CN109855607A - One kind being based on the improved bathymetric surveying system of optical grating projection - Google Patents
One kind being based on the improved bathymetric surveying system of optical grating projection Download PDFInfo
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Abstract
One kind being based on the improved bathymetric surveying system of optical grating projection, belongs to underwater robot landform tracking field.One kind being based on the improved bathymetric surveying system of optical grating projection, it is by laser through hole, CCD camera through hole, incandescent lamp, landform device support stand, underwater robot, cable, laser, lens are unfolded, sinusoidal grating, 1881 type CCD cameras, P540 image pick-up card, computer, what gyroscope and depth under water meter formed, the laser through hole, CCD camera through hole is located on landform device support stand, underwater robot is fixedly connected with landform device support stand, cable is located at the top of underwater robot, laser, lens are unfolded, sinusoidal grating, 1881 type CCD cameras and incandescent lamp are all installed on landform device support stand, for the uncertainty and three-dimensional activity in underwater topography natural environment, it can be with real-time detection underwater three dimensional terrain.
Description
Technical field
The present invention relates to one kind to be based on the improved bathymetric surveying system of optical grating projection, specifically uses camera shooting
Machine, image pick-up card, laser, bar shaped grating etc. are able to carry out a kind of system of underwater topography three-dimensional measurement, belong to underwater
People's landform tracks field.
Background technique
Underwater robot technology rapidly develops, in control technology, dynamical system, vision technique, path planning and tracking, and ground
Shape tracking etc. has all graduallyd mature, wherein the tracking of underwater robot landform is that underwater robot actively completes underwater appoint
The key of business, but in view of the uncertainty and three-dimensional activity in nature underwater environment, underwater topography tracks opposite land and has more
It is challenging.However, present bathymetric surveying system, main tool is underwater altimeter (i.e. sonar altimeter), but
It is that underwater altimeter can only carry out spot measurement, so height of the underwater robot from seabed can only be measured, does not can be carried out three-dimensional
It rebuilds, and underwater altimeter is extremely expensive.
In recent decades, due to the needs of different underwater environments, many scholars at home and abroad develop the ground under varying environment
Shape tracking technique, these tracking techniques also respectively have the characteristics that respective.Existing terrain following both at home and abroad is summarized, at present
It is another then be to be emphasized in pair one is the update and change of control algolithm or control strategy there are mainly two types of research tendency
The promotion of the perception of external environment, and by the data fusion of more multisensor, to obtain more accurate information.So
It needs one kind that can replace underwater altimeter great expense and is able to carry out a kind of topographic device.
Summary of the invention
For the problem of the rare and underwater altimeter valuableness of subaqueous survey technology, the present invention provides one kind to be thrown based on grating
The improved bathymetric surveying system of shadow.
The present invention is achieved by the following technical solutions: one kind being based on the improved bathymetric surveying system of optical grating projection
System, be by laser through hole, CCD camera through hole, incandescent lamp, landform device support stand, underwater robot, cable,
Laser, expansion lens, sinusoidal grating, 1881 type CCD cameras, P540 image pick-up card, computer, gyroscope and depth under water
Meter composition, the laser through hole, CCD camera through hole are located on landform device support stand, underwater robot and
Landform device support stand is fixedly connected, and cable is located at the top of underwater robot, laser, expansion lens, sinusoidal grating,
1881 type CCD cameras and incandescent lamp are all installed on landform device support stand, and laser, expansion lens and sinusoidal grating three
One line of point, and have certain angle with ground, and negligible, 1881 type CCD cameras are perpendicular to reference planes, and and P540
Image pick-up card is connected, and image pick-up card is installed on underwater robot, and is connected by cable with computer, gyro
Instrument, depth under water meter are installed on inside underwater robot, and landform device support stand is installed on underwater robot bottom.
One kind being based on the improved bathymetric surveying method of optical grating projection, is using by laser through hole, CCD camera
Through hole, incandescent lamp, landform device support stand, underwater robot, cable, laser, expansion lens, sinusoidal grating, 1881
The device that type CCD camera, P540 image pick-up card, computer, gyroscope and depth under water meter form, the laser pass through
Hole, CCD camera through hole are located on landform device support stand, and underwater robot is fixedly connected with landform device support stand, electricity
Cable is located at the top of underwater robot, and laser, expansion lens, sinusoidal grating, 1881 type CCD cameras and incandescent lamp are all pacified
Loaded on landform device support stand, and laser, expansion lens and sinusoidal grating sight alignment, and have certain angle with ground,
And it is negligible, 1881 type CCD cameras are connected perpendicular to reference planes, and with P540 image pick-up card, Image Acquisition
Card is installed on underwater robot, and is connected by cable with computer, and gyroscope, depth under water meter are installed on underwater
Inside people, landform device support stand is installed on underwater robot bottom.
