Polarization integrated imaging detection module applicable to severe environment

Abstract

The invention provides a polarization integrated imaging detection module applicable to a severe environment, and relates to the technical field of image detection. The system comprises an optical lens, a polarization CMOS sensor, a data transmission link, a control transmission link and an on-chip integrated processing system. Wherein the exposure consistency of the multi-polarization-angle images is ensured by performing acquisition and exposure adjustment on the images at four polarization angles and executing a brightness normalization algorithm, so that the problem of brightness unbalance during multi-image fusion of a traditional exposure algorithm is avoided; besides, through local dynamic range optimization, global gamma correction and a multi-scale fusion method, texture and brightness characteristics at different polarization angles are reserved, and clear and reasonably exposed image generation is realized. The defects in the aspects of atmospheric haze, underwater imaging and strong reflected light processing in the prior art are overcome, high-resolution and high-frame-rate real-time clear imaging is achieved, and reliable image support is provided for various application scenes.

Description

Technical Field

[0001] The invention relates to the technical field of image detection, and in particular to a polarization integrated imaging detection module suitable for harsh environments. Background Art

[0002] In the technical exploration of achieving high-quality HD optical imaging, a variety of solutions have been proposed and applied. Most of these solutions rely on improving the performance of image sensors, using advanced image processing algorithms and global automatic exposure adjustment technology to enhance imaging capabilities in complex environments.

[0003] However, the optical imaging module has serious imaging performance degradation problems in complex environments, which is mainly manifested in the decrease of imaging contrast in foggy weather, the reduction of underwater imaging clarity, the insufficient ability to handle strong reflections, and the limitation of video streaming output resolution and frame rate.

[0004] These problems result in low quality and blurred details in the final image, affecting the optical module's high-definition monitoring effect in haze, smoke, and underwater scenes, as well as its target recognition ability in highly reflective environments, limiting the performance of optical imaging technology in monitoring and high-precision target detection applications.

[0005] Therefore, there is an urgent need for a polarization integrated imaging detection module suitable for harsh environments to solve the problem that existing optical imaging modules are difficult to obtain clear imaging images under harsh optical conditions, such as fog, haze, underwater, etc. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a polarization integrated imaging detection module suitable for harsh environments, mainly to solve the problem that the prior art is difficult to obtain clear imaging images under harsh optical conditions, such as fog, haze, underwater, etc.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] The present invention provides a polarization integrated imaging detection module suitable for harsh environments, comprising an optical lens, a polarization CMOS sensor, a data transmission link, a control transmission link and an on-chip integrated processing system; wherein:

[0009] The optical lens collects optical polarization images at different polarization angles through a built-in polarization module; wherein the optical polarization images are all obtained through independent exposure adjustment;

[0010] The polarization CMOS sensor is used to receive the optical polarization image collected by the optical lens, and convert the optical polarization image at different polarization angles into corresponding polarization channel data;

[0011] The data transmission link is provided with independent transmission channels corresponding to data of different polarization channels, and is sent to the on-chip integrated processing system through the video stream data interface;

[0012] The on-chip integrated processing system is provided with a polarization automatic exposure module and a polarization algorithm operation module; wherein,

[0013] The polarization automatic exposure module is used to perform ISP image signal processing; wherein the ISP image signal processing includes automatic exposure processing, automatic gain processing and dynamic range adjustment, and obtains video stream polarization information corresponding to each polarization angle and performs weighted fusion to obtain an exposure optimized video stream;

[0014] The polarization algorithm operation module performs imaging processing on the exposure optimized video stream through rain and haze removal imaging algorithm, underwater clarity imaging algorithm, water surface fish scale light removal and film camouflage imaging algorithm, and outputs the operation results in the form of video stream.

[0015] As a further solution, the on-chip integrated processing system is also provided with a photoelectric sensor driving module; wherein, the photoelectric sensor driving module performs timing control, parameter configuration and data reception on the polarization module, and converts the optical polarization image recorded in the polarization channel data into a charge image signal and reads it out in a prescribed sequence.

