CN102917206A - Underwater three-dimensional video monitoring system - Google Patents
Underwater three-dimensional video monitoring system Download PDFInfo
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- CN102917206A CN102917206A CN2012103928997A CN201210392899A CN102917206A CN 102917206 A CN102917206 A CN 102917206A CN 2012103928997 A CN2012103928997 A CN 2012103928997A CN 201210392899 A CN201210392899 A CN 201210392899A CN 102917206 A CN102917206 A CN 102917206A
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Abstract
The invention provides an underwater three-dimensional video monitoring system, which comprises: a deck video display subsystem; the underwater three-dimensional video detection subsystem is connected with the deck video display subsystem through a ten-kilometer copper core coaxial cable; the underwater stereo video detection subsystem is provided with a binocular stereo camera; the underwater three-dimensional video monitoring system provided by the invention enables a monitor to have an underwater visual feeling as if the monitor personally experiences, and meets the real-time monitoring requirement in the underwater exploration field in which space information such as depth and the like needs to be obtained in underwater manipulator operation and the like.
Description
Technical field
The invention belongs to the field of detecting of material or object, be specifically related to a kind of three-dimensional video monitoring system under water.
Background technology
Existingly be engaged under water monitoring or the exploration personnel wish to detecting object the most vivid visualization and record are arranged, the information that underwater television provides additive method, data to provide.Developed various underwater televisions both at home and abroad from the eighties, but be the monocular TV, the image that the observer obtains is the projection of three dimensions on the video camera imaging plane, namely two dimensional image.A large amount of valuable spatial informations have been lost in the projective transformation process.Thereby the physical dimension that can't measure accordingly the object that photographs, say nothing of camera lens to the accurate distance of object.Be used for the movement of coaching device at video monitoring, during the crawl sample, object is vital to the accurate distance of camera lens and the physical dimension of object.But still do not keep up to now and obtain the underwater video pull-type monitoring technique of three-dimensional spatial information.
Summary of the invention
For overcoming defects, the invention provides a kind of three-dimensional video monitoring system under water, the supervisor is had just as experiencing visual impression under water personally, satisfy the requirement of Real Time Monitoring that submarine mechanical manual manipulation etc. must obtain the field of reconnoitring of the spatial informations such as distance, object size dimension, shape under water.
For achieving the above object, the invention provides a kind of three-dimensional video monitoring system under water, it comprises: the deck video display subsystem; Its improvements are, described supervisory control system comprises: the detection subsystem of three-dimensional video-frequency under water that is connected by myriametre copper core coaxial cable with described deck video display subsystem.
In the optimal technical scheme provided by the invention, described deck video display subsystem comprises stereopsis monitoring operation desk and frequency divider 1; Described stereopsis monitoring operation desk is carried out control command and is received the vision signal of its transmission to the described detection subsystem of three-dimensional video-frequency under water sending action by described frequency divider 1, finishes simultaneously from described deck video display subsystem and provides electric energy to the described detection subsystem of three-dimensional video-frequency under water.
In the second optimal technical scheme provided by the invention, described stereopsis monitoring operation desk comprises monitoring unit and difference connected measurement module, memory module and supply module on the ship; Described monitoring unit is used for observing the video data of uploading from the described detection subsystem of three-dimensional video-frequency under water; Described measurement module is monitored and is processed the video data that receives; Described memory module is stored video data; Described supply module is for providing 300VDC, the 2A electric energy by described frequency divider 1 to the described detection subsystem of three-dimensional video-frequency under water.
In the 3rd optimal technical scheme provided by the invention, described memory module is disk.
In the 4th optimal technical scheme provided by the invention, described supply module is AC/DC power.
In the 5th optimal technical scheme provided by the invention, the described detection subsystem of three-dimensional video-frequency under water comprises: video acquisition unit and to the three-dimensional video-frequency image unit of its transmission video signal.
In the 6th optimal technical scheme provided by the invention, described video acquisition unit comprises: pressure-resistant cabin and be located at its inner video acquisition module, frequency divider 2 and I/O controller; Described video acquisition module by described frequency divider 2 to described deck video display subsystem transmission video signal and adopt high low-pass filtering to isolate the power supply electric energy; Described video acquisition module be connected the I/O controller and be connected with described three-dimensional video-frequency image unit respectively; Described video acquisition module be connected the I/O controller and connect.
In the 7th optimal technical scheme provided by the invention, described three-dimensional video-frequency image unit comprises: photoflash lamp, binocular camera shooting head unit and altimeter; Described camera, described photoflash lamp, described binocular camera shooting head unit and described altimeter obtain respectively the action executing control command of described stereopsis monitoring operation desk by described I/O controller; Described binocular camera shooting head unit, described camera and the altimeter of being connected are connected with described video acquisition module respectively and carry out video data transmitting.
In the 8th optimal technical scheme provided by the invention, described camera is the underwater digit camera, and the resolution of described camera is 2048 * 1680 pixels.
In the 9th optimal technical scheme provided by the invention, described photoflash lamp is high pressure resistant watertight Halogen lamp LED.
