL realizes focal length location, detect easily, precision is high, and thermal imager is quick and precisely navigated to " image preset point ", adopt the mountain-climbing searching algorithm optimized, the reliability of automatic focusing effect is improved.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of double-view field thermal imager of the present invention;
Fig. 2 is the schematic diagram of signal transacting and control circuit in the present invention, servo control system;
Fig. 3 is count and the function relation figure of focal length in the edge of infrared image;
Fig. 4 is the flow chart of the auto focusing method of double-view field thermal imager of the present invention.
In figure: 1 imaging lens, 2 Infrared Detectorss, 3 signal transacting and control circuit, 4 servo control systems, 5FPGA controller circuitry, 6 image processing circuits, 7 power circuits, 8 focal length register controls, 9 motor-drive circuits, 10 servomotors, 11 encoders, 12 communicating circuits, 13 key control circuit, 14 buffer circuits, 15 reduction boxes.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, give the schematic diagram of double-view field thermal imager of the present invention, it is made up of with control circuit 3 and servo control system 4 imaging lens 1, Infrared Detectors 2, signal transacting, optical system is provided with in imaging lens 1, and visual field switching and focusing can be carried out under the control of servo control system 4, Infrared Detectors 2 is arranged at the rear end of imaging lens 1, and it can adopt infrared focal plane detector.In the infrared light imaging lens 1 of extraneous radiation, the focusing of optical system, converges on the photosurface of Infrared Detectors 2.
Light signal is converted to the charge packet be directly proportional to incident light by Infrared Detectors 2, and convert one group of vision signal exported according to the order of sequence in time to through reading circuit, this signal is through analog circuitry processes, after A/D conversion, in the signal transacting inputing to rear end again and control circuit 3, to complete corresponding process.
As shown in Figure 2, give signal transacting and control circuit in the present invention, the schematic diagram of servo control system, shown signal transacting and control circuit 3 are by image processing circuit 6, FPGA controller circuit 5, power circuit 7, key control circuit 13 and communicating circuit 12 form, the analog video that Infrared Detectors 2 exports mainly amplifies by image processing circuit 6, one tunnel is as the output of video, another road again through analog/digital conversion be digital video signal, digital signal inputs in FPGA controller circuit, by the process to digital picture, realize automatic focus.
The Power supply that outside inputs is converted into system modules required voltage value by power circuit 7, and the voltage of externally fed power supply is+12V, and power circuit is translated into the direct voltage of+5V ,+3.3V ,+1.8V ,+1.2V.In order to ensure the fail safe of equipment, in power circuit, also can add anti-reverse power connection circuit, to improve the reliability of system.In order to provide abundant external interface, communicating circuit 12 is made up of RS232 communication module, RS485 communication module and RS422 communication module, and user as required, can select different communication modes.Namely key control circuit is connected with FPGA controller circuit 5 by RS232, RS485 or RS422 interface, and the form be directly connected with FPGA controller circuit 5 also can be adopted to realize.
Shown servo control system 4 is made up of focusing register control 8, motor-drive circuit 9, servomotor 10, encoder 11, buffer circuit 14 and reduction box 15, shown focusing register control 8 is made up of microcontroller, it has collection, computing and output function, motor-drive circuit 9 is for directly ordering about the operation of servomotor 10, the motor control signal focusing on register control 8 output inputs in motor-drive circuit 9, to ensure the even running of servomotor 10 after the process of buffer circuit 14.Encoder 11 is arranged at the output of servomotor 10, for feeding back in focal length register control 8 by the position signalling of servomotor 10; Imaging lens 1 zoom motion is ordered about in the output of servomotor 10 after the deceleration of reduction box 15.
As shown in Figure 3, count and the function relation figure of focal length in the edge giving infrared image, as seen from the figure, in the both sides of positive burnt position (i.e. ideal focusing point), the positive burnt position of focal distance is far away, corresponding edge is counted little, nearer apart from positive burnt position, and corresponding edge is counted larger.When remotely searching for apart from positive burnt position, edge is counted slow with the change of focal length, and in the both sides of focus position, count and change greatly in edge, according to this relation property, adopt adaptive step searching algorithm to accelerate the search speed of starting stage, adaptable search is based on following two principles: (1) if count in the edge of adjacent two width images is more or less the same, illustrate that last step-length is little on the impact of focus effect, then increase focusing step-length.(2) if count in the edge of adjacent two width images, difference is comparatively large, illustrates that last step-length is comparatively large on the impact of focus effect, shows to search for the region entered near focus point simultaneously, then reduce step-size in search.Count due to the focus criteria function of infrared image and edge and there is proportional relation, therefore utilize the change of focus criteria function to carry out characterizing edges in the present invention and count with the change of focal length.
