Real-time processing method and device for auto-collimation light pipe

Abstract

The invention provides a real-time processing method and a real-time processing device for an auto-collimation light pipe, which solve the technical problem of efficiency defect in the signal processing process of the existing auto-collimation light pipe. The method comprises the following steps: determining a windowing range of a CMOS image sensor according to preset slit image parameters to form an effective pixel acquisition matrix; performing sensor line-by-line exposure within the range of the effective pixel acquisition matrix, and synchronously transmitting image data acquired by the previous line of sensors in the exposure process; setting at least two memory cache regions for circularly receiving each frame of imaging data formed by the effective pixel acquisition matrix; and performing image dimension reduction on each frame of image to form corresponding one-dimensional image data. The frame frequency of the sensor is improved, the waiting time in the processing process is reduced, the utilization efficiency of the processor is improved, and the real-time performance and reliability of signal output of the auto-collimation light pipe are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of data processing, and in particular to a real-time processing method and device for a self-collimating light tube. Background Art

[0002] The aiming system in the prior art is mainly composed of inertial north-seeking equipment, auto-collimation light tube and other equipment. The auto-collimation light tube can calculate the azimuth deviation angle between the light tube and the target, and provide high-precision aiming and orientation information. The system composition of the auto-collimation light tube is as follows: Figure 1 As shown. Figure 1 In the present invention, the autocollimation light tube mainly includes an optical system combination for transmitting and receiving optical signals, a CMOS image sensor for analog-to-digital conversion of received optical signals and front-end signal processing, and a main control board for data processing and forwarding control of collected images. The main control board forms a two-way communication link with the host computer or the laser strapdown inertial group, such as an Ethernet port or an RS-422 serial port, to realize data transmission.

[0003] In view of the high real-time requirements of the aiming system, improving the calculation frequency of the autocollimation light tube and the output accuracy of the collimation deviation angle is the basis for improving the reliability of the aiming system. The core component inside the autocollimation light tube is the CMOS image sensor. It is a feasible technical idea to improve the real-time performance and reliability of the output data of the autocollimation light tube by increasing the frame rate of the CMOS image sensor and reducing the calculation time of a single image. Summary of the invention

[0004] In view of the above problems and technical ideas, the embodiments of the present invention provide a real-time processing method and device for a self-collimating light pipe, which solve the technical problem that the signal processing process of the existing self-collimating light pipe has efficiency defects.

[0005] The real-time processing method of the self-collimating light pipe according to the embodiment of the present invention includes:

[0006] Determine the window opening range of the CMOS image sensor according to the preset slit image parameters to form an effective pixel acquisition matrix;

[0007] Expose the sensor row by row within the effective pixel acquisition matrix, and synchronously transmit the image data collected by the previous row of sensors during the exposure process;

[0008] At least two memory buffer areas are set to cyclically receive each frame of imaging data formed by the effective pixel acquisition matrix;

[0009] Image dimension reduction is performed on each frame of imaging to form corresponding one-dimensional image data.

[0010] In one embodiment of the present invention, forming an effective pixel acquisition matrix includes:

[0011] Determine the number of effective pixel rows of the collimating slit image according to the size of the collimating slit and the photosensitive unit of the CMOS image sensor;

[0012] Combined with the number of effective pixel rows of the collimated slit image, the effective pixel acquisition matrix within the window range of the CMOS image sensor is determined;

[0013] The acquisition frame rate is determined according to the operating frequency of the main control board and the effective pixel acquisition matrix.

[0014] In one embodiment of the present invention, synchronously transmitting the image data collected by the previous row of sensors during the exposure process includes:

[0015] The photosensitive units are configured through row registers within the effective pixel acquisition matrix, and the photosensitive units are exposed row by row;

[0016] When the row register value is stepped, the image information formed by the exposure of the previous row of photosensitive units is transmitted.

[0017] In one embodiment of the present invention, the cyclically receiving each frame of imaging data formed by the effective pixel acquisition matrix includes:

[0018] Three memory buffers are set to store three frames of complete imaging data, and the latest frame imaging data is stored in the three memory buffers in turn;

[0019] The address number of the memory buffer area that has been cached the most recently is obtained through the access channel, and the memory copy function is used according to preset parameters to copy the image data to be processed from the memory buffer area corresponding to the address number to the image processing memory.

[0020] In one embodiment of the present invention, the image dimension reduction includes:

[0021] The image data to be processed is traversed column by column to obtain the arithmetic mean of the pixels in the column, and the arithmetic mean is used to obtain a row of fitted one-dimensional image data.