This method, comprising the following steps:
(1) firstly, keeping underwater robot to the height of the water surface using depth under water meter, make its certain value M, Bu Nenggai
Become.
(2) gyroscope angle is finely tuned, keeps underwater robot horizontal, i.e. θ=0.
(3) using laser by fringe density be 10/m sinusoidal grating project in reference planes, when laser with
When distance between reference planes is very big and angle (∠ egf in figure) very little of projected light beam and 1881 type CCD camera axis,
It is believed that the light beam that laser issues be directional light and project striped on the reference plane be it is equally spaced, i.e., striped has
Fixed space periodic.The then light distribution in reference planes are as follows:
I (x, y)=a (x, y)+b (x, y) cos (2 π fx)
I (x, y) in formula indicates the light distribution in reference planes, and a (x, y) indicates background light distribution, and b (x, y) is
The amplitude of striped light intensity variation, f=1/p indicate that the fundamental frequency of projection grating, p are width of fringe pictures shared on picture monitor
Prime number, 2 π fx indicate the phase distribution before light wave, and (because optical grating projection is perpendicular to horizontal direction in this experiment, therefore cos are divided without y
Amount).
If sinusoidal grating projected on arbitrary objects surface, the light distribution on body surface is
I1(x, y)=a1(x,y)+b1(x,y)cos[2πfx+φ(x,y)]
I in formula1(x, y) indicates the light distribution on body surface, a1(x, y) indicates background light distribution, b1(x,y)
For the amplitude of striped light intensity variation, f meaning is same as above, and (x, y) is that object height is distributed phase-modulation caused by h (x, y).
For formula, plural form can be used instead to indicate
I1(x, y)=a1(x,y)+c(x,y)exp(j2πfx)+c*(x,y)exp(-j2πfx)
In formula
C (x, y)=2-1b1(x,y)exp[jφ(x,y)]
Fourier transformation is carried out to x-axis in formula, is obtained
G (f, y)=A (f, y)+C (fx-f,y)+C*(fx+f,y)
Due to a1(x, y), b1(x, y) is slow with respect to f variation, so they are to separate, and carry with fundamental frequency in spectrogram
Frequency C (fx- f, y) carry useful phase information.Carrier component C (f is obtained after selecting exponential filter to be filteredx- f, y), it puts down
Moving on to origin is C (f, y).Then inverse Fourier transform is carried out to it, obtained
C (x, y)=2-1b(x,y)exp[jφ(x,y)]
Formula, which is carried out triangular transformation with Euler's formula, is
C (x, y)=2-1b(x,y){cos[φ(x,y)]+jsin[φ(x,y)]
Then φ (x, y) is
Real, image are respectively representedReal and imaginary parts, in above formula, negate tangent when, due to its codomain is-
π~+π, thus need to carry out its result package and handle to obtain correct φ (x, y) value.
(4) under the conditions of telecentricity projecting light path, it is contemplated that the height on l > > h (x, y) testee surface in actual measurement
Distribution and the relationship of phase modulation are
φ(x,y)≈(2φfd/l)h(x,y)
And because d/l=cot (∠ fge), and f=1/p, it can be obtained
φ(x,y)≈2πcot(∠fge)h(x,y)p-1
Then h (x, y)=φ (x, y) (p/2 π) tan (∠ fge)
Package will be gone to handle to obtain in correct φ (x, y) value substitution above formula in step (3) Chinese style, Terrain Elevation can be solved
Field h (x, y).
(5) it is then constantly read out picture by computer software and handles, can be derived that three-dimensional land map.
The usefulness of the invention is, for the uncertainty and three-dimensional activity in underwater topography natural environment, Neng Goushi
When detect underwater three dimensional terrain.Depth under water meter can make underwater robot keep certain depth, and it is logical that laser emits laser
Expansion lens and sinusoidal grating are crossed to be projected at the bottom, 1881 type CCD cameras can by P540 image pick-up card
The deformed grating in water-bed face is beaten in acquisition in real time, and incandescent lamp can illuminate subsea floor environment, is convenient for Image Acquisition, gyroscope energy
Enough angles for measuring optical center and reference planes in real time, computer by mapping software can remittance abroad bottom dimensional topography in real time, landform
Device support stand carries all devices and has hermetic devices effect, and can protect top underwater robot air bag.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention,
Fig. 2 is lower view of the invention,
Fig. 3 is structure principle chart of the invention,
Fig. 4 is sectional view of the invention,
Fig. 5 is the working principle diagram that the present invention has inclination angle,
Fig. 6 is the working principle diagram that the present invention eliminates inclination angle
Fig. 7 is work flow diagram of the invention.