Find in actual applications, when camera lens moves from the position of departing from focus point to focus point, functional value is not change in strict accordance with monotonically increasing mode in the position away from focus, but have the maximum of local, therefore common mountain-climbing search method is used to be difficult to determine the rotation direction of motor there, and when there is multiple peak value, common mountain-climbing search method is easy to search local extremum, cause automatic focusing failure.Under normal circumstances, the local extremum that focusing curve is interfered and occurs is all narrow, for this reason, common hill climbing algorithm, when comparing the twice focusing result in front and back, can determine direction of a curve, so once run into local peaking, just think and have found peak value, this is incorrect.
The auto focusing method of double-view field thermal imager of the present invention, is realized by following steps:
A). visual field switch, thermal imager under Large visual angle state, for monitoring large scene areas, under small field of view state, for observing the details of target in scene, to realize tracking and aiming; When FPGA controller circuit receives by Large visual angle after small field of view or the instruction that switched to Large visual angle by small field of view, visual field switching command is sent to focal length register control, order about servomotor by focal length register control and complete visual field switching, perform step b);
B). calculate the focus criteria function of first, FPGA controller circuit calculates the focus criteria function of current the obtained image of thermal imager by formula (1):
F (i) to represent in piece image gray value difference and, f (x, y) gray value of xth row, y row pixel in piece image is represented, | f (x, y)-f (x, y-1) | represent the absolute value of the difference of xth row adjacent column grey scale pixel value, | f (x, y)-f (x+1, y-1) | represent the absolute value of the difference of y row adjacent lines grey scale pixel value;
If now the focus criteria function of first is F
1(i);
C). calculate the focus criteria function of second point, servomotor rotates along the current direction of search and step-length, moves to second point, calculates focus criteria function F now by formula (1)
2i (), performs steps d);
D). the focus criteria function calculating at first 2 is poor, is calculated focus criteria function difference Δ F (i) of first 2 by formula (2)
1:
ΔF(i)
1＝F
2(i)-F
1(i)(2)
If, Δ F (i)
1> 0, shows that current search is in the right direction, performs step e);
If, Δ F (i)
1≤ 0, show current search anisotropy, change the current direction of search, servomotor orders about imaging lens and comes back to the first point, performs step b);
E). calculate focus criteria function thirdly, servomotor rotates along current search direction, moves to thirdly, calculates focus criteria function F now by formula (1)
3i (), performs step f);
F). the focus criteria function calculating at latter 2 is poor, is calculated focus criteria function difference Δ F (i) of latter 2 by formula (3)
2:
ΔF(i)
2＝F
3(i)-F
2(i)(3)
If, Δ F (i)
2> 0, shows the confirmation by three points, and the current direction of search of servomotor is correct, performs step g);
If, Δ F (i)
2≤ 0, show the focus criteria function of continuous 3 have first rise, after the trend of falling, then using the first point that second point calculates as a new round, execution step b);
G). judge whether focal position meets the demands, the step-length of threshold value or current servo motor that judgement focus criteria function is thirdly greater than the focus criteria function of setting is whether minimum step is set up, if set up, then thirdly be final focus point, order about imaging lens between servomotor and move to this point, complete focusing, now the focusing of target is the clearest; If be false, then thirdly as the first point that a new round calculates, perform step b).
Wherein, steps d) and step f) in, if the difference of the focus criteria function of adjacent 2 is less than bottom threshold Δ F (i) of setting
min, then show that the current step that servomotor rotates is little to the influential effect of focusing, then increase current focusing step-length; If the difference of the focus criteria function of adjacent 2 is greater than upper threshold Δ F (i) of setting
max, then show that the current step that servomotor rotates is comparatively large to the influential effect of focusing, show to search for the region entered near focus point simultaneously, then reduce step-size in search.
Claims (4)
1. a double-view field thermal imager, comprise imaging lens (1), Infrared Detectors (2), signal transacting and control circuit (3) and servo control system (4), the infrared light of extraneous radiation converges on the photosurface of Infrared Detectors by imaging lens, the light signal of reception is converted into the signal of telecommunication by Infrared Detectors, and inputs in signal transacting and control circuit; Signal transacting and control circuit, by the process to the infrared image gathered, send a control signal to servo control system, and servo control system performs Large visual angle and small field of view switches and focus movement; It is characterized in that: described signal transacting and control circuit are made up of FPGA controller circuit (5), image processing circuit (6) and power circuit (7), image processing circuit amplifies and A/D conversion process the analog video signal that Infrared Detectors exports, and the work that power circuit is thermal imager provides stable voltage;
Described servo control system is made up of focal length register control (8), servomotor (10), motor-drive circuit (9) and the encoder (11) measured the rotational angle of servomotor, focal length register control, according to the value of feedback of encoder, controls switching and focusing function that servomotor completes Large visual angle and small field of view.