[0022] The real-time processing device of the self-collimating light pipe according to the embodiment of the present invention comprises:

[0023] A frame rate enhancement module is used to determine the window opening range of the CMOS image sensor according to preset slit image parameters to form an effective pixel acquisition matrix;

[0024] The data transmission module is used to perform row-by-row exposure of the sensor within the effective pixel acquisition matrix range, and synchronously transmit the image data collected by the previous row of sensors during the exposure process;

[0025] An image buffer module, used to set at least two memory buffer areas for cyclically receiving each frame of imaging data formed by an effective pixel acquisition matrix;

[0026] The dimension reduction processing module is used to perform dimension reduction on each frame of imaging to form corresponding one-dimensional image data.

[0027] In one embodiment of the present invention, the frame rate enhancement module includes:

[0028] A focus acquisition unit, used to determine the number of effective pixel rows of the collimating slit image according to the size of the collimating slit and the photosensitive unit of the CMOS image sensor;

[0029] An acquisition windowing unit is used to determine an effective pixel acquisition matrix within the windowing range of the CMOS image sensor in combination with the number of effective pixel rows of the collimated slit image;

[0030] The frame rate enhancement unit is used to determine the acquisition frame rate according to the operating frequency of the main control board and the effective pixel acquisition matrix.

[0031] In one embodiment of the present invention, the data simultaneous transmission module includes:

[0032] A line-by-line exposure unit, used to configure the photosensitive units through the row registers within the effective pixel acquisition matrix to perform line-by-line exposure of the photosensitive units;

[0033] The line-by-line transmission unit is used to transmit the image information formed by the exposure of the previous line of photosensitive units when the line register value is stepped.

[0034] In one embodiment of the present invention, the image cache module includes:

[0035] A sequential caching unit is used to set three memory cache areas for storing three frames of complete imaging data, and the latest frame imaging data is stored in the three memory cache areas in turn;

[0036] The memory reading unit is used to obtain the address number of the latest cached memory buffer area through the access channel, and use the memory copy function to copy the image data to be processed from the memory buffer area corresponding to the address number to the image processing memory according to the preset parameters.

[0037] In one embodiment of the present invention, the dimension reduction processing module includes:

[0038] The dimension reduction processing unit is used to traverse the image data to be processed column by column to obtain the arithmetic mean of the pixels in the column, and use the arithmetic mean to obtain a row of fitted one-dimensional image data.

[0039] The real-time processing method and device of the self-collimating light tube in the embodiment of the present invention reduces the single-frame imaging output data of the CMOS image sensor by increasing the effective pixel ratio, improves the frame rate of the sensor, and realizes real-time acquisition of the latest image data during image processing through orderly caching of each frame of imaging data, thereby reducing the waiting time between processing processes. During image processing, the imaging data that has undergone windowing processing is reduced in dimension, which greatly reduces the computing power requirement, improves the processor utilization efficiency, and ensures the real-time and reliability of the self-collimating light tube signal output. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 FIG. 1 is a schematic diagram of the structure of a self-collimating light pipe in the prior art.

[0041] Figure 2 FIG. 1 is a flow chart of a method for real-time processing of a self-collimating light pipe according to an embodiment of the present invention.

[0042] Figure 3 FIG. 1 is a schematic diagram showing an application of a real-time processing method for a self-collimating light pipe according to an embodiment of the present invention.

[0043] Figure 4 FIG. 1 is a schematic diagram of the architecture of a real-time processing device for a self-collimating light pipe according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] A real-time processing method for a self-collimating light tube according to an embodiment of the present invention is as follows Figure 2 As shown. Figure 2 In this embodiment, the present invention includes:

[0046] Step 100: determining the window opening range of the CMOS image sensor according to preset slit image parameters to form an effective pixel acquisition matrix.

[0047] Those skilled in the art can understand that the slit image refers to the image formed by the optical system. By adjusting the optical system, the effective photosensitive imaging range can be limited on the two-dimensional photosensitive unit matrix of the CMOS image sensor, and the window mode can be formed in conjunction with the register configuration of the CMOS image sensor to increase the effective pixel ratio of the image returned by the optical system and reduce the processing overhead of invalid pixels.

[0048] Step 200: Expose the sensor row by row within the effective pixel acquisition matrix, and synchronously transmit the image data acquired by the sensor in the previous row during the exposure process.

[0049] The exposure process of the photosensitive units is formed into a time-sharing process by exposing the sensors row by row. When the current row of sensors is exposed, the image information formed by the exposure of the previous row of photosensitive units is synchronously transmitted.

