Range-gated laser active imaging method, system, device and readable storage medium

Abstract

This invention provides a range-gated laser active imaging method, system, device, and readable storage medium, relating to the fields of photoelectric detection and laser imaging. The method includes receiving a video field signal from a target and an encoded signal transmitted by an encoding board; generating a driving signal, a marker signal, and an intensifier encoded signal based on a preset imaging target distance, preset control parameters, the video field signal, and the encoded signal; the driving signal controlling the emission of a laser to illuminate the target; the marker signal recording the encoded information of the encoded signal; acquiring the reflected light after the laser illuminates the target; forming a digital image of the target based on the reflected light; and parsing the digital image using an image restoration algorithm, the intensifier encoded signal, and the marker signal to obtain the final image of the target. This invention addresses the technical problem of motion blur in range-gated laser active imaging technology for targets with lateral displacement.

Description

Technical Field

[0001] This invention relates to the field of photoelectric detection and laser imaging, and more specifically, to a range-gated laser active imaging method, system, device, and readable storage medium. Background Technology

[0002] Range-gated laser active imaging technology utilizes a pulsed laser and a high-gain imaging detector with gating function. By controlling the pulsed laser to emit a narrow pulse beam to illuminate the target, and then controlling the delay of the working time of the gating imaging device relative to the emission time of the narrow pulse beam, imaging is performed only at the moment when the reflected light from the target arrives. Most of the backscattered light in the transmission path is isolated, thereby effectively suppressing backscattered light and improving the detection and recognition range of the system.

[0003] Range-gated laser active imaging technology achieves target imaging at a specific distance by precisely delaying the laser emission pulse timing and the operating timing of the gating imaging device. Currently, this technology is mainly used for imaging and detecting stationary targets. However, when the target undergoes lateral displacement relative to the imaging system during the imaging process, motion blur occurs, leading to a decrease in image quality and affecting the imaging effect. Summary of the Invention

[0004] The purpose of this invention is to provide a range-gated laser active imaging method, system, device, and readable storage medium to improve the aforementioned problems. To achieve the above objective, the technical solution adopted by this invention is as follows:

[0005] In a first aspect, this application provides a range-gated laser active imaging method, comprising:

[0006] Receive the target's video field signal and the encoded signal sent by the encoding board;

[0007] Based on the preset imaging target distance, preset control parameters, video field signal, and encoding signal, a driving signal, a marking signal, and an intensifier encoding signal are generated. The driving signal is used to control the emission of laser light to illuminate the target, and the marking signal is used to record the encoding information of the encoding signal.

[0008] Acquire the reflected light after the laser shines on the target, and form a digital image of the target based on the reflected light;

[0009] The final image of the target is obtained by parsing the digital image using an image restoration algorithm, the intensifier encoded signal, and the marker signal.

[0010] Based on the above embodiments, the step of generating a driving signal according to a preset imaging target distance, preset control parameters, video field signal, and encoded signal specifically includes:

[0011] Laser signals are generated based on preset imaging target distance, control parameters, video field signals, and encoded signals;

[0012] The laser signal is used to generate a driving signal.

[0013] The timing relationship between the laser signal, the intensifier encoded signal, the driving signal, and the video field signal satisfies formula (1):

[0014]

[0015] In the formula, R represents the preset imaging target distance, R a R represents the front boundary of the imaging depth or range. b t represents the back boundary of the imaging depth or range. delay t represents the time difference between the laser pulse emitted and the formation of the imaging light signal by the pulse. t arg et t represents the time difference between the pulse generated by the drive signal and the corresponding pulse generated by the amplifier's encoded signal. laser_delay t represents the time from when the driving signal generates a pulse to when the laser emits a pulse. gate_delay Δt represents the time delay Δt in the generation of the imaging light signal from a pulse of the intensifier-encoded signal. wid Δt is the pulse width of the laser. gate The pulse width of the signal encoded by the amplifier.

[0016] Based on the above embodiments, the step of forming a digital image of the target based on the reflected light and the intensifier encoded signal specifically includes:

[0017] The reflected light is zoomed to form a focused spot;

[0018] The focused light spot is converted into an imaging light signal;

[0019] An electronic image of the target is generated from the imaging light signal;

[0020] A digital image of the target is formed based on the electronic image.