[0016] As a further solution, the on-chip integrated processing system is also provided with a video signal preprocessing module; wherein, the video signal preprocessing module continuously organizes and packages the charge image signal, performs image noise reduction processing, obtains a lossless video stream corresponding to each polarization angle, and provides it to the polarization automatic exposure module for ISP image signal processing.

[0017] As a further solution, the on-chip integrated processing system is further provided with a control interface module; wherein the control interface module is electrically connected to the control interface of the polarization CMOS sensor, and the on-chip integrated processing system realizes operation control of the polarization CMOS sensor through the control interface module.

[0018] As a further solution, the on-chip integrated processing system is also provided with a clock management module and a system reset module; wherein the clock management module is used for system clock management, including generating the image sensor working clock, internal system clock, image processing clock and interface clock; the system reset module is used for generating a system reset signal according to user settings.

[0019] As a further solution, the on-chip integrated processing system is also provided with a serial communication control module and an output interface module; wherein the serial communication control module is set through the RS422 interface module and is used to set and modify the internal parameters of the on-chip integrated processing system; the output interface module includes a Gigabit Ethernet interface, a 12G SDI serial digital interface and an HDMI2.0 interface.

[0020] As a further solution, the optical lens collects optical polarization images at four polarization angles of 0°, 45°, 90°, and 135° through a built-in polarization module to capture the optical properties of objects in different polarization directions; wherein, the maximum exposure time of the optical lens is 20ms, and the minimum exposure time of the optical lens is 50us.

[0021] As a further solution, the polarization automatic exposure module performs ISP image signal processing through the following steps:

[0022] Step 1: Preprocess the polarization channel data corresponding to each polarization angle through a video signal preprocessing module to obtain a lossless video stream corresponding to each polarization angle;

[0023] Step 2: The lossless video stream corresponding to each polarization angle is processed by the brightness normalization technology automatic gain control algorithm, and the operation of the polarization CMOS sensor is controlled by the control interface module;

[0024] Step 3: Obtain independent exposure adjustment data corresponding to each polarization angle by adjusting software parameters; wherein the software parameters include exposure time, aperture size and photosensitivity;

[0025] Step 4: Perform multi-channel brightness consistency adjustment on the independent exposure adjustment data corresponding to each polarization angle to obtain brightness consistency adjustment data corresponding to each polarization angle;

[0026] Step 5: Perform local dynamic range optimization on the brightness consistency adjustment data corresponding to each polarization angle to obtain local dynamic range optimization data corresponding to each polarization angle;

[0027] Step 6: Perform brightness compression operation on the local dynamic range optimization data corresponding to each polarization angle to obtain a brightness compressed polarization image corresponding to each polarization angle;

[0028] Step 7: Perform polarization image weighted fusion on the brightness compressed polarization images corresponding to each polarization angle to obtain a multi-scale weighted fused polarization image;

[0029] Step 8: Perform a global exposure check on the multi-scale weighted fusion polarization image, and return to step 3 to perform exposure correction when an over-exposure range occurs, and output a multi-scale weighted fusion polarization image that meets the over-exposure range;

[0030] Step 9: Continue to execute steps 1 to 8, and form an exposure optimized video stream through a number of multi-scale weighted fusion polarization images until the end.

[0031] As a further solution, the brightness normalization technique automatic gain control algorithm is performed by the following steps:

[0032] Step A: Set the target brightness of the polarization channel Target;

[0033] Step B: Initialize the camera reference exposure time Et and gain parameter Gi; where i represents the polarization channel number;

[0034] Step C: collecting polarization channel data corresponding to each polarization angle through a polarization CMOS sensor;

[0035] Step D: monitoring the channel brightness of the polarization channel data corresponding to each polarization angle;

[0036] Channel brightness value:

