CN1056574A - 3-d underwater optical measurer with laser difference-frequency scanning - Google Patents
3-d underwater optical measurer with laser difference-frequency scanning Download PDFInfo
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- CN1056574A CN1056574A CN 90103579 CN90103579A CN1056574A CN 1056574 A CN1056574 A CN 1056574A CN 90103579 CN90103579 CN 90103579 CN 90103579 A CN90103579 A CN 90103579A CN 1056574 A CN1056574 A CN 1056574A
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Abstract
A kind of 3-D underwater optical measurer with laser difference-frequency scanning that can be used for robotic vision system.It is by the laser two-dimension scanning device with underwater laser energy receiver with wide visual angles, and slit scan device and data processing equipment are formed, and laser two-dimension scanning device and slit scan device can be integral or divide and be arranged.Characteristics of the present invention are settings of slit scan device with wherein slit if in the vertical certain angle of plane medium dip of optical axis, then can realize the observation and the mensuration of real-time three-dimensional underwater laser, have wide visual angle, panorama is dark, simple in structure, data handling system is simple, and can overcome performances such as underwater laser back scattering.
Description
A kind of 3-D underwater optical measurer with laser difference-frequency scanning that is used for robotic vision system.
The invention belongs to the underwater laser observing and measuring device.
Existing laser two-dimension scanning device (laser television) is only applicable to as the laser two-dimension scanning device of bandwidth visual angle underwater laser energy receiver (patent No. 85106659.3) that two-dimensional image is observed and the two dimension calculating of laser illuminated target position.Present again, robot plays a significant role at aspects such as commercial production, space probation, underwater operation and military installations.Robot can finish tasks such as seabed mapping, exploration, salvaging, navigation, eliminating submarine mine under water, exhibits one's skill to the full in ocean research and exploitation.Robotization and intelligentized development, more and more require robot can perception, the environment at identification and its place of adaptation, so that more reliable, the safety of the operation that puts rules into practice, wherein vital matter of utmost importance is the robotic vision problem, promptly solve the acquisition methods of its three-dimensional information, work out the robot three-dimensional vision system.Prior art adopts the stereoscopic parallax method mostly, owing to exist with the each point matching problem, data volume is too huge, and speed is too slow, and real-time measurement is difficult to carry out.The two-dimensional image that obtains with laser synchronous scanning method and interval method before and after 1980, and measure every direction and the method for distance in the image in real time, the developing direction that is considered to the robot three-dimensional vision system, the advantage of making a concrete analysis of above-mentioned interval method is a telemeasurement precision height, but can only be to measuring before and after the specific range of setting, and the depth of field is less, and closely (in 1 meter) is measured and is difficult to realize; The synchronous scanning rule belongs to triangle telemetry, the telemeasurement low precision, and the close-in measurement precision is higher.Above-mentioned two kinds of method frame frequencies are all not too high, and therefore demonstration in real time still has difficulties.Consider the back scattering problem of underwater laser, interval method is coaxial because of transmitting and receiving, can't use under water, and above-mentioned synchronous scanning rule is received bore, visual field and the isoparametric restriction of underwater observation distance, its baseline can not draw longly, and this certainly will influence dissipation and penetrate performance and be difficult to practical application.
The purpose of this invention is to provide a kind of wide visual field, panorama is dark, information processing rate is fast, in real time display performance good, dissipate that it is good to penetrate performance, the high performance three-dimensional measurement mechanism that measuring accuracy can meet the demands is in order to development underwater intelligent robot of new generation and the latent device of underwater remote-control.