[0021] Based on the above embodiments, the step of using the image restoration algorithm, the intensifier encoded signal, and the marker signal to parse the digital image to obtain the final image of the target specifically includes:

[0022] Receive the enhancer encoded signal;

[0023] The relationship between the digital image and the final image is constructed using the intensifier-encoded signal:

[0024]

[0025] In the formula, B represents the digital image, L represents the final image, T represents the width of the encoded symbol of the intensifier encoded signal, and T i Let L represent the shift during the i-th encoding, m represent the encoding length, η represent the system noise, and k represent the system noise. i Indicates whether to enhance the signal during the i-th encoding, and K′ represents the convolution kernel;

[0026] Construct an objective function A for the blur kernel, digital image, and final imaging:

[0027]

[0028] In the formula, K represents the fuzzy kernel. This represents the data fitting term based on the L2 norm design. Represents the image gradient. Let α and γ represent the regularization term of the fuzzy kernel K, where α and γ are both adjustment coefficients of the regularization term;

[0029] The final image is obtained by solving the formula (3) using an image restoration algorithm.

[0030] Based on the above embodiments, the step of using an image restoration algorithm to solve formula (3) to obtain the final image specifically includes:

[0031] Let the initial value of the fuzzy kernel be K = s, and the maximum value of the fuzzy kernel be K. max =S, introduce auxiliary variables u and g, set u = 0, g = 0, introduce penalty parameters μ1 and μ2, and set the maximum value of μ1 to be μ 1max The maximum value of μ2 is μ 2max ;

[0032] Determine the relationship between s and S: If s ≥ S, then use the current L as the final image; if s < S, calculate the K value and determine the relationship between μ1 and μ. 1max Size relationship;

[0033] Wherein, the judgment of μ1 and μ 1ma The size includes: if μ1 > μ 1ma Then let And restart the evaluation of the relationship between s and S; if μ1≤μ 1ma Then determine whether μ2 is equal to μ. 2max Size relationship;

[0034] Wherein, the judgment of μ2 and μ 2max The size relationship, including when μ2 > μ 2max If the condition is met, then let μ1 = 2μ1, and start the comparison between μ1 and μ2 again. 1max The size; when μ2 ≤ μ 2maxIf L is obtained by formula (4), let μ2 = 2μ2, and start judging μ2 and μ again. 2max Size relationship;

[0035]

[0036] In the formula, and Let g represent the differential operators in the x and y directions, respectively, and α be the adjustment coefficient for the regularization term; x and g y Let g represent the gradient matrices of g in the x and y directions, respectively.

[0037] Based on the above embodiments, the specific calculation process for calculating the K value is as follows:

[0038]

[0039] In the formula, F(·) and F -1 (·) are all Fourier transform formulas. For F(·) complex conjugate transformation, γ is the first-order gradient, and γ is the adjustment coefficient of the regularization term.

[0040] Secondly, this application also provides a range-gated laser active imaging system, the system comprising:

[0041] The receiving module is used to receive the target's video field signal and the encoded signal sent by the encoding board;

[0042] The control module is used to generate a driving signal, a marking signal, and an intensifier encoding signal based on a preset imaging target distance, preset control parameters, video field signal, and encoding signal. The driving signal is used to control the emission of laser light to illuminate the target, and the marking signal is used to record the encoding information of the encoding signal.

[0043] Laser receiving module: used to acquire the reflected light after the laser shines on the target, and to form a digital image of the target based on the reflected light;

[0044] The parsing module is used to parse the digital image using the image restoration algorithm, the enhancer encoded signal, and the marker signal to obtain the final image of the target.

[0045] Thirdly, this application also provides a range-gated laser active imaging device, comprising:

[0046] Memory, used to store computer programs;

[0047] A processor is configured to implement the steps of the range-gated laser active imaging method when executing the computer program.

[0048] Fourthly, this application also provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the distance-gated laser active imaging method described above.