[0037] Among them, N represents the total number of pixels, x and y represent the horizontal and vertical coordinates of the pixel points respectively, and I i (x, y) represents the brightness value of the pixel corresponding to the horizontal and vertical coordinates;

[0038] Step E: Calculating channel deviations for polarization channel data corresponding to each polarization angle;

[0039] Channel deviation value: Error i =Avg i -Targer;

[0040] Step F: Calculate the overall polarization through the channel deviation value of each polarization angle;

[0041] Overall polarization value:

[0042] Among them, 4 represents the channel deviation value at four polarization angles of 0°, 45°, 90°, and 135°;

[0043] Step G: Judgement|Error i |<ε′ is true; if so, proceed to step H; otherwise adjust the gain parameter Gi and return to step C; wherein ε′ represents the preset channel deviation value range;

[0044] Step H: Determine Total Error |<ε is established; if so, proceed to step I; otherwise adjust the camera reference exposure time Et and return to step C; wherein ε represents a preset overall polarization value range;

[0045] Step I: Control the polarization CMOS sensor to continuously collect and output independent exposure adjustment data corresponding to each current polarization angle.

[0046] As a further solution, in step G, the gain parameter Gi is adjusted by the following formula: G i =G i -k′·Error i ; Wherein, k′ represents the gain adjustment coefficient;

[0047] In step H, the camera reference exposure time Et is adjusted by the following formula: Et = Et-k·Total Error ; Where k represents the exposure time adjustment coefficient.

[0048] Compared with the related art, the polarization integrated imaging detection module suitable for harsh environments provided by the present invention has the following advantages:

[0049] 1. The polarization imaging module of the present invention can achieve clear imaging in adverse weather conditions such as fog and haze and underwater, significantly improving the detection capability of targets in low-visibility environments. This is mainly due to the use of polarization integrated sensors and on-chip integrated polarization algorithms.

[0050] 2. The present invention adopts a polarization multi-channel coordinated automatic exposure and gain control algorithm, and realizes independent exposure adjustment of images at different polarization angles through polarization information, which minimizes overexposure or underexposure, and uses brightness normalization to ensure exposure consistency of multi-channel images. And through local and global dynamic range optimization, combined with weighted and multi-scale fusion methods, it can dynamically adjust imaging parameters according to ambient light conditions to ensure optimal detail retention and brightness consistency under bright and dark conditions, and ensure image brightness and clarity. This function is crucial for adapting to various complex lighting environments.

[0051] 3. The polarization imaging module of the present invention has a highly integrated characteristic, can independently complete data acquisition, processing and algorithm calculation, and realize adaptive exposure adjustment without the support of external equipment. The module adopts advanced photoelectric conversion technology, combined with efficient signal processing algorithms and intelligent control systems, to ensure that polarization information can still be accurately extracted in complex environments, and realize end-to-side to improve imaging quality and overall system efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of the structure of a polarization integrated imaging detection module suitable for harsh environments provided by the present invention;

[0053] Figure 2 A block diagram of the module structure of the on-chip processing system provided by the present invention;

[0054] Figure 3 The external dimensions of the polarization CMOS sensor provided by the present invention;

[0055] Figure 4 A spectral response curve diagram of the polarization CMOS sensor provided by the present invention;

[0056] Figure 5 This is a structural block diagram of the polarization automatic exposure design provided by the present invention;

[0057] Figure 6 This is a structural flow chart of the brightness normalization automatic exposure gain control algorithm provided by the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0059] See also Figure 1 The present invention provides a polarization integrated imaging detection module suitable for harsh environments, including an optical lens, a polarization CMOS sensor, a data transmission link, a control transmission link and an on-chip integrated processing system; wherein,

[0060] The optical lens collects optical polarization images at different polarization angles through a built-in polarization module; wherein the optical polarization images are all obtained through independent exposure adjustment;

[0061] The polarization CMOS sensor is used to receive the optical polarization image collected by the optical lens, and convert the optical polarization image at different polarization angles into corresponding polarization channel data;