For the ease of understanding the present invention, provide the volume coordinate diagrammatic sketch (see figure 1) of this device and the computing method-trigonometry of measuring method.S is slit scan mirror axle center among the figure, F is two-dimensional scanner frame scan mirror rotating shaft center, getting F is the coordinate system initial point, FX is an X-axis, frame scan mirror rotor shaft direction is a Y-axis, and the horizontal scanning face when the XOZ plane is zero degree for the laser inclination angle, AB are the slit direction in space, M is the slit scan plane, and dotted line SS ' is M plane and XOZ plane intersection line.If arbitrfary point P is scanned laser lighting just, its reflected light is scanned slit again simultaneously and receives, and it is as follows then can to get P point three coordinate computing formula:
X= (So tgβ cos α)/(tg β cosα - c ·gν tg β+sinα)
Y= (So tgβ tgν)/(tgβ cosα - c ·gν tgβ+sinα) ，
Z= (So tgβsinα)/(tg β cosα - c ·gν tg β+sinα) , C= 1/(tgθ)
In the formula: α=φ
F-ω
FT, ν=φ
L-ω
LT,
β＝φ
S-ω
St
ω
F: laser frame horizontal sweep speed (1/ second),
φ
F: α initial position (degree)
ω
L: laser line vertical scanning speed (1/ second)
φ
L: ν initial position (degree)
ω
S: slit horizontal sweep speed (1/ second)
φ
S: β initial position (degree)
θ
S: slit is to surface level pitch angle (degree)
C: inclination coefficient
S
o: base length
T: time (second)
The present invention is at existing laser two-dimension scanning device, develops on the basis of promptly general laser scanning TV.Mainly form: by the laser two-dimension scanning device of bandwidth visual angle underwater laser energy receiver by three parts; The slit scan device that slit energy receiver and synchronous generator constitute; And the suitable with it information that is used to handle above-mentioned stream oriented device and provides is carried out the data processing equipment (seeing accompanying drawing 2) of three-dimensional computations, the laser that laser instrument sends among the figure through row, frame scan mirror to target be expert at, frame direction all scans illumination, then received by wide visual angle laser energy receiver and slit energy receiver respectively from the light beam of target reflection.The slit energy receiver mainly is by the slit scan mirror, and the slit on lens and the focal plane thereof then is photoelectric commutator behind the slit.M among Fig. 2
1-M
5Be respectively the amplifier that amplifies various signals, Shu Chu A, B, C, D, E are respectively line synchronizing signal thus, frame synchronizing signal, vision signal, slit synchronizing signal and slit signal.
Detailed structure of the present invention also will provide specific embodiment in conjunction with the accompanying drawings.
Accompanying drawing 1: this device utilizes the volume coordinate diagrammatic sketch of triangulation calculation method;
Accompanying drawing 2: this equipments overall structure frame diagrammatic sketch;
Accompanying drawing 3: light channel structure diagrammatic sketch.
Wherein, 1 laser two-dimension scanning device, 2 slit scan devices, 3 data processing equipments, 4 laser instruments, 5 line scanning mirrors, 6 frame scan mirrors, 7 photodiodes, 8 phototriodes, 9 underwater laser energy receiver with wide visual angles, 10 slit scan mirrors, 11 slits, 12 electrooptical devices, 13 light sources, hurdle, 14 hole, 15 semi-transparent semi-reflecting lens, 16 photosensitive tubes, 17 control displays, 18 objects.
By Fig. 1 and Fig. 3, what existing laser two-dimension scanning device (1) and slit scan device (2) can be according to actual measurement precision and uses conveniently has certain optical axis apart from S
o, realize carrying out three-dimensional computations with trigonometry.Spool being parallel to each other of slit scan mirror (10) in the axle that must guarantee the frame scan mirror (6) in the laser two-dimension scanning device (1) here and the slit scan device (2).This also is above-mentioned laser two-dimension scanning device (1) and slit scan device (2) to be provided with during for ease of remote, high-acruracy survey the condition that the space should guarantee when far apart respectively.
Adjustable reception slit (11) in the slit scan device (2) scans line by line or observes extraterrestrial target by slit scan mirror (10).Wherein the slit energy receiver is by the slit scan mirror (10) that is arranged in order on same optical axis, condenser lens t
3, adjustable slit (11), and electrooptical device (12) composition, electrooptical device (12) is the low noise photomultiplier of a high-quantum efficiency, and the electric signal of the target reflection light of its generation is sent into data processing equipment (3), and slit (11) is positioned at lens t
3On the focal plane, and perpendicular to the placement of laser frame scan face, and making the energy receiver optical axis by slit (11) center, its optical axis should be positioned at the top of the mirror surface of slit scan mirror (10).