[0049] The beneficial effects of this invention are as follows:

[0050] This invention is the first to use the concept of coded sequence to design a range-gated laser active imaging system. It uses coded pulsed laser as the illumination source and combines it with the image restoration algorithm corresponding to the code to effectively suppress motion blur caused by the lateral movement of the target in range-gated laser active imaging. It has a good imaging effect on lateral moving targets and its applicability is significantly improved compared with traditional range-gated laser active imaging technology.

[0051] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the distance-gated laser active imaging method described in an embodiment of the present invention;

[0054] Figure 2 This is a temporal relationship diagram for imaging a target at a distance of R;

[0055] Figure 3 This is a flowchart illustrating the method for step S4;

[0056] Figure 4 A comparative illustration of the target, digital image, and final image;

[0057] Figure 5 This is a schematic diagram illustrating the working principle of the range-gated laser active imaging system described in this embodiment of the invention.

[0058] Figure 6 This is a schematic diagram of the distance-gated laser active imaging device described in an embodiment of the present invention.

[0059] Marked in the image:

[0060] 1. Laser; 2. Laser driver; 3. Encoding board; 4. Control system; 5. Image intensifier; 6. Imaging detector; 7. Encoding / decoding chip; 8. Image acquisition card; 9. Image processing and display system; 10. Beam expander; 11. Zoom imaging lens; 12. Encoded signal; 13. Video field signal; 14. Laser signal; 15. Intensifier encoded signal; 16. Drive signal; 17. Laser; 18. Space illumination laser; 19. Video signal; 20. Reflected light; 21. Focused spot; 22. Imaging light signal; 23. Electronic image; 24. Digital image; 25. Marking signal; 26. Distance-gated laser active imaging device; 261. Processor; 262. Memory; 263. Multimedia component; 264. I / O interface; 265. Communication component. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0062] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0063] Example 1:

[0064] This embodiment provides a range-gated laser active imaging method.

[0065] See Figure 1 The figure shows the steps involved in this method:

[0066] S1. Receive the target's video field signal 13 and the encoded signal 12 sent by the encoding board 3, wherein the video field signal 13 is extracted from the video signal 19, and the video signal 19 is the target's video signal; the encoding board 3 uses an FPGA as the core structure to design a high-precision timing control circuit, and generates a 31-bit preset binary pseudo-random code (111111111111100001001110) as the encoded signal 12, the encoding frequency of the encoded signal 12 is 10kHz, and the total duration of the pulse sequence is 310us;

[0067] S2. Generate a driving signal 16, a marking signal 25, and an intensifier encoding signal 15 based on a preset imaging target distance, preset control parameters, video field signal 13, and encoding signal 12. The driving signal 16 is used to control the emission of laser 17 to irradiate the target, and the marking signal 25 is used to record the encoding information of encoding signal 12.

[0068] The target can be a moving target or a stationary target;

[0069] The marker signal 25 records the encoding information of the encoded signal 12, such as the encoding length, symbol width, and encoding sequence. The marker signal 25 uses 8 bits to identify the encoding length, 8 bits to represent the symbol width, and 64 bits to represent the encoding sequence (0001111100000001 11111111 11111000 01001110 0 ...

[0070] The preset target imaging distance is set according to actual needs;

[0071] The preset control parameters include the minimum pulse width of the laser 1 emitting laser 17, the laser power, the supported repetition frequency, the minimum width of the image intensifier 5 receiving the intensifier encoded signal, and the supported repetition frequency.

[0072] S2 specifically includes:

[0073] S21. Generate laser signal 14 based on preset imaging target distance, control parameters, video field signal 13 and encoded signal 12;

[0074] S22: The laser signal 14 generates a driving signal 16, the driving signal 16 generates a laser 17, and the laser 17 is then converted into a spatial illumination laser 18 to irradiate the target.