[0062] The data transmission link is provided with independent transmission channels corresponding to data of different polarization channels, and is sent to the on-chip integrated processing system through the video stream data interface;

[0063] The on-chip integrated processing system is provided with a polarization automatic exposure module and a polarization algorithm operation module; wherein,

[0064] The polarization automatic exposure module is used to perform ISP image signal processing; wherein the ISP image signal processing includes automatic exposure processing, automatic gain processing and dynamic range adjustment, and obtains video stream polarization information corresponding to each polarization angle and performs weighted fusion to obtain an exposure optimized video stream;

[0065] The polarization algorithm operation module performs imaging processing on the exposure optimized video stream through rain and haze removal imaging algorithm, underwater clarity imaging algorithm, water surface fish scale light removal and film camouflage imaging algorithm, and outputs the operation results in the form of video stream.

[0066] It should be noted that in the technical exploration of achieving high-quality and high-definition optical imaging, a variety of solutions have been proposed and applied. Most of these solutions rely on improving the performance of image sensors, using advanced image processing algorithms and global automatic exposure adjustment technology to enhance imaging capabilities in complex environments.

[0067] High-sensitivity image sensor: Traditional image acquisition devices mainly rely on improving the sensitivity of image sensors to improve imaging effects under low-light conditions. For example, using high-performance charge-coupled devices (CCD) or complementary metal oxide semiconductor (CMOS) sensors, by increasing the sensor's photosensitive area or using more sensitive materials to improve photon capture efficiency. Such sensors perform well in low-light conditions, but in strong light and scattered light environments, it is still difficult to obtain clear images due to the strong reflection and scattering of light.

[0068] Multispectral imaging and image processing technology: Multispectral imaging systems can enhance target recognition and classification capabilities by collecting images of multiple spectral bands, especially in extreme weather conditions, such as haze environments, by utilizing the differences in the penetration of different bands into materials to enhance imaging effects. However, such systems are often complex and costly, and have demanding requirements for data processing capabilities. At the same time, integrated image processing technologies such as image enhancement, restoration, and filtering operations, although they can improve image quality, still have limitations. Image enhancement improves visibility by adjusting brightness, contrast, and color saturation, but its effect is limited under conditions such as heavy fog and heavy rain; image restoration relies on physical models to restore degraded images, and adaptability faces challenges; and filtering operations can remove noise and improve clarity, but may lead to loss of details. Overall, although these technologies have optimized imaging effects to a certain extent, it is difficult to achieve real-time processing of high resolution and high frame rate at the same time in complex all-weather environments.

[0069] Global automatic exposure technology: Automatic exposure methods usually rely on global brightness information to adjust the camera's exposure settings, and determine the shutter speed and aperture size by measuring the average brightness or highlight area of ​​the scene. In practical applications, automatic gain control is also often used to adjust dark details to ensure image clarity by increasing the overall brightness of the image. However, this method may cause uneven exposure when processing complex scenes, especially in situations with high dynamic range or significant brightness differences, which can easily cause overexposure or underexposure.

[0070] In general, the existing technical solutions have made certain progress in improving imaging quality and enhancing environmental adaptability, but they are still insufficient in terms of system versatility, integration, power consumption control, real-time processing capabilities, etc. Therefore, the present invention provides a polarization imaging module with high integration, low power consumption, and the ability to provide high-definition images under extreme environmental conditions. By integrating polarization optical detection sensors, on-chip integrated processing systems, and polarization information processing algorithms, atmospheric defogging imaging, underwater clear imaging, and de-strong reflection imaging in optical imaging are realized, which is of great significance in monitoring applications in multiple fields such as roads, factory areas, mountainous areas, and ports.

[0071] The polarization integrated imaging detection module suitable for harsh environments is a comprehensive optical, mechanical, electrical and thermal device, which realizes the on-chip integrated software solution design for polarization multi-channel data, polarization automatic exposure optimization design, polarization optical sensor selection and polarization integrated imaging detection electronic system design.