[0050] Step 300: Setting at least two memory buffer areas for cyclically receiving each frame of imaging data formed by the effective pixel acquisition matrix.

[0051] By setting up several recycled memory buffer areas to receive each frame of exposure image formed by the effective pixel acquisition matrix, an exposure image buffer is provided for subsequent image processing, which meets the continuity of exposure image acquisition and exposure image processing and eliminates the waiting time of the handshake signal between the two processing processes.

[0052] Step 400: Perform image dimension reduction on each frame of imaging to form corresponding one-dimensional image data.

[0053] The exposure image processing process reduces the dimension of each frame of two-dimensional image data to form one-dimensional image data, thereby reducing the computing power consumption of data processing. The image dimension reduction process can use a linear transformation process to extract the main feature components in the exposure image.

[0054] The real-time processing method of the self-collimating light tube in the embodiment of the present invention reduces the single-frame imaging output data of the CMOS image sensor by increasing the effective pixel ratio, improves the frame rate of the sensor, and realizes real-time acquisition of the latest image data during image processing through orderly caching of each frame of imaging data, thereby reducing the waiting time between processing processes. During image processing, the imaging data that has undergone windowing processing is reduced in dimension, which greatly reduces the computing power requirement, improves the processor utilization efficiency, and ensures the real-time performance of the self-collimating light tube signal.

[0055] The application of the real-time processing method of the self-collimating light tube according to an embodiment of the present invention is as follows: Figure 3 As shown. Combined Figure 2 As shown, in one embodiment of the present invention, step 100 includes:

[0056] Step 110: Determine the number of effective pixel rows of the collimating slit image according to the size of the collimating slit and the photosensitive unit of the CMOS image sensor.

[0057] In one embodiment of the present invention, the size of the CMOS image sensing unit is 7.5um, and the collimated slit image occupies 170 lines. Taking into account appropriate margins for the installation of the optical system, the balance of the number of lines in a single frame is approximately 3 times the slit height, and sensor parameters such as the minimum step distance of the sensor, the number of effective pixel rows output by the collimated slit single frame is determined to be 576.

[0058] Step 120: Determine the effective pixel acquisition matrix within the window range of the CMOS image sensor in combination with the number of effective pixel rows of the collimated slit image.

[0059] The range of photosensitive units in the collimated analysis pixel data set is determined according to the number of effective pixel rows of the collimated slit image, and the windowing range in the photosensitive unit matrix of the CMOS image sensor is formed, and then the effective pixel acquisition matrix corresponding to the windowing range is determined. The effective pixel acquisition matrix range can be controlled by the windowing register of the CMOS image sensor. The windowing register can be a single function register or a circuit function combination of other basic registers according to the CMOS image sensor model.

[0060] In one embodiment of the present invention, the above windowing mode can increase the effective pixel ratio in a single picture from 4.88% to 26.04%.

[0061] Step 130: Determine the acquisition frame rate according to the main control board operating frequency and the effective pixel acquisition matrix.

[0062] In one embodiment of the present invention, the operating frequency of the main control board is 25 MHz, and the line period T L =T m *n,T m is the main frequency cycle, n is the comprehensive configuration coefficient of TX signal, sampling signal and PGA related registers, which is 263, that is, T L =10.52us, the number of output lines is 576, and the single-frame output time is T p =T L *Line=6.05952ms, frame rate Meet system requirements.

[0063] The real-time processing method of the self-collimating light tube of the embodiment of the present invention determines the effective pixel acquisition matrix of the photosensitive unit through the windowing mode, and forms an imaging frame output closely related to the collimation signal analysis. The frame output data volume is reduced, so that the output frame rate within the limited output bandwidth can be greatly improved.

[0064] like Figure 2 As shown, in one embodiment of the present invention, step 200 includes:

[0065] Step 210: configuring the photosensitive units through the row registers within the effective pixel acquisition matrix, and exposing the photosensitive units row by row.

[0066] Step 220: When the row register value is stepped, the image information formed by the exposure of the previous row of photosensitive units is transmitted.

[0067] The real-time processing method of the self-collimating light tube in the embodiment of the present invention utilizes the line-by-line exposure process to form a synchronous transmission process, thereby avoiding the data processing delay caused by data transmission and effectively optimizing the transmission efficiency of the exposure data.

[0068] like Figure 2 As shown, in one embodiment of the present invention, step 300 includes:

[0069] Step 310: three memory buffer areas are set to store three frames of complete imaging data, and the latest frame imaging data is stored in the three memory buffer areas in turn.