[0075] Based on the above embodiments, the laser signal 14 is the result of a logical AND operation between the high repetition rate encoded signal and the encoded signal 12. The timing relationship between the laser signal 14, the enhancer encoded signal 15, the drive signal 16, and the video field signal 13 satisfies formula (1), as follows: Figure 2 As shown:

[0076]

[0077] In the formula, R represents the preset imaging target distance, R a R represents the front boundary of the imaging depth or range. b t represents the back boundary of the imaging depth or range. delay t represents the time difference between the laser pulse emitted and the formation of the imaging light signal by the pulse. t arg et t represents the time difference between the pulse generated by the drive signal and the corresponding pulse generated by the amplifier's encoded signal. laser_delay t represents the time from when the driving signal generates a pulse to when the laser emits a pulse. gate_delay Δt represents the time delay Δt in the generation of the imaging light signal from a pulse of the intensifier-encoded signal. wid Δt is the pulse width of the laser. gate The pulse width of the signal encoded by the amplifier.

[0078] S3. Acquire the reflected light 20 after the laser 17 illuminates the target, and form a digital image 23 of the target based on the reflected light 20;

[0079] S3 specifically includes:

[0080] S31. The reflected light 20 is zoomed to form a focused light spot 21;

[0081] S32. Convert the focused light spot 21 into an imaging light signal 22;

[0082] S33. An electronic image 23 of the target is generated from the imaging light signal 22;

[0083] S34 forms a digital image 24 of the target based on the electronic image 23, wherein the digital image 24 is a blurred image.

[0084] Please see Figure 3 S4. Using the image restoration algorithm, the enhancer encoded signal 15, and the marker signal 25, the digital image 24 is parsed to obtain the final image of the target.

[0085] S4 specifically includes:

[0086] S41. Receive the amplifier encoded signal 15;

[0087] S42. Construct the relationship between the digital image 24 and the final image using the enhancer encoded signal 15:

[0088]

[0089] In the formula, B represents the digital image, L represents the final image, T represents the width of the encoded symbol of the intensifier encoded signal, and T i Let L represent the shift during the i-th encoding, m represent the encoding length, η represent the system noise, K′ represent the convolution kernel, and k represent the system noise. i This indicates whether the signal is amplified during the i-th encoding; specifically, k... i =1 indicates the corresponding i-th coded enhancement signal, k i =0 indicates the corresponding i-th coded attenuation signal. When the intensifier coded signal is high, the focused spot is enhanced; when the intensifier coded signal is low, the focused spot does not pass through.

[0090] Preferably, when the target moves in a single direction, the target displacement can be equivalent to the coded displacement m. Using a binary code k of length m, a Toeplitz matrix can be constructed, and K′ can be represented as:

[0091]

[0092] S43. Construct an objective function A for the blur kernel, digital image, and final imaging:

[0093]

[0094] In the formula, K represents the fuzzy kernel. This represents the data fitting term based on the L2 norm design. Represents the image gradient. Let α and γ represent the regularization term of the fuzzy kernel K, where α and γ are both adjustment coefficients of the regularization term;

[0095] S44. Solve the above formula (3) using an image restoration algorithm to obtain the final image. Please refer to [link / reference]. Figure 4 .

[0096] S44 specifically includes the following steps:

[0097] S441. Let the initial value of the fuzzy kernel be K = s, and the maximum value of the fuzzy kernel be K. max =S, introduce auxiliary variables u and g, set u = 0, g = 0, introduce penalty parameters μ1 and μ2, and set the maximum value of μ1 to be μ 1max The maximum value of μ2 is μ 2max ;

[0098] S442. Determine the relationship between the magnitudes of s and S:

[0099] If s≥S, then the current L is taken as the final image and the iteration ends;

[0100] If s < S, calculate the value of K and proceed to S443.

[0101] S443. Determine the relationship between μ1 and μ 1max Size relationship;

[0102] If μ1>μ 1max Then let And repeat S442;

[0103] If μ1≤μ 1max Then proceed to S444;

[0104] S444. Determine the relationship between μ2 and μ. 2max Size relationship;

[0105] When μ2>μ 2max If μ1 = 2μ1, then repeat S443;

[0106] When μ2≤μ 2max Then, enter S445;

[0107] S445. Calculate L using formula (4), let μ2 = 2μ2, and repeat S444;

[0108]

[0109] In the formula, and Let g represent the differential operators in the x and y directions, respectively, and α be the adjustment coefficient for the regularization term; x and g y Let g represent the gradient matrices of g in the x and y directions, respectively.

