CN1932576A - Underwater target laser line scanning imaging device - Google Patents
Underwater target laser line scanning imaging device Download PDFInfo
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- CN1932576A CN1932576A CN200610069121.7A CN200610069121A CN1932576A CN 1932576 A CN1932576 A CN 1932576A CN 200610069121 A CN200610069121 A CN 200610069121A CN 1932576 A CN1932576 A CN 1932576A
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- line scanning
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Abstract
A scan imaging device for the water object includes the laser in the shell with the transparent window under the water, the laser shot device composed by the extender lens, the plano-concave cylinder lens and the holophote, the receiver in the shell with transparent window and the image processing unit in the water. The electropult and the receiver are separately in the same base plane. The emitting optical axis, the receiving optical axis of the adjusted receiver and the object center are in the same plane. It is loaded on the robot or the ship in the water by the diver and generates the standard image signal to get the clean image. So it can be used for the military and the scientific research.
Description
Technical field
The invention belongs to the underwater laser imaging device, a kind of underwater target laser line scanning imaging device of more specifically saying so.
Background technology
In the existing underwater laser imaging technique, mainly solve the back scattering problem in the underwater laser communication process, adopt range gating method and flying-line scanning method usually.Though these two kinds of technology detection aspects have under water obtained gratifying achievement, also exist many weak points.The used former device of range gating and flying-line scanning device is all complicated, cost an arm and a leg, and the volume of these two kinds of devices, weight, energy consumption are all very big, therefore at present only can be used on the large-scale underwater hiding-machine, the underwater laser imaging technique still can not reach the purpose of miniaturization, integrated and practicability.
And the flying-line scanning technology of development adopted the synchronous scanning mode more in recent years, and emission laser will keep strict synchronous relatively difficulty with the polygon mirror that receives light, and the scanning mirror complexity, and cost is higher, and imaging processing is difficult.These reasons have influenced promoting the use of of laser flying-line scanning greatly.
Summary of the invention
The object of the invention provides a kind of underwater target laser line scanning imaging device of energy real time imagery, to overcome the deficiencies in the prior art.
The present invention includes by under water with the beam expanding lens of laser instrument in the watertight case of transparent window and front thereof, the laser beam emitting device that plano-concave cylindrical mirror and completely reflecting mirror constitute, with the band transparent window watertight case in receiving trap and image processing apparatus waterborne show the detection of a target in real time with synchronous processing, it is characterized in that emitter and receiving trap on same reference plane are splits, and the emission optical axis of emitter, the reception optical axis of adjustable receiving trap and target's center are at grade, emitter comprises the laser instrument that is installed on the pedestal, beam expanding lens, plano-concave cylindrical mirror and be fixed on completely reflecting mirror on the motor rotation axis and coaxial, motor rotation axis is parallel to the completely reflecting mirror minute surface, and crosses the completely reflecting mirror center of circle.
Motor adopts hybrid 57BY203 type stepper motor, and this motor advantage is conveniently to control, and adjustable speed, accurately locatees and does not have an accumulated error.
Video camera adopts digital ccd video camera, and the digital signal of video camera output directly input image processing unit (DSP) is handled, and the loss of digital signal in transmission simultaneously is very little, can not consider the high-frequency loss that cable causes.
Image processing apparatus has that dirigibility is big, reliability is high and be easy to integrated advantage, and calculation process in real time, at a high speed, can repeat, the digital operation of numerical operation intensity.Digital signal processor adopts TI TMS320C64x series to connect video camera by cable, thereby can realize the purpose of real time imagery.
Description of drawings
Fig. 1 laser line scanning imaging device and fundamental diagram.
Fig. 2 laser beam emitting device structural representation.
Wherein: 1, shell 12, pedestal 13, the motor of the shell 7 of laser instrument 2, beam expanding lens 3, plano-concave cylindrical mirror 4, completely reflecting mirror 5, emitter 6, band sealed transparent window, image processing apparatus 8, cable 9, receiving trap 10, video camera 11, band sealed transparent window.
Embodiment:
As Fig. 1,2, the present invention includes the laser beam emitting device 5 that constitutes with the beam expanding lens 2 of laser instrument 1 in the watertight case 6 of transparent window and front thereof, plano-concave cylindrical mirror 3 and completely reflecting mirror by under water, with the receiving trap 9 in the watertight case 11 of being with transparent window, and the image processing apparatus waterborne 7 that cable 8 connects shows the detection of a target in real time with synchronous processing, it is characterized in that the emitter 5 on same reference plane is splits with receiving trap 9, and the reception optical axis of the emission optical axis of emitter 5, adjustable receiving trap 9 and target's center are at grade.