[0070] The original data storage addresses of the CMOS image sensor are 0x10000000, 0x11000000, and 0x12000000. The latest images are stored in the three addresses in turn, forming a data reading and writing ping-pong mechanism.

[0071] Step 320: Obtain the address number of the memory buffer area that has been cached the most recently through the access channel, and use the memory copy function to copy m to n lines of image data to be processed into the image processing memory according to preset parameters.

[0072] In one embodiment of the present invention, the interrupt mechanism is used to execute the number query function of the address of the memory buffer area where the latest image is stored. According to the preset parameters, the memcpy function is used to copy the m to n lines of data in the memory buffer area to the memory (which can be part or all of the complete exposure image).

[0073] The real-time processing method of the autocollimator in the embodiment of the present invention can adapt to the timely cache of high frame rate exposure images, provide a fast image reading mechanism for the image processing process, and provide an on-demand reading process for the complete image data for the image processing process. This effectively improves the cache reading efficiency of the exposure data. Figure 2 As shown, in one embodiment of the present invention, step 400 includes:

[0074] Step 410: traverse the image data to be processed column by column to obtain the arithmetic mean of the pixels in the column, and use the arithmetic mean to obtain a row of fitted one-dimensional image data.

[0075] The real-time processing method of the self-collimating light tube in the embodiment of the present invention uses a dimensionality reduction algorithm to simplify the data processing process, so that the subsequent algorithm of the main control board can fully utilize the limited computing power based on the dimensionality reduction data, thereby ensuring the reliability of data processing.

[0076] A real-time processing device for a self-collimating light tube according to an embodiment of the present invention includes:

[0077] A memory, used to store program codes in the process of the real-time processing method of the self-collimating light tube in the above embodiment;

[0078] The processor is used to execute the program code in the processing process of the real-time processing method of the self-collimating light tube in the above embodiment.

[0079] The processor may be a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0080] A real-time processing device for a self-collimating light tube according to an embodiment of the present invention is as follows Figure 4 As shown. Figure 4 In this embodiment, the present invention includes:

[0081] The frame rate enhancement module 10 is used to determine the window opening range of the CMOS image sensor according to the preset slit image parameters to form an effective pixel acquisition matrix;

[0082] The data transmission module 20 is used to perform row-by-row exposure of the sensor within the effective pixel acquisition matrix range, and synchronously transmit the image data collected by the previous row of sensors during the exposure process;

[0083] An image buffer module 30 is used to set at least two memory buffer areas for cyclically receiving each frame of imaging data formed by an effective pixel acquisition matrix;

[0084] The dimension reduction processing module 40 is used to perform dimension reduction on each frame of imaging to form corresponding one-dimensional image data.

[0085] like Figure 4 As shown, in one embodiment of the present invention, the frame rate enhancement module 10 includes:

[0086] The key acquisition unit 11 is used to determine the number of effective pixel rows of the collimating slit image according to the size of the collimating slit and the photosensitive unit of the CMOS image sensor;

[0087] The acquisition window unit 12 is used to determine the effective pixel acquisition matrix within the window range of the CMOS image sensor in combination with the effective pixel rows of the collimated slit image;

[0088] The frame rate increasing unit 13 is used to determine the acquisition frame rate according to the operating frequency of the main control board and the effective pixel acquisition matrix.

[0089] like Figure 4 As shown, in one embodiment of the present invention, the data transmission module 20 includes:

[0090] A line-by-line exposure unit 21 is used to configure the photosensitive units through the row register within the effective pixel acquisition matrix range and perform line-by-line exposure of the photosensitive units;

[0091] The line-by-line transmission unit 22 is used to transmit the image information formed by the exposure of the photosensitive units in the previous line when the line register value is stepped.

[0092] like Figure 4 As shown, in one embodiment of the present invention, the image cache module 30 includes:

[0093] A sequential caching unit 31 is used to set three memory cache areas for storing three frames of complete imaging data, and the latest frame imaging data is stored in the three memory cache areas in turn;

[0094] The memory reading unit 32 is used to obtain the address number of the latest cached memory buffer area through the access channel, and use the memory copy function according to preset parameters to copy m to n lines of to-be-processed image data from the memory buffer area corresponding to the address number to the image processing memory.

[0095] like Figure 4 As shown, in one embodiment of the present invention, the dimension reduction processing module 40 includes:

[0096] The dimension reduction processing unit 41 is used to traverse the image data to be processed column by column to obtain the arithmetic mean of the pixels in the column, and use the arithmetic mean to obtain a row of fitted one-dimensional image data.