[0110] Based on the above embodiments, the specific steps for calculating the K value in S442 are as follows:

[0111]

[0112] In the formula, F(·) and F -1 (·) are all Fourier transform formulas. For F(·) complex conjugate transformation, γ is the first-order gradient, and γ is the adjustment coefficient of the regularization term.

[0113] Example 2:

[0114] like Figure 5 As shown, this embodiment provides a range-gated laser active imaging system, the system comprising:

[0115] The receiving module is used to receive the target's video field signal 13 and the encoded signal 12 sent by the encoding board 3;

[0116] Based on the above embodiments, the distance-gated laser active imaging system further includes a codec chip 7, which receives video signal 19 from imaging detector 6 and generates video field signal. The codec chip 7 uses an SAA7111 video decoding chip with a video frame rate of 50Hz.

[0117] The control module is used to generate a driving signal 16, a marking signal 25 and an intensifier encoding signal 15 based on a preset imaging target distance, preset control parameters, video field signal 13 and encoding signal 12. The driving signal 16 is used to control the emission of laser 17 to irradiate the target, and the marking signal 25 is used to record the encoding information of encoding signal 12.

[0118] Laser receiving module: used to acquire the reflected light 20 after the laser 17 illuminates the target, and to form a digital image 24 of the target based on the reflected light;

[0119] The parsing module is used to parse the digital image 24 to obtain the final image of the target using the image restoration algorithm, the enhancer encoded signal 15, and the marker signal 25. Preferably, the parsing module is an image processing and display system 9, which adopts a PC platform, with an i7 processor and 16G of memory.

[0120] Based on the above embodiments, the control module includes: a control system 4, a laser driver 2, a laser 1, and a beam expander 10;

[0121] The control system 4 generates a driving signal 16, a marker signal 25, and an intensifier encoding signal 15 based on a preset imaging target distance, preset control parameters, video field signal 13, and encoding signal. The control system 4 uses an EP4CE15F22 FPGA chip as the timing control core, and after clock frequency multiplication, the synchronization control time accuracy is 10ns.

[0122] The laser driver 2 is used to receive the laser signal 14 and send the drive signal 16;

[0123] The laser 1 is used to receive the drive signal 16 and send the laser 17 to the beam expander 10, wherein the repetition rate of the laser 1 is 10kHz;

[0124] The beam expander 10 is used to convert the laser 17 into a space illumination laser 18 and illuminate the target. The beam expander 10 supports 1-10x zoom so that the space illumination laser 18 covers the target area.

[0125] Based on the above embodiments, the laser receiving module includes: a zoom imaging lens 11, an image intensifier 5, an imaging detector 6, and an image acquisition card 8;

[0126] The zoom imaging lens 11 is used to receive reflected light 20, which is then zoomed to form a focused light spot. The zoom imaging lens 11 supports 1-10x zoom, and the field of view is matched with the dispersion angle of the spatial illumination laser during the imaging process.

[0127] The image intensifier 5 receives the focused light spot 21 and converts it into an imaging light signal 22;

[0128] The imaging detector 6 receives the imaging light signal 22 and uses the imaging light signal 22 to generate an electronic image 23 of the target;

[0129] The image acquisition card 8 forms a digital image 24 of the target based on the electronic image 23.

[0130] The working principle of a range-gated laser active imaging system is as follows:

[0131] The encoding board 3 generates an encoding signal, which is transmitted to the control system 4. The control system 4 receives the encoding signal 12 and the video field signal 13, and generates a laser signal 14, an intensifier encoding signal 15, and a marker signal 25 according to the target distance and system parameters. The laser signal 14 generates a drive signal 16 via the laser driver 2 and sends it to the laser 1. The laser 1 emits a laser 17, which is emitted as a spatial illumination laser 18 via the beam expander 10 and illuminates the target. After being reflected by the target, the reflected light 20 is obtained. The reflected light 20 is focused into a spot 21 via the zoom imaging lens 11 and sent to the image intensifier 5. The image intensifier 5 generates an imaging light signal 22 according to the intensifier encoding signal 15 and the focused spot 21. The imaging light signal 22 is transmitted to the imaging detector 6. The imaging detector 6 generates an electronic image 23 of the target. The electronic image 23 is formed into a blurred digital image 24 via the image acquisition card 8 and transmitted to the image processing and display system 9. The image processing and display system 9 processes the blurred digital image 24 using an image restoration algorithm based on the marker signal 25 to obtain a clear final image.