As Fig. 1, the laser beam that laser instrument 1 sends is through beam expanding lens 2, form line source by plano-concave cylindrical mirror 3, laser rays projects on the completely reflecting mirror 4, stepper motor 13 adjustable speeds of employing and can accurately locating, angular velocity that so just can gated sweep, subtended angle scope and initial, final position, drive completely reflecting mirror 4 laser rays is reflected away, make its round oscillatory scanning in certain zone, reach the purpose that illuminates target.
And then by digital ccd video camera 10 receiving target signals, with image processing apparatus 7 (DSP) useful signal in digital ccd video camera 10 taken each two field picture is extracted, with multi-frame video boil down to negligible amounts but be the video flowing of useful signal, output on the LCD by analog video reorganization chip output interface at last.
Compare with traditional synchronous mode laser scanning device, the present invention can be referred to as mirror-vibrating laser line sweep device, the present invention specifically utilizes stepper motor 13 control completely reflecting mirrors 4 to carry out laser line scanning, utilize digital ccd video camera 10 receiving target signals, synchronous images through image processing apparatus 7 (DSP) is handled, show the detection of a target in real time, reach in all kinds of water quality target is carried out effectively surveying fast.
The present invention evenly scans target owing to used 4 scannings of 13 pairs of completely reflecting mirrors of stepper motor to control, and light transmitting and receiving device 9 separates, and therefore can stablize the acquisition video standard signal.The present invention has adopted image processing apparatus DSP that vision signal is handled, and can obtain target image information in real time.
Realize targeted scans with stepper motor 13 control total reflective mirrors, carry out synchronous scanning by two coaxial polygon mirrors and compare with traditional, the invention enables transmitting and receiving device 9 structures simpler, overcoming flying-line scanning emission light is difficult to synchronously with reception light, the problem that imaging processing is difficult, reduce cost, reduced the volume of device.
The present invention has overcome flying-line scanning emission light and has been difficult to synchronous problem with reception light, can produce the laser scanning imaging device that video standard signal can get a distinct image again under remote situation.And volume is little, in light weight, the low target that can reach practicability, miniaturization of energy consumption.
Can independently bear or be equipped on underwater hiding-machine by the frogman when the present invention uses cable underwater robot (ROV) is arranged, autonomous under water formula is dived on device (AUV) and the boats and ships, carry out flexible undersea detection, in oceanic water, can survey between the 25m to 60m even the submarine target of farther distance, comprise submarine mine, seabed obstacle and submarine topography etc., obtain clear target image.Therefore, this device not only can solve flying-line scanning emission light to be difficult to synchronously with reception light, can not produce video standard signal under remote situation, can also obtain real-time picture rich in detail.Volume of the present invention is little, in light weight, the low target that can reach practicability, miniaturization of energy consumption, has wide scientific research, dual-use market outlook.
Claims (7)
1. underwater target laser line scanning imaging device, comprise the laser instrument (1) in the shell (6) of band sealed transparent window under water and the beam expanding lens (2) of front thereof, the laser beam emitting device (5) that plano-concave cylindrical mirror (3) and completely reflecting mirror (4) constitute, the interior receiving trap (9) of watertight case (11) with the band transparent window, and the image processing apparatus waterborne (7) that cable (8) connects shows the detection of a target in real time with synchronous processing, it is characterized in that the emitter (5) on same reference plane is split with receiving trap (9), and the emission optical axis of emitter (5), the reception optical axis of adjustable receiving trap (9) and target's center are at grade.
2. underwater target laser line scanning imaging device as claimed in claim 1, it is characterized in that above-mentioned emitter (5) comprises laser instrument (1), beam expanding lens (2), the plano-concave cylindrical mirror (3) that is installed on the pedestal (12) and is fixed on completely reflecting mirror (4) on motor (13) rotation axis and coaxial, motor (13) rotation axis is parallel to completely reflecting mirror (4) minute surface, and crosses completely reflecting mirror (4) center of circle.
3. underwater target laser line scanning imaging device as claimed in claim 1 is characterized in that video camera (10) is the high-sensitivity digital ccd video camera.
4. underwater target laser line scanning imaging device as claimed in claim 1, the image processing apparatus (7) that it is characterized in that the above-mentioned real-time demonstration detection of a target is digital signal processor (DSP).
5. underwater target laser line scanning imaging device as claimed in claim 1 is characterized in that above-mentioned motor (13) is a stepper motor.
6. underwater target laser line scanning imaging device as claimed in claim 1 is characterized in that above-mentioned motor (13) model is hybrid 57BY203.