The slit synchronous generator is then by light source (13), lens t
1, hurdle, hole (14), semi-transparent semi-reflecting lens (15), lens t
2With two catoptron f, g, slit scan mirror (10) and place lens t
2Be arranged in order by the photosensitive tube (16) on the focus after semi-transparent semi-reflecting lens (15) reflection and form, send into data processing equipment (3), lens t simultaneously by the slit synchronizing signal that this photosensitive tube (16) produces
1Make light source (13) become pointolite with hurdle, hole (14), and lens t
1Front focus and lens t
2Back focus coincides with center, hurdle, hole (14), and the position of reflective mirror f and g should guarantee the optical axis of slit synchronous generator perpendicular to slit scan mirror axle, and is positioned under slit scan mirror (10) mirror surface.
Consider the line scanning mirror (5) of laser two-dimension scanning device (1), the slit scan mirror (10) of frame scan mirror (6) and slit scan device (2) is all with certain rotating speed scanning, consequently the slit energy receiver can not be received the signal of complete delegation, in order to realize receiving the signal of full line, must make the slit (11) in the slit scan device (2) can be at the vertical plane medium dip certain angle of optical axis, this slit (11) inclination angle be determined by row, frame, seam scanning mirror three's rotating speed.In order to improve measuring speed, realize measuring line scanning mirror (5), frame scan mirror (6) and slit scan mirror (10) three's scan period T in real time
L, T
FAnd T
SAnd the pass between the line number N of the every frame of laser scanning is TF ± KTL=XTS ± (Kt2)/(N), K＞0 wherein, and X is not the coefficient of integer, this relation is the implication and the condition of this device difference frequency sweep.
In sum, knit the present invention who forms according to above-mentioned structure, have wide visual field, panorama Deeply, simple in structure, real-time performance good, computer processing system is simple, and can overcome the premium properties such as underwater laser back scattering, not only significant to the development of second generation intelligent robot Robot actions and the latent device of underwater remote-control, and being applicable to any space, long distance, high-precision laser three-D are observed and are measured.
Claims (5)
1, a kind of 3-D underwater optical measurer with laser difference-frequency scanning is characterized in that it is by data processing equipment [3], and laser two-dimension scanning device [1] and slit scan device [2] with underwater laser energy receiver with wide visual angles are formed, and
The axle of the frame scan mirror [6] in A, the laser two-dimension scanning device [1] should guarantee to be parallel to each other with the axle of slit scan mirror [10], and laser two-dimension scanning device [1] has certain optical axis apart from S as required with slit scan device [2]
o, realize carrying out three-dimensional computations with trigonometry.
B, slit scan device [2] are made of slit energy receiver and slit synchronous generator, and above-mentioned slit energy receiver is by the slit scan mirror [10] that is arranged in order on same optical axis, condenser lens t
3, adjustable slit [11] and electrooptical device [12] are formed, and the catoptrical electric signal that electrooptical device [12] produces is sent into data processing equipment [3], and slit [11] is positioned at lens t
3On the focal plane, and perpendicular to the placement of laser frame scan face, and make the energy receiver optical axis by the slit center, and its optical axis should be positioned at the top of the mirror surface of slit scan mirror [10], and above-mentioned slit synchronous generator is then by light source [13], lens t
1, hurdle, hole [14], semi-transparent semi-reflecting lens [15], lens t
2With two catoptron f, g, slit scan mirror [10] and place lens t
2Be arranged in order by the photosensitive tube [16] on the focus after semi-transparent semi-reflecting lens [15] reflection and form, send into data number reason device [3], lens t simultaneously by the slit synchronizing signal that this photosensitive tube [16] produces
1Make light source [13] become pointolite with hurdle, hole [14], and lens t
1Front focus and lens t
2The defocused center, hurdle, hole [14] that coincides with, back, the position of reflective mirror f, g should guarantee the optical axis of slit synchronous generator perpendicular to slit scan mirror axle, and is positioned at the bottom of slit scan mirror [10] mirror surface,
C, above-mentioned data processing equipment are a microcomputer.