In figure, 1, laser through hole, 2, CCD camera through hole, 3, incandescent lamp, 4, landform device support stand, 5, water
Lower robot, 6, cable, 7, laser, 8, expansion lens, 9, sinusoidal grating, 10,1881 type CCD cameras, 11, P540 figure
As capture card, 12, computer, 13, gyroscope, 14, depth under water meter.
Specific embodiment
One kind being based on the improved bathymetric surveying system of optical grating projection, is led to by laser through hole 1, CCD camera
Via hole 2, incandescent lamp 3, landform device support stand 4, underwater robot 5, cable 6, laser 7, expansion lens 8, sinusoidal grating
9,1881 type CCD cameras 10, P540 image pick-up card 11, computer 12, gyroscope 13 and depth under water meter 14 form, described
Laser through hole 1, CCD camera through hole 2 be located on landform device support stand 4, underwater robot 5 and landform device branch
Support 4 is fixedly connected, and cable 6 is located at the top of underwater robot 5, laser 7, expansion lens 8, sinusoidal grating 9,1881 types
CCD camera 10 and incandescent lamp 3 are all installed on landform device support stand 4, and laser 7, expansion lens 8 and sinusoidal grating 9
Sight alignment, and have a certain angle with ground, and negligible, 1881 type CCD cameras 10 perpendicular to reference planes, and with
P540 image pick-up card 11 is connected, and image pick-up card 11 is installed on underwater robot 5, and passes through cable 6 and computer 12
It is connected, gyroscope 13, depth under water meter 14 are installed on inside underwater robot 5, and landform device support stand 4 is installed on underwater machine
5 bottom of device people.
One kind being based on the improved bathymetric surveying method of optical grating projection, is imaged using by laser through hole 1, CCD
Machine through hole 2, incandescent lamp 3, landform device support stand 4, underwater robot 5, cable 6, laser 7, expansion lens 8, sine
What grating 9,1881 type CCD cameras 10, P540 image pick-up card 11, computer 12, gyroscope 13 and depth under water meter 14 formed
Device, the laser through hole 1, CCD camera through hole 2 are located on landform device support stand 4, underwater robot 5 with
Landform device support stand 4 is fixedly connected, and cable 6 is located at the top of underwater robot 5, laser 7, expansion lens 8, sinusoidal light
Grid 9,1881 type CCD cameras 10 and incandescent lamp 3 are all installed on landform device support stand 4, and laser 7, expansion 8 and of lens
9 sight alignment of sinusoidal grating, and have certain angle with ground, and negligible, 1881 type CCD cameras 10 are perpendicular to reference
Plane, and be connected with P540 image pick-up card 11, image pick-up card 11 is installed on underwater robot 5, and passes through cable 6
It is connected with computer 12, gyroscope 13, depth under water meter 14 are installed on inside underwater robot 5, and landform device support stand 4 is installed
In 5 bottom of underwater robot.
This method, comprising the following steps:
(4) firstly, keeping underwater robot 5 to arrive the height of the water surface using depth under water meter 14, make its certain value M, no
It can change.
(5) 13 angle of gyroscope is finely tuned, keeps underwater robot 5 horizontal, i.e. θ=0.
(6) sinusoidal grating 9 that fringe density is 10/m is projected in reference planes using laser 7, when laser 7
Very big and 10 axis of projected light beam and 1881 type CCD camera angle (∠ egf in figure) is very at a distance between reference planes
Hour, it is believed that the light beam that laser 7 issues is directional light and to project striped on the reference plane be equally spaced, i.e. item
Line has fixed space periodic.The then light distribution in reference planes are as follows:
I (x, y)=a (x, y)+b (x, y) cos (2 π fx)
I (x, y) in formula indicates the light distribution in reference planes, and a (x, y) indicates background light distribution, and b (x, y) is
The amplitude of striped light intensity variation, f=1/p indicate that the fundamental frequency of projection grating, p are width of fringe pictures shared on picture monitor
Prime number, 2 π fx indicate the phase distribution before light wave, and (because optical grating projection is perpendicular to horizontal direction in this experiment, therefore cos are divided without y
Amount).