2. double-view field thermal imager according to claim 1, it is characterized in that: described FPGA controller circuit (5) is connected with communicating circuit (12) and key control circuit (13), and communicating circuit comprises RS232 communication module, RS485 communication module and RS422 communication module; Buffer circuit (14) is provided with between described focal length register control (8) and motor-drive circuit (9), to ensure the even running of servomotor (10), the output of servomotor orders about the Large visual angle of imaging lens through reduction box (15) and small field of view switches and focus movement.
3. based on an auto focusing method for double-view field thermal imager according to claim 1, it is characterized in that, realized by following steps:
A). visual field switch, thermal imager under Large visual angle state, for monitoring large scene areas, under small field of view state, for observing the details of target in scene, to realize tracking and aiming; When FPGA controller circuit receives by Large visual angle after small field of view or the instruction that switched to Large visual angle by small field of view, visual field switching command is sent to focal length register control, order about servomotor by focal length register control and complete visual field switching, perform step b);
B). calculate the focus criteria function of first, FPGA controller circuit calculates the focus criteria function of current the obtained image of thermal imager by formula (1):
F (i) to represent in piece image gray value difference and, f (x, y) gray value of xth row, y row pixel in piece image is represented, | f (x, y)-f (x, y-1) | represent the absolute value of the difference of xth row adjacent column grey scale pixel value, | f (x, y)-f (x+1, y-1) | represent the absolute value of the difference of y row adjacent lines grey scale pixel value;
If now the focus criteria function of first is F
1(i);
C). calculate the focus criteria function of second point, servomotor rotates along the current direction of search and step-length, moves to second point, calculates focus criteria function F now by formula (1)
2i (), performs steps d);
D). the focus criteria function calculating at first 2 is poor, is calculated focus criteria function difference Δ F (i) of first 2 by formula (2)
1:
ΔF(i)
1＝F
2(i)-F
1(i)(2)
If, Δ F (i)
1> 0, shows that current search is in the right direction, performs step e);
If, Δ F (i)
1≤ 0, show current search anisotropy, change the current direction of search, servomotor orders about imaging lens and comes back to the first point, performs step b);
E). calculate focus criteria function thirdly, servomotor rotates along current search direction, moves to thirdly, calculates focus criteria function F now by formula (1)
3i (), performs step f);
F). the focus criteria function calculating at latter 2 is poor, is calculated focus criteria function difference Δ F (i) of latter 2 by formula (3)
2:
ΔF(i)
2＝F
3(i)-F
2(i)(3)
If, Δ F (i)
2> 0, shows the confirmation by three points, and the current direction of search of servomotor is correct, performs step g);
If, Δ F (i)
2≤ 0, show the focus criteria function of continuous 3 have first rise, after the trend of falling, then using the first point that second point calculates as a new round, execution step b);
G). judge whether focal position meets the demands, the step-length of threshold value or current servo motor that judgement focus criteria function is thirdly greater than the focus criteria function of setting is whether minimum step is set up, if set up, then thirdly be final focus point, order about imaging lens between servomotor and move to this point, complete focusing, now the focusing of target is the clearest; If be false, then thirdly as the first point that a new round calculates, perform step b).
4. the auto focusing method of double-view field thermal imager according to claim 3, is characterized in that: steps d) and step f) in, if the difference of the focus criteria function of adjacent 2 is less than bottom threshold Δ F (i) of setting
min, then show that the current step that servomotor rotates is little to the influential effect of focusing, then increase current focusing step-length; If the difference of the focus criteria function of adjacent 2 is greater than upper threshold Δ F (i) of setting
max, then show that the current step that servomotor rotates is comparatively large to the influential effect of focusing, show to search for the region entered near focus point simultaneously, then reduce step-size in search.
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| CN107664899A (en) * | 2017-10-19 | 2018-02-06 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | The method, apparatus and system of auto-focusing |
| CN107911599A (en) * | 2017-10-30 | 2018-04-13 | 北京航天福道高技术股份有限公司 | A kind of infrared image overall situation Atomatic focusing method and device |
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