[0072] Design of on-chip integrated software solution for polarization multi-channel data

[0073] The on-chip processing system board includes a data processing part, a polarization algorithm integration part, and an interface control part; among them,

[0074] The data processing part collects the output signal of the image sensor, converts it into the required lossless video stream, and realizes ISP (image signal processing) functions such as automatic exposure, automatic gain, and dynamic range adjustment of multiple polarization channels. This part of the function is implemented by the on-chip processing system in hardware;

[0075] The polarization algorithm integration part performs algorithmic operations on the acquired video stream polarization information, performs weighted fusion on the information of different polarization channels designed by polarization automatic exposure, generates a high-quality video stream with reasonable exposure, and then runs the rain, fog and haze removal imaging, underwater clarity imaging, surface fish scale light removal and film camouflage imaging algorithms, and outputs the operation results to the external interface in the form of video streams;

[0076] The external transmission interface continuously sends video data to the subsequent device, using 2.0 High Definition Multimedia Interface (HDMI 2.0), Gigabit Ethernet and 12G Serial Digital Interface (SDI) to reduce cables. At the same time, it communicates with the user end through the serial port to exchange information with the overall system. This part of the function is controlled by the on-chip processing system.

[0077] The on-chip integrated software for polarization multi-channel data is based on the Linux operating system to implement video information acquisition, preprocessing, output video encoding, polarization algorithm operation and communication between various functional components. The software is divided into 8 large modules. The module function description is shown in Table 1, the performance description is shown in Table 2, and the software module hierarchy is shown in Figure 2 Shown

[0078] Table 1 Software function analysis

[0079]

[0080] Table 2 Performance analysis

[0081]

[0082]

[0083] Polarization automatic exposure optimization design The automatic exposure technology based on multi-angle polarization image acquisition and dynamic range optimization is to make independent exposure adjustments for images with different polarization angles, and combine multi-channel brightness consistency adjustment and image fusion to finally achieve high-quality automatic exposure, such as Figure 5 The structure block diagram of polarization automatic exposure design is shown in the figure.

[0084] First, the module uses the built-in polarization module to collect images at four polarization angles of 0°, 45°, 90°, and 135° to capture the optical properties of objects in different polarization directions. These images will show different brightness and detail information due to different angles, so each image needs to be independently exposed to ensure that the exposure level of each image is reasonable to avoid overexposure or underexposure.

[0085] Subsequently, the target global gain value is determined based on the brightness difference of different polarization images. The brightness normalization technology and automatic gain control algorithm are used to adjust the hardware exposure time, aperture size and sensitivity value, as well as the software algorithm parameters according to the target global gain value, so as to achieve independent exposure adjustment of polarized images with different polarization angles and ensure the exposure consistency between images, thus laying the foundation for subsequent image fusion.

[0086] On this basis, local dynamic range optimization technology and gamma correction technology are used to enhance the light and dark details of the image, increase the exposure of the dark area, and compress the bright area to ensure that the dynamic range of the image is expanded.

[0087] Finally, the optimized polarization images are integrated through a weighted fusion algorithm and combined with a multi-scale fusion method to maximize the retention of brightness, texture and detail features at different polarization angles, generating a high-quality image with reasonable overall exposure, rich details and extended dynamic range.

[0088] The module has the advantages of fast response, precise exposure adjustment and detail retention, and can meet the imaging requirements in complex lighting scenes.

[0089] The structure flow chart of the automatic exposure gain control algorithm based on brightness normalization is shown in the attached figure. Figure 6As shown, first, the target brightness of the polarization channel is set, and the initialization benchmark exposure time and gain are set for each channel to provide a reference for subsequent adjustments.

[0090] Then, the average brightness of each channel is monitored in real time to ensure that the imaging effect can be evaluated in a timely manner.

[0091] By calculating the deviation between each channel and the target brightness, the deviations of all channels are combined to calculate the overall deviation to guide the balanced adjustment of exposure time and gain.