7. underwater target laser line scanning imaging device as claimed in claim 1 is characterized in that above-mentioned laser instrument (1) is the green YAG laser instrument of the semiconductor pumped total solids of 532nm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100691217A CN100445800C (en) | 2006-09-30 | 2006-09-30 | Underwater target laser line scanning imaging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100691217A CN100445800C (en) | 2006-09-30 | 2006-09-30 | Underwater target laser line scanning imaging device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1932576A true CN1932576A (en) | 2007-03-21 |
| CN100445800C CN100445800C (en) | 2008-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006100691217A Expired - Fee Related CN100445800C (en) | 2006-09-30 | 2006-09-30 | Underwater target laser line scanning imaging device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102530197A (en) * | 2011-12-22 | 2012-07-04 | 福建水口发电集团有限公司 | Ship draft depth measuring device based on laser and measuring method thereof |
| CN102564339A (en) * | 2011-12-21 | 2012-07-11 | 福建水口发电集团有限公司 | Detecting system and detection method for overall dimension of underwater part of ship |
| CN102818773A (en) * | 2011-06-08 | 2012-12-12 | 波音公司 | Laser surveillance system |
| WO2014170607A1 (en) * | 2013-04-17 | 2014-10-23 | R & D Vision | Laser sheet localised imaging and profilometry system |
| CN107220944A (en) * | 2017-04-11 | 2017-09-29 | 中国海洋大学 | Underwater in-situ image restoration system and its method |
| CN110411339A (en) * | 2019-07-30 | 2019-11-05 | 中国海洋大学 | A kind of submarine target dimension measuring apparatus and method based on collimated laser beam |
| CN111238449A (en) * | 2020-01-16 | 2020-06-05 | 中国科学院西安光学精密机械研究所 | Total reflection type underwater camera suitable for deep sea environment |
| CN111880189A (en) * | 2020-08-12 | 2020-11-03 | 中国海洋大学 | Continuous optical range gated lidar |
| CN115571290A (en) * | 2022-11-09 | 2023-01-06 | 传仁信息科技(南京)有限公司 | Automatic detection system and method for ship draught |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4443103A (en) * | 1980-12-18 | 1984-04-17 | The Boeing Company | Retro-reflective electro-optical angle measuring system |
| CN2284378Y (en) * | 1996-11-11 | 1998-06-17 | 华中理工大学 | Photoelectric measuring meter for large shaft bending |
| CN1296724C (en) * | 2002-01-10 | 2007-01-24 | 青岛海洋大学 | Underwater laser flying-line scanning imaging device and method |
| CN1209656C (en) * | 2003-05-07 | 2005-07-06 | 天津大学 | Small sector laser scanning technical method |
-
2006
- 2006-09-30 CN CNB2006100691217A patent/CN100445800C/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102818773A (en) * | 2011-06-08 | 2012-12-12 | 波音公司 | Laser surveillance system |
| CN102818773B (en) * | 2011-06-08 | 2017-04-19 | 波音公司 | Laser surveillance system |
| CN102564339A (en) * | 2011-12-21 | 2012-07-11 | 福建水口发电集团有限公司 | Detecting system and detection method for overall dimension of underwater part of ship |
| CN102564339B (en) * | 2011-12-21 | 2014-06-25 | 国家电网公司 | Detecting system and detection method for overall dimension of underwater part of ship |
| CN102530197A (en) * | 2011-12-22 | 2012-07-04 | 福建水口发电集团有限公司 | Ship draft depth measuring device based on laser and measuring method thereof |
| WO2014170607A1 (en) * | 2013-04-17 | 2014-10-23 | R & D Vision | Laser sheet localised imaging and profilometry system |
| FR3004818A1 (en) * | 2013-04-17 | 2014-10-24 | R & D Vision | LOCALIZED IMAGING AND LASER PATH PROFILOMETRY SYSTEM |
| CN107220944A (en) * | 2017-04-11 | 2017-09-29 | 中国海洋大学 | Underwater in-situ image restoration system and its method |
| CN110411339A (en) * | 2019-07-30 | 2019-11-05 | 中国海洋大学 | A kind of submarine target dimension measuring apparatus and method based on collimated laser beam |
| CN111238449A (en) * | 2020-01-16 | 2020-06-05 | 中国科学院西安光学精密机械研究所 | Total reflection type underwater camera suitable for deep sea environment |
| CN111880189A (en) * | 2020-08-12 | 2020-11-03 | 中国海洋大学 | Continuous optical range gated lidar |
| CN115571290A (en) * | 2022-11-09 | 2023-01-06 | 传仁信息科技(南京)有限公司 | Automatic detection system and method for ship draught |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100445800C (en) | 2008-12-24 |
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