[0097] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A real-time processing method for a self-collimating light tube, characterized in that: include: Determine the window opening range of the CMOS image sensor according to the preset slit image parameters to form an effective pixel acquisition matrix; Expose the sensor row by row within the effective pixel acquisition matrix, and synchronously transmit the image data collected by the previous row of sensors during the exposure process; At least two memory buffer areas are set to cyclically receive each frame of imaging data formed by the effective pixel acquisition matrix; Image dimension reduction is performed on each frame of imaging to form corresponding one-dimensional image data.

2. The real-time processing method of the self-collimating light tube according to claim 1, characterized in that: The forming of an effective pixel acquisition matrix comprises: Determine the number of effective pixel rows of the collimating slit image according to the size of the collimating slit and the photosensitive unit of the CMOS image sensor; Combined with the number of effective pixel rows of the collimated slit image, the effective pixel acquisition matrix within the window range of the CMOS image sensor is determined; The acquisition frame rate is determined according to the operating frequency of the main control board and the effective pixel acquisition matrix.

3. The real-time processing method of the self-collimating light tube according to claim 1, characterized in that: The synchronous transmission of the image data collected by the previous row of sensors during the exposure process includes: The photosensitive units are configured through row registers within the effective pixel acquisition matrix, and the photosensitive units are exposed row by row; When the row register value is stepped, the image information formed by the exposure of the previous row of photosensitive units is transmitted.

4. The real-time processing method of the self-collimating light tube according to claim 1, characterized in that: The cyclically receiving each frame of imaging data formed by the effective pixel acquisition matrix comprises: Three memory buffers are set to store three frames of complete imaging data, and the latest frame imaging data is stored in the three memory buffers in turn; The address number of the memory buffer area that has been cached the most recently is obtained through the access channel, and the memory copy function is used according to preset parameters to copy the image data to be processed from the memory buffer area corresponding to the address number to the image processing memory.

5. The real-time processing method of the self-collimating light tube according to claim 1, characterized in that: The image dimension reduction comprises: The image data to be processed is traversed column by column to obtain the arithmetic mean of the pixels in the column, and the arithmetic mean is used to obtain a row of fitted one-dimensional image data.

6. A real-time processing device for a self-collimating light tube, characterized in that: include: A frame rate enhancement module is used to determine the window opening range of the CMOS image sensor according to preset slit image parameters to form an effective pixel acquisition matrix; The data transmission module is used to perform row-by-row exposure of the sensor within the effective pixel acquisition matrix range, and synchronously transmit the image data collected by the previous row of sensors during the exposure process; An image buffer module, used to set at least two memory buffer areas for cyclically receiving each frame of imaging data formed by an effective pixel acquisition matrix; The dimension reduction processing module is used to perform dimension reduction on each frame of imaging to form corresponding one-dimensional image data.

7. The real-time processing method of the self-collimating light tube according to claim 6, characterized in that: The frame rate enhancement module comprises: A focus acquisition unit, used to determine the number of effective pixel rows of the collimating slit image according to the size of the collimating slit and the photosensitive unit of the CMOS image sensor; An acquisition windowing unit is used to determine an effective pixel acquisition matrix within the windowing range of the CMOS image sensor in combination with the number of effective pixel rows of the collimated slit image; The frame rate enhancement unit is used to determine the acquisition frame rate according to the operating frequency of the main control board and the effective pixel acquisition matrix.

8. The real-time processing method of the self-collimating light tube according to claim 6, characterized in that: The data simultaneous transmission module comprises: A line-by-line exposure unit, used to configure the photosensitive units through the row registers within the effective pixel acquisition matrix, and perform line-by-line exposure of the photosensitive units; The line-by-line transmission unit is used to transmit the image information formed by the exposure of the previous line of photosensitive units when the line register value is stepped.

9. The real-time processing method of the self-collimating light tube according to claim 6, characterized in that: The image cache module comprises: A sequential caching unit is used to set three memory cache areas for storing three frames of complete imaging data, and the latest frame imaging data is stored in the three memory cache areas in turn; The memory reading unit is used to obtain the address number of the latest cached memory buffer area through the access channel, and use the memory copy function to copy the image data to be processed from the memory buffer area corresponding to the address number to the image processing memory according to preset parameters.

10. The real-time processing method of the self-collimating light tube according to claim 6, characterized in that: The dimension reduction processing module comprises: The dimension reduction processing unit is used to traverse the image data to be processed column by column to obtain the arithmetic mean of the pixels in the column, and use the arithmetic mean to obtain a row of fitted one-dimensional image data.

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