[0092] Each independent channel deviation sets a threshold to determine whether it is overexposed or too dark, and uses feedback to mobilize the module sensor to adjust parameters such as exposure gain.

[0093] Ensure that each independent channel is accurately exposed while considering its output and overall consistency and the high quality of the overall output effect, and evaluate the overall deviation. If the overall deviation is positive,

[0094] If the overall brightness is too high, the exposure of all channels should be reduced accordingly. Conversely, if the deviation is negative, the exposure should be increased uniformly. During the adjustment process, ensure that all new exposure times and gain values ​​are within the adjustable range of the module to prevent over-adjustment or damage to the device.

[0095] Finally, the adjustment effect is verified through multiple imaging runs, and the adjustment strategy is continuously optimized based on the results, forming a closed-loop process of continuous improvement to achieve the ultimate balance and consistency of the brightness of each channel.

[0096] Selection of polarization optical sensors: Optical sensors are the core of optoelectronic imaging equipment. When designing, it is necessary to first conduct a selection analysis of image sensors. Because polarization optical sensors can realize the acquisition of polarization optical information, they have significant advantages in "penetrating clouds and fog, highlighting targets, and revealing authenticity", making details more visible. They can increase the detection distance in interference and low visibility environments such as smoke, haze, and strong light, and improve the detection and identification capabilities of targets in complex environments. On the premise that the system structure is as simple as possible, the power consumption is as low as possible, and the reliability is as high as possible, a CMOS polarization optical sensor is selected. Through research on the main CMOS polarization optical sensors, considering image resolution, power consumption, frame rate, stability and other aspects, the IMX253MZR-C / IMX253MYR series sensors were selected. The main technical indicators are shown in Table 3, and the appearance diagram is as shown in the attached figure. Figure 3 The spectral response curve is shown in the attached Figure 4 shown.

[0097] Table 3 Main parameters of CMOS optical sensor

[0098] Effective pixels 4096×3000 Pixel size 3.45um×3.45um Color Type Black and white / color, polarized Maximum frame rate 12bit:46.4frame / s Data Depth 8bit / 10bit / 12bit Electronic shutter Global ROI Model support Output Format Low Voltage Differential Signaling (LVDS) Working band 0.4~0.9μm

[0099] The operation logic design block diagram of the polarization integrated imaging detection peripheral electronic system design is as follows Figure 5 As shown, the electronic system includes a polarization photoelectric sensor peripheral circuit design part, a data and control interface part, and a power drive part. The polarization optical sensor board and the on-chip processing system board are connected by a board-level connector.

[0100] Compared with the prior art, the ultra-high-definition all-weather polarization module of the present invention has the following advantages:

[0101] High-quality polarization information acquisition: Through polarization optical sensing and on-chip integrated processing boards, the present invention can effectively receive polarized light signals, collect and process polarized images in real time, so that it can still maintain high resolution and clarity under adverse weather conditions, and output lossless video streams.

[0102] Polarization automatic exposure modulation: The present invention captures and adjusts the exposure of images at four polarization angles of 0°, 45°, 90°, and 135°, breaking through the reliance of existing technologies on single-channel exposure. The brightness normalization algorithm is used to ensure the exposure consistency of images at multiple polarization angles, avoiding the problem of brightness imbalance in traditional exposure algorithms when fusing multiple images. Combined with local dynamic range optimization, global gamma correction, and multi-scale fusion methods, the texture and brightness features at different polarization angles are retained to achieve clear and reasonably exposed image generation.

[0103] End-side processing of video stream output: This invention highly integrates efficient hardware processing and optimization algorithms to achieve autonomous high-resolution and high-frame-rate real-time imaging on the module side, and can still maintain high-definition and smooth real-time video output in complex environments, which is crucial for applications such as real-time monitoring and high-precision analysis. It not only improves the efficiency and performance of the system, but also significantly reduces the cost and time of post-processing.