In the tenth optimal technical scheme provided by the invention, described photoflash lamp is the LED lamp.
In the more preferably technical scheme provided by the invention, described altimeter is be used to acoustics or the optical detector of measuring the described detection subsystem of three-dimensional video-frequency under water and seabed distance.
Provided by the invention second more preferably in the technical scheme, and described binocular camera shooting head unit comprises support and thereon two cameras with fixed focus (A, B) are set; Described cameras with fixed focus (A) passes through respectively the described video acquisition module transmission video signal of one road video transmission line road direction with described cameras with fixed focus (B).
The provided by the invention the 3rd more preferably in the technical scheme, and the described detection subsystem of three-dimensional video-frequency under water is integrated on the towed body that satisfies fluid dynamic towing navigation; 6000 meters of the maximum operating water depths of described towed body, anti-confined pressure 60MPa.
The provided by the invention the 4th more preferably in the technical scheme, and described two cameras with fixed focus (A, B) are arranged side by side on described support; Described support is the titanium alloy support.
The provided by the invention the 5th more preferably in the technical scheme, and the coordinate of described cameras with fixed focus (A) is OXYZ, and the coordinate of described cameras with fixed focus (B) is O ' X ' Y ' Z '; X ' axle, Y ' axle and the Z ' axle of coordinate system O ' X ' Y ' Z ' is parallel to respectively X-axis, Y-axis and the Z axis of coordinate system OXYZ; Photocentre O is denoted as (dx, dy, dz) to the translation vector of photocentre O '; Wherein, less than 1mm, dy is 80mm to photocentre O to the translation vector of O ': dx and dz.
The provided by the invention the 6th more preferably in the technical scheme, and described support is provided with the micromatic setting of described cameras with fixed focus (A, the B) depth of parallelism; Wherein, adjustable range: ± 3 ', regulate step-length: 10 ".
The provided by the invention the 7th more preferably in the technical scheme, and described video link adopts the Ethernet of tcp/ip communication agreement and bandwidth 100M that video data is transmitted.
The provided by the invention the 8th more preferably in the technical scheme, and described video acquisition module is controlled described photoflash lamp, uniformly-spaced in the time two-path video signal is being added sync mark when finishing illumination, is used for picture that three-dimensional seabed mima type microrelief rebuilds to match reference.
The provided by the invention the 9th more preferably in the technical scheme, and the described uniformly-spaced time is 7 seconds.
The provided by the invention the tenth more preferably in the technical scheme, and the size of described binocular camera shooting head unit is as follows: long 190mm; Wide 27mm; High 160mm.
Compared with the prior art, a kind of three-dimensional video monitoring system under water provided by the invention is reconnoitred the aspects such as target distribution scope and calculating coverage rate in identification investigation operation area mineral type, delineation and has all been played key effect.Binocular solid camera technique and computer binocular tri-dimensional 3-dimensional reconstruction technology, the physical dimension that measures sub-sea floor targets reaches Centimeter Level.Be research seabed mima type microrelief landforms, Deep Sea Minerals, living resources provide new means.This technological use is very extensive, except being applied to Deep Sea Minerals preliminry basic research aspect, can also be used to carry out visual investigation and the monitoring of submerged structure, can be widely used in Underwater Engineering, marine oil and gas investigation and exploitation, shipping and the field such as archaeology under water, have broad application prospects.
Description of drawings
Fig. 1 is the schematic diagram of three-dimensional video monitoring system under water.
Fig. 2 is the schematic diagram of deck video display subsystem.
Fig. 3 is the schematic diagram of stereopsis monitoring operation desk.
Fig. 4 is the schematic diagram of three-dimensional video-frequency detection subsystem under water.
Fig. 5 is binocular camera shooting head Coordinate system definition figure.
Fig. 6 is for looking squarely the binocular stereo imaging schematic diagram.
Fig. 7 is the schematic diagram of binocular camera shooting head.
Embodiment
As shown in Figure 1, a kind of three-dimensional video monitoring system under water, it comprises: the deck video display subsystem; It is characterized in that, described supervisory control system comprises: the detection subsystem of three-dimensional video-frequency under water that is connected by copper core coaxial cable with described deck video display subsystem.
Shown in Fig. 2,3, described deck video display subsystem comprises stereopsis monitoring operation desk and frequency divider 1; Described stereopsis monitoring operation desk receives the vision signal of the described detection subsystem of three-dimensional video-frequency under water transmission by described frequency divider 1.Described stereopsis monitoring operation desk comprises monitoring unit and the connected measurement module of difference and memory module on the ship; Described monitoring unit is used for observing the video data of uploading from the described detection subsystem of three-dimensional video-frequency under water; Described measurement module is monitored and is processed the video data that receives; Described memory module is stored video data.Described memory module is disk or disk.