[0132] It should be noted that the specific methods by which each module performs operations in the system described in the above embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0133] Example 3:

[0134] Corresponding to the above method embodiments, this embodiment also provides a range-gated laser active imaging device. The range-gated laser active imaging device described below and the range-gated laser active imaging method described above can be referred to each other.

[0135] Figure 6 This is a block diagram illustrating a range-gated laser active imaging device 26 according to an exemplary embodiment. Figure 6 As shown, the range-gated laser active imaging device 26 may include a processor 261 and a memory 262. The range-gated laser active imaging device 26 may also include one or more of a multimedia component 263, an I / O interface 264, and a communication component 265.

[0136] The processor 261 controls the overall operation of the range-gated laser active imaging device 26 to complete all or part of the steps in the range-gated laser active imaging method described above. The memory 262 stores various types of data to support the operation of the range-gated laser active imaging device 26. This data may include, for example, instructions for any application or method operating on the range-gated laser active imaging device 26, as well as application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 262 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 263 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 262 or transmitted via the communication component 265. The audio component also includes at least one speaker for outputting audio signals. I / O interface 264 provides an interface between processor 261 and other interface modules, such as keyboards, mice, and buttons. These buttons can be virtual or physical. Communication component 265 is used for wired or wireless communication between the distance-gated laser active imaging device 26 and other devices. Wireless communication includes Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination thereof. Therefore, the corresponding communication component 265 may include a Wi-Fi module, a Bluetooth module, and an NFC module.

[0137] In an exemplary embodiment, the range-gated laser active imaging device 26 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the range-gated laser active imaging method described above.

[0138] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the range-gated laser active imaging method described above. For example, the computer-readable storage medium may be the memory 262 including the program instructions described above, which may be executed by the processor 261 of the range-gated laser active imaging device 26 to complete the range-gated laser active imaging method described above.

[0139] Example 4:

[0140] Corresponding to the above method embodiments, this embodiment also provides a readable storage medium. The readable storage medium described below can be referred to in relation to the distance-gated laser active imaging method described above.

[0141] A readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the distance-gated laser active imaging method described in the above method embodiments.

[0142] The readable storage medium can specifically be a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or any other readable storage medium capable of storing program code.

[0143] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0144] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A range-gated laser active imaging method, characterized in that, include: Receive the target's video field signal and the encoded signal sent by the encoding board; Based on the preset imaging target distance, preset control parameters, video field signal, and encoding signal, a driving signal, a marking signal, and an intensifier encoding signal are generated. The driving signal is used to control the emission of laser light to illuminate the target, and the marking signal is used to record the encoding information of the encoding signal. Acquire the reflected light after the laser shines on the target, and form a digital image of the target based on the reflected light; The final image of the target is obtained by parsing the digital image using an image restoration algorithm, the intensifier encoded signal, and the marker signal, including: Receive the enhancer encoded signal; The relationship between the digital image and the final image is constructed using the enhanced signal encoded by the amplifier: In the formula, B represents the digital image, L represents the final image, T represents the width of the encoded symbol of the intensifier encoded signal, and T i Let L represent the shift during the i-th encoding, m represent the encoding length, η represent the system noise, and k represent the system noise. i Indicates whether to enhance the signal during the i-th encoding, and K′ represents the convolution kernel; Construct an objective function A for the blur kernel, digital image, and final imaging: In the formula, K represents the fuzzy kernel. This represents the data fitting term based on the L2 norm design. Represents the image gradient. Let α and γ represent the regularization term of the fuzzy kernel K, where α and γ are both adjustment coefficients of the regularization term; The final image is obtained by solving the formula (3) using an image restoration algorithm.