[0104] Modular design: The present invention divides the system into two independent modules: polarization optical sensing and on-chip integrated processing board. This design not only improves the system's integration, but also facilitates maintenance and upgrading. The modules can be adjusted or replaced according to specific needs, thereby enhancing the system's versatility and adaptability.

[0105] In summary, the present invention significantly improves the imaging quality and performance in complex environments by combining advanced polarization information processing technology, solves the shortcomings of existing technologies in atmospheric haze, underwater imaging and strong reflected light processing, realizes real-time clear imaging with high resolution and high frame rate, and provides reliable image support for a variety of application scenarios. These advantages not only improve efficiency and reduce costs, but also open up new application prospects for optical imaging equipment.

[0106] The above embodiments only express preferred implementation modes, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A polarization integrated imaging detection module suitable for harsh environments, characterized in that: It includes an optical lens, a polarization CMOS sensor, a data transmission link, a control transmission link and an on-chip integrated processing system; among which, The optical lens collects optical polarization images at different polarization angles through a built-in polarization module; wherein the optical polarization images are all obtained through independent exposure adjustment; The polarization CMOS sensor is used to receive the optical polarization image collected by the optical lens, and convert the optical polarization image at different polarization angles into corresponding polarization channel data; The data transmission link is provided with independent transmission channels corresponding to data of different polarization channels, and is sent to the on-chip integrated processing system through the video stream data interface; The on-chip integrated processing system is provided with a polarization automatic exposure module and a polarization algorithm operation module; wherein, The polarization automatic exposure module is used to perform ISP image signal processing; wherein the ISP image signal processing includes automatic exposure processing, automatic gain processing and dynamic range adjustment, and obtains video stream polarization information corresponding to each polarization angle and performs weighted fusion to obtain an exposure optimized video stream; The polarization algorithm operation module performs imaging processing on the exposure optimized video stream through rain and haze removal imaging algorithm, underwater clarity imaging algorithm, water surface fish scale light removal and film camouflage imaging algorithm, and outputs the operation results in the form of video stream.

2. The polarization integrated imaging detection module suitable for harsh environments according to claim 1, characterized in that: The on-chip integrated processing system is also provided with a photoelectric sensor driving module; wherein the photoelectric sensor driving module performs timing control, parameter configuration and data reception on the polarization module, and converts the optical polarization image recorded in the polarization channel data into a charge image signal and reads it out in a specified sequence.

3. The polarization integrated imaging detection module suitable for harsh environments according to claim 2, characterized in that: The on-chip integrated processing system is also provided with a video signal preprocessing module; wherein, the video signal preprocessing module continuously organizes and packages the charge image signal, performs image noise reduction processing, obtains a lossless video stream corresponding to each polarization angle, and provides it to the polarization automatic exposure module for ISP image signal processing.

4. The polarization integrated imaging detection module suitable for harsh environments according to claim 1, characterized in that: The on-chip integrated processing system is also provided with a control interface module; wherein the control interface module is electrically connected to the control interface of the polarization CMOS sensor, and the on-chip integrated processing system realizes operation control of the polarization CMOS sensor through the control interface module.

5. The polarization integrated imaging detection module suitable for harsh environments according to claim 1, characterized in that: The on-chip integrated processing system is also provided with a clock management module and a system reset module; wherein the clock management module is used for system clock management, including generating the image sensor working clock, the internal system clock, the image processing clock and the interface clock; the system reset module is used for generating a system reset signal according to user settings.

6. The polarization integrated imaging detection module suitable for harsh environments according to claim 1, characterized in that: The on-chip integrated processing system is also provided with a serial communication control module and an output interface module; wherein the serial communication control module is set through the RS422 interface module and is used to set and modify the internal parameters of the on-chip integrated processing system; the output interface module includes a Gigabit Ethernet interface, a 12G SDI serial digital interface and an HDMI2.0 interface.