2, device according to claim 1 is characterized in that the slit (11) in the slit scan device can be in the certain angle of the plane medium dip vertical with optical axis.
3, device according to claim 1 and 2 is characterized in that frame scan mirror (6), and line scanning mirror (5) and slit scan mirror (10) three's scan period and the relation between the laser scanning lines per picture N are TF ± KTL=XTS ± (Kt
2)/(N), K＞0 wherein, X is not the coefficient of integer.
4, device according to claim 1 is characterized in that for ease of high precision, telemeasurement, and above-mentioned laser two-dimension scanning device (1) and slit scan device (2) can divide and be arranged.
5, device according to claim 1 is characterized in that above-mentioned photoelectric commutator (12) is the photomultiplier of a low noise, high-quantum efficiency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 90103579 CN1021485C (en) | 1990-05-15 | 1990-05-15 | 3-d underwater optical measurer with laser difference-frequency scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 90103579 CN1021485C (en) | 1990-05-15 | 1990-05-15 | 3-d underwater optical measurer with laser difference-frequency scanning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1056574A true CN1056574A (en) | 1991-11-27 |
| CN1021485C CN1021485C (en) | 1993-06-30 |
Family
ID=4878155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 90103579 Expired - Fee Related CN1021485C (en) | 1990-05-15 | 1990-05-15 | 3-d underwater optical measurer with laser difference-frequency scanning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1021485C (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100465999C (en) * | 2006-10-26 | 2009-03-04 | 上海交通大学 | Caisson 3D scene rebuilding and excavator collision avoidance system based on laser scanning |
| CN1655197B (en) * | 2002-03-13 | 2010-04-28 | 欧姆龙株式会社 | Monitor |
| CN107976148A (en) * | 2017-12-25 | 2018-05-01 | 国家***第二海洋研究所 | A kind of measuring method of abyssopelagic organism measuring device and its biological characteristic |
| CN108765484A (en) * | 2018-05-18 | 2018-11-06 | 北京航空航天大学 | Living insects motion pick and data reconstruction method based on two high-speed cameras |
| CN109581787A (en) * | 2018-12-14 | 2019-04-05 | 大连海事大学 | A kind of underwater imaging device and method using laser dot scans |
| WO2021051655A1 (en) * | 2019-09-16 | 2021-03-25 | 山东科技大学 | Under water flexible obstacle detection system and method |
| CN116338931A (en) * | 2023-05-30 | 2023-06-27 | 成都庆龙航空科技有限公司 | Unmanned aerial vehicle photoelectricity sighting device |
-
1990
- 1990-05-15 CN CN 90103579 patent/CN1021485C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1655197B (en) * | 2002-03-13 | 2010-04-28 | 欧姆龙株式会社 | Monitor |
| CN100465999C (en) * | 2006-10-26 | 2009-03-04 | 上海交通大学 | Caisson 3D scene rebuilding and excavator collision avoidance system based on laser scanning |
| CN107976148A (en) * | 2017-12-25 | 2018-05-01 | 国家***第二海洋研究所 | A kind of measuring method of abyssopelagic organism measuring device and its biological characteristic |
| CN107976148B (en) * | 2017-12-25 | 2024-05-03 | 自然资源部第二海洋研究所 | Deep sea biological measuring device and biological characteristic measuring method thereof |
| CN108765484A (en) * | 2018-05-18 | 2018-11-06 | 北京航空航天大学 | Living insects motion pick and data reconstruction method based on two high-speed cameras |
| CN109581787A (en) * | 2018-12-14 | 2019-04-05 | 大连海事大学 | A kind of underwater imaging device and method using laser dot scans |
| WO2021051655A1 (en) * | 2019-09-16 | 2021-03-25 | 山东科技大学 | Under water flexible obstacle detection system and method |
| CN116338931A (en) * | 2023-05-30 | 2023-06-27 | 成都庆龙航空科技有限公司 | Unmanned aerial vehicle photoelectricity sighting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1021485C (en) | 1993-06-30 |
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