If sinusoidal grating 9 projected on arbitrary objects surface, the light distribution on body surface is
I1(x, y)=a1(x,y)+b1(x,y)cos[2πfx+φ(x,y)]
I in formula1(x, y) indicates the light distribution on body surface, a1(x, y) indicates background light distribution, b1(x,y)
For the amplitude of striped light intensity variation, f meaning is same as above, and (x, y) is that object height is distributed phase-modulation caused by h (x, y).
For formula, plural form can be used instead to indicate
I1(x, y)=a1(x,y)+c(x,y)exp(j2πfx)+c*(x,y)exp(-j2πfx)
In formula
C (x, y)=2-1b1(x,y)exp[jφ(x,y)]
Fourier transformation is carried out to x-axis in formula, is obtained
G (f, y)=A (f, y)+C (fx-f,y)+C*(fx+f,y)
Due to a1(x, y), b1(x, y) is slow with respect to f variation, so they are to separate, and carry with fundamental frequency in spectrogram
Frequency C (fx- f, y) carry useful phase information.Carrier component C (f is obtained after selecting exponential filter to be filteredx- f, y), it puts down
Moving on to origin is C (f, y).Then inverse Fourier transform is carried out to it, obtained
C (x, y)=2-1b(x,y)exp[jφ(x,y)]
Formula, which is carried out triangular transformation with Euler's formula, is
C (x, y)=2-1b(x,y){cos[φ(x,y)]+jsin[φ(x,y)]
Then φ (x, y) is
Real, image are respectively representedReal and imaginary parts, in above formula, negate tangent when, due to its codomain is-
π~+π, thus need to carry out its result package and handle to obtain correct φ (x, y) value.
(4) under the conditions of telecentricity projecting light path, it is contemplated that the height on l > > h (x, y) testee surface in actual measurement
Distribution and the relationship of phase modulation are
φ(x,y)≈(2φfd/l)h(x,y)
And because d/l=cot (∠ fge), and f=1/p, it can be obtained
φ(x,y)≈2πcot(∠fge)h(x,y)p-1
Then h (x, y)=φ (x, y) (p/2 π) tan (∠ fge)
Package will be gone to handle to obtain in correct φ (x, y) value substitution above formula in step (3) Chinese style, Terrain Elevation can be solved
Field h (x, y).
(5) it is then constantly read out picture by 12 software of computer and handles, can be derived that three-dimensional land map.
The device at runtime, first into the water underwater robot, is adjusted by depth under water meter to certain depth
Degree, at this moment underwater robot has certain inclination angle, and by gyroscope adjustable inclination, making inclination angle is about zero, ignores, then
When underwater robot advances, light is projected on ground by laser, expansion lens, sinusoidal grating, passes through 1881 types
CCD camera 10 and P540 image pick-up card 11 are transferred data on computer 12 by cable, by the software on computer,
Progress Fourier transformation, phase unwrapping, inverse Fourier transform, triangular transformation, package processing obtain true phase modulation, pass through
The formula of phase modulation and height relationships, so that the height of landform is obtained, to construct the three-dimensional figure of landform.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case where spirit, changes, modifications that embodiment is carried out, replacement and variant still fall within protection scope of the present invention it
It is interior.
Claims (2)
- It 1. one kind is based on the improved bathymetric surveying system of optical grating projection, is passed through by laser through hole, CCD camera Hole, incandescent lamp, landform device support stand, underwater robot, cable, laser, expansion lens, sinusoidal grating, 1881 type CCD What video camera, P540 image pick-up card, computer, gyroscope and depth under water meter formed, it is characterised in that: the laser is logical Via hole, CCD camera through hole are located on landform device support stand, and underwater robot is fixedly connected with landform device support stand, Cable is located at the top of underwater robot, and laser, expansion lens, sinusoidal grating, 1881 type CCD cameras and incandescent lamp are all It is installed on landform device support stand, and laser, expansion lens and sinusoidal grating sight alignment, and has certain angle with ground Degree, and it is negligible, 1881 type CCD cameras are connected perpendicular to reference planes, and with P540 image pick-up card, and image is adopted Truck is installed on underwater robot, and is connected by cable with computer, and gyroscope, depth under water meter are installed on underwater machine Inside device people, landform device support stand is installed on underwater robot bottom.