7. The polarization integrated imaging detection module suitable for harsh environments according to claim 1, characterized in that: The optical lens collects optical polarization images at four polarization angles of 0°, 45°, 90°, and 135° through a built-in polarization module to capture the optical properties of an object in different polarization directions; wherein, the maximum exposure time of the optical lens is 20ms, and the minimum exposure time of the optical lens is 50us.

8. A polarization integrated imaging detection module suitable for harsh environments according to any one of claims 3 and 4, characterized in that: The polarization automatic exposure module performs ISP image signal processing through the following steps: Step 1: Preprocess the polarization channel data corresponding to each polarization angle through a video signal preprocessing module to obtain a lossless video stream corresponding to each polarization angle; Step 2: The lossless video stream corresponding to each polarization angle is processed by the brightness normalization technology automatic gain control algorithm, and the operation of the polarization CMOS sensor is controlled by the control interface module; Step 3: Obtain independent exposure adjustment data corresponding to each polarization angle by adjusting software parameters; wherein the software parameters include exposure time, aperture size and photosensitivity; Step 4: Perform multi-channel brightness consistency adjustment on the independent exposure adjustment data corresponding to each polarization angle to obtain brightness consistency adjustment data corresponding to each polarization angle; Step 5: Perform local dynamic range optimization on the brightness consistency adjustment data corresponding to each polarization angle to obtain local dynamic range optimization data corresponding to each polarization angle; Step 6: Perform brightness compression operation on the local dynamic range optimization data corresponding to each polarization angle to obtain a brightness compressed polarization image corresponding to each polarization angle; Step 7: Perform polarization image weighted fusion on the brightness compressed polarization images corresponding to each polarization angle to obtain a multi-scale weighted fused polarization image; Step 8: Perform a global exposure check on the multi-scale weighted fusion polarization image, and return to step 3 to perform exposure correction when an over-exposure range occurs, and output a multi-scale weighted fusion polarization image that meets the over-exposure range; Step 9: Continue to execute steps 1 to 8, and form an exposure optimized video stream through a number of multi-scale weighted fusion polarization images until the end.

9. The polarization integrated imaging detection module suitable for harsh environments according to claim 8, characterized in that: The brightness normalization technique automatic gain control algorithm is performed by the following steps: Step A: Set the target brightness of the polarization channel Target; Step B: Initialize the camera reference exposure time Et and gain parameter Gi; where i represents the polarization channel number; Step C: collecting polarization channel data corresponding to each polarization angle through a polarization CMOS sensor; Step D: monitoring the channel brightness of the polarization channel data corresponding to each polarization angle; Channel brightness value: Among them, N represents the total number of pixels, x and y represent the horizontal and vertical coordinates of the pixel points respectively, and I i (x, y) represents the brightness value of the pixel corresponding to the horizontal and vertical coordinates; Step E: Calculating channel deviations for polarization channel data corresponding to each polarization angle; Channel deviation value: Error i =Avg i -Target; Step F: Calculate the overall polarization through the channel deviation value of each polarization angle; Overall polarization value: Among them, 4 represents the channel deviation value at four polarization angles of 0°, 45°, 90°, and 135°; Step G: Determine whether |Errori|<ε′ holds; if so, proceed to step H; otherwise, adjust the gain parameter Gi and return to step C; wherein ε′ represents a preset channel deviation value range; Step H: Determine Total Error |<ε is established; if so, proceed to step I; otherwise adjust the camera reference exposure time Et and return to step C; wherein ε represents a preset overall polarization value range; Step I: Control the polarization CMOS sensor to continuously collect and output independent exposure adjustment data corresponding to each current polarization angle.

10. The polarization integrated imaging detection module suitable for harsh environments according to claim 9, characterized in that: In step G, the gain parameter Gi is adjusted by the following formula: G i =G i -k′·Error i ; Wherein, k′ represents the gain adjustment coefficient; In step H, the camera reference exposure time Et is adjusted by the following formula: Et = Et-k·Total Error ; Where k represents the exposure time adjustment coefficient.

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