2. The range-gated laser active imaging method according to claim 1, characterized in that... The step of generating a driving signal based on a preset imaging target distance, preset control parameters, video field signal, and encoded signal specifically includes: Laser signals are generated based on preset imaging target distance, control parameters, video field signals, and encoded signals; The laser signal is used to generate a driving signal.

3. The range-gated laser active imaging method according to claim 1, characterized in that... The timing relationship between the laser signal, the intensifier encoded signal, the driving signal, and the video field signal satisfies formula (1): In the formula, R represents the preset imaging target distance, R a R represents the front boundary of the imaging depth or range. b t represents the back boundary of the imaging depth or range. delay t represents the time difference between the laser pulse emitted and the formation of the imaging light signal by the pulse. target t represents the time difference between the pulse generated by the drive signal and the corresponding pulse generated by the amplifier's encoded signal. laser_delay t represents the time from when the driving signal generates a pulse to when the laser emits a pulse. gate_delay Δt represents the time delay Δt in the generation of the imaging light signal from a pulse of the intensifier-encoded signal. wid Δt is the pulse width of the laser. gate The pulse width of the signal encoded by the amplifier.

4. The range-gated laser active imaging method according to claim 1, characterized in that... The step of forming a digital image of the target based on the reflected light and the intensifier encoded signal specifically includes: The reflected light is zoomed to form a focused spot; The focused light spot is converted into an imaging light signal; An electronic image of the target is generated from the imaging light signal; A digital image of the target is formed based on the electronic image.

5. The range-gated laser active imaging method according to claim 1, characterized in that... The process of using an image restoration algorithm to solve formula (3) to obtain the final image specifically includes: Let the initial value of the fuzzy kernel be K = s, and the maximum value of the fuzzy kernel be K. max =S, introduce auxiliary variables u and g, set u = 0, g = 0, introduce penalty parameters μ1 and μ2, and set the maximum value of μ1 to be μ 1max The maximum value of μ2 is μ 2max ; Determine the relationship between s and S: If s ≥ S, then use the current L as the final image; if s < S, calculate the K value and determine the relationship between μ1 and μ. 1max Size relationship; Wherein, the judgment of μ1 and μ 1max The size includes: if μ1 > μ 1max Then let And restart the evaluation of the relationship between s and S; if μ1≤μ 1max Then determine whether μ2 is equal to μ. 2max Size relationship; Wherein, the judgment of μ2 and μ 2max The magnitude relationship includes: when μ2 > μ 2max If the condition is met, then let μ1 = 2μ1, and start the comparison between μ1 and μ2 again. 1max The size; when μ2 ≤ μ 2max If L is obtained by formula (4), let μ2 = 2μ2, and start judging μ2 and μ again. 2max Size relationship; In the formula, and Let g represent the differential operators in the x and y directions, respectively, and α be the adjustment coefficient for the regularization term; x and g y Let g represent the gradient matrices of g in the x and y directions, respectively.

6. The range-gated laser active imaging method according to claim 5, characterized in that, The specific calculation process for calculating the K value is as follows: In the formula, F(·) and F -1 (·) are all Fourier transform formulas. For F(·) complex conjugate transformation, γ is the first-order gradient, and γ is the adjustment coefficient of the regularization term.

7. A range-gated laser active imaging system, used in the range-gated laser active imaging method according to any one of claims 1 to 6, characterized in that, The system includes: The receiving module is used to receive the target's video field signal and the encoded signal sent by the encoding board; The control module is used to generate a driving signal, a marking signal, and an intensifier encoding signal based on a preset imaging target distance, preset control parameters, video field signal, and encoding signal. The driving signal is used to control the emission of laser light to illuminate the target, and the marking signal is used to record the encoding information of the encoding signal. Laser receiving module: used to acquire the reflected light after the laser shines on the target, and to form a digital image of the target based on the reflected light; The parsing module is used to parse the digital image using the image restoration algorithm, the enhancer encoded signal, and the marker signal to obtain the final image of the target.

8. A range-gated laser active imaging device, characterized in that, The range-gated laser active imaging method according to any one of claims 1 to 6 includes: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the range-gated laser active imaging method as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the range-gated laser active imaging method as described in any one of claims 1 to 6.

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