- 2. one kind be based on the improved bathymetric surveying method of optical grating projection, it is characterised in that: be using by laser through hole, CCD camera through hole, incandescent lamp, landform device support stand, underwater robot, cable, laser, expansion lens, sine The device that grating, 1881 type CCD cameras, P540 image pick-up card, computer, gyroscope and depth under water meter form, it is described Laser through hole, CCD camera through hole are located on landform device support stand, and underwater robot and landform device support stand are solid Fixed connection, cable are located at the top of underwater robot, laser, be unfolded lens, sinusoidal grating, 1881 type CCD cameras and Incandescent lamp is all installed on landform device support stand, and laser, expansion lens and sinusoidal grating sight alignment, and is had with ground Certain angle, and it is negligible, 1881 type CCD cameras are connected perpendicular to reference planes, and with P540 image pick-up card, Image pick-up card is installed on underwater robot, and is connected by cable with computer, and gyroscope, depth under water meter are installed on Inside underwater robot, landform device support stand is installed on underwater robot bottom.This method, comprising the following steps:(1) firstly, keeping underwater robot to the height of the water surface using depth under water meter, make its certain value M, cannot change.(2) gyroscope angle is finely tuned, keeps underwater robot horizontal, i.e. θ=0.(3) sinusoidal grating that fringe density is 10/m is projected in reference planes using laser, when laser and reference When the distance of interplanar is very big and angle (∠ egf in figure) very little of projected light beam and 1881 type CCD camera axis, it can recognize For the light beam that laser issues be directional light and project striped on the reference plane be it is equally spaced, i.e., striped, which has, fixes Space periodic.The then light distribution in reference planes are as follows:I (x, y)=a (x, y)+b (x, y) cos (2 π fx)I (x, y) in formula indicates the light distribution in reference planes, and a (x, y) indicates background light distribution, and b (x, y) is striped The amplitude of light intensity variation, f=1/p indicate that the fundamental frequency of projection grating, p are width of fringe pixels shared on picture monitor Number, 2 π fx indicate the phase distribution before light wave (because in this experiment optical grating projection perpendicular to horizontal direction, therefore cos without y-component).If sinusoidal grating projected on arbitrary objects surface, the light distribution on body surface is I1(x, y)=a1(x,y)+ b1(x,y)cos[2πfx+φ(x,y)]I in formula1(x, y) indicates the light distribution on body surface, a1(x, y) indicates background light distribution, b1(x, y) is item The amplitude of line light intensity variation, f meaning are same as above, and (x, y) is that object height is distributed phase-modulation caused by h (x, y).For formula, plural form can be used instead to indicateI1(x, y)=a1(x,y)+c(x,y)exp(j2πfx)+c*(x,y)exp(-j2πfx)In formulaC (x, y)=2-1b1(x,y)exp[jφ(x,y)]Fourier transformation is carried out to x-axis in formula, is obtainedG (f, y)=A (f, y)+C (fx-f,y)+C*(fx+f,y)Due to a1(x, y), b1(x, y) slowly with respect to f variation, so they are to separate with fundamental frequency in spectrogram, and carrier frequency C (fx- f, y) carry useful phase information.Carrier component C (f is obtained after selecting exponential filter to be filteredx- f, y), translation It is C (f, y) to origin.Then inverse Fourier transform is carried out to it, obtainedC (x, y)=2-1b(x,y)exp[jφ(x,y)]Formula, which is carried out triangular transformation with Euler's formula, isC (x, y)=2-1b(x,y){cos[φ(x,y)]+jsin[φ(x,y)]Then φ (x, y) isReal, image are respectively representedReal and imaginary parts, in above formula, negate tangent when, due to its codomain be-π~+ π, thus need to carry out its result package and handle to obtain correct φ (x, y) value.(4) under the conditions of telecentricity projecting light path, it is contemplated that the height distribution on l > > h (x, y) testee surface in actual measurement Relationship with phase modulation isφ(x,y)≈(2φfd/l)h(x,y)And because d/l=cot (∠ fge), and f=1/p, it can be obtainedφ(x,y)≈2πcot(∠fge)h(x,y)p-1Then h (x, y)=φ (x, y) (p/2 π) tan (∠ fge)Package will be gone to handle to obtain in correct φ (x, y) value substitution above formula in step (3) Chinese style, Terrain Elevation field h can be solved (x,y)。(5) it is then constantly read out picture by computer software and handles, it can be deduced that three-dimensional land map.
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CN113358191A (en) * | 2021-06-04 | 2021-09-07 | 四川大学 | Global flood water level real-time monitoring method based on stripe projection structured light |
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CN113358191A (en) * | 2021-06-04 | 2021-09-07 | 四川大学 | Global flood water level real-time monitoring method based on stripe projection structured light |
CN113358191B (en) * | 2021-06-04 | 2023-03-17 | 四川大学 | Global flood water level real-time monitoring method based on stripe projection structured light |
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