As shown in Figure 4, the described detection subsystem of three-dimensional video-frequency under water comprises: video acquisition unit and to the three-dimensional video-frequency image unit of its transmission video signal.Described video acquisition unit comprises: pressure-resistant cabin and be located at its inner video acquisition module, frequency divider 2 and I/O controller; Described video acquisition module is passed through described frequency divider 2 to described deck video display subsystem transmission video signal; Described video acquisition module be connected the I/O controller and be connected with described three-dimensional video-frequency image unit respectively; Described video acquisition module be connected the I/O controller and connect.Described three-dimensional video-frequency image unit comprises: camera, photoflash lamp, binocular camera shooting head unit and altimeter; Described camera and described photoflash lamp respectively by described I/O controller to described video acquisition module transmitting video data; Described binocular camera shooting head unit be connected altimeter and be connected with described video acquisition module respectively.
Described camera is the underwater digit camera, and the resolution of described camera is 2048 * 1680 pixels.Described photoflash lamp is high pressure resistant watertight Halogen lamp LED or LED lamp.Described altimeter is be used to acoustics or the optical detector of measuring the described detection subsystem of three-dimensional video-frequency under water and seabed distance.
As shown in Figure 7, described binocular camera shooting head unit comprises support and setting two cameras with fixed focus (A, B) thereon; Described cameras with fixed focus (A) passes through respectively the described video acquisition module transmission video signal of one road video transmission line road direction with described cameras with fixed focus (B).Described two cameras with fixed focus (A, B) are arranged side by side on described support; Described support is the titanium alloy support.
As shown in Figure 5, the coordinate of described cameras with fixed focus (A) is OXYZ, and the coordinate of described cameras with fixed focus (B) is O ' X ' Y ' Z '; X ' axle, Y ' axle and the Z ' axle of coordinate system O ' X ' Y ' Z ' is parallel to respectively X-axis, Y-axis and the Z axis of coordinate system OXYZ; Photocentre O is denoted as (dx, dy, dz) to the translation vector of photocentre O '; Wherein, less than 1mm, dy is 80mm to photocentre O to the translation vector of O ': dx and dz.Described support is provided with the micromatic setting of described cameras with fixed focus (A, the B) depth of parallelism; Wherein, adjustable range: ± 3 ', regulate step-length: 10 ".Described video link adopts the Ethernet of tcp/ip communication agreement and bandwidth 100M that video data is transmitted.Described video acquisition module is controlled described photoflash lamp, uniformly-spaced in the time two-path video signal is being added sync mark, and wherein, the described uniformly-spaced time is 7 seconds.
The size of described binocular camera shooting head unit is as follows: long 190mm; Wide 27mm; High 160mm.
Make mounting bracket with titanium alloy two cameras with fixed focus are composed of the binocular camera shooting head, and be sealed in the withstand voltage bucket of anti-60MPa pressure.The visual angle of left and right sides camera is equal, and difference is less than 1%.The gamma camera coordinate system parallels, and namely defines left gamma camera coordinate system OXYZ, right gamma camera coordinate system, and O ' X ' Y ' Z ', photocentre O is denoted as (dx, dy, dz) to the translation vector of O '.See Fig. 5.
Two the parallel X of being ' of coordinate system, Y ', Z ' axles are parallel to respectively X, Y, Z axis.Require its angle to be not more than 10 " (second).
Photocentre O is to the translation vector of O '.Require dx, dz＜1mm.Dy is 80mm.
O ' X ' Y ' Z ' is the spin matrix R of OXYZ relatively, and R=(Rij), i, j=1,2,3, Rij are respectively the cosine of X ', Y ', Z ' axle and X, Y, Z axis angle.
Support has the micromatic setting of parallelism of optical axis, adjustable range: ± 3 ', regulate step-length: 10 ".
The withstand voltage 60MPa of camera chain (operating depth 6000m.), anti-seawater corrosion.
(2) two-path video transmission line
In order to realize stereoscopic vision monitoring and to rebuild the three-dimensional mima type microrelief in seabed, the two-path video data are the most important condition by underwater camera unit monitoring unit synchronous transmission on the ship in real time.Native system adopts the high speed processing dsp chip, adopts the method for key frame Auto-matching, realizes that left and right sides two-path video is synchronous, guarantees that two-path video is transferred to the deck monitoring operation desk with coupling as right form.Communication protocol adopts TCP/IP, and bandwidth 100M Ethernet is realized.To mating accurately, to utilizing the photoflash lamp of underwater camera, (10 seconds) add sync mark to native system within time uniformly-spaced in video image in order to ensure the picture of video image computerized three-dimensional reconstruction.
(3) stereopsis monitoring operation desks
The stereopsis monitoring operation desk is characterized in that receiving and the left and right sides image that arrives of stereo display binocular tri-dimensional camera collection.Make supervisor's right and left eyes see respectively left and right sides image by anaglyph spectacles, thereby produce three-dimensional video perception.Record simultaneously left and right sides two-way continuous videos image on disk or tape, can be for later playback and for providing data by photographed images reconstruction of three-dimensional seabed mima type microrelief.
(4) realize based on the 3D reconstruction technique of binocular vision
The binocular stereo vision principle
Binocular vision is a kind of important form of machine vision, and it is based on principle of parallax and is obtained the method for object dimensional geological information by multiple image.Native system adopts binocular stereo camera continuously underwater object to be taken, utilize the scientific investigation ship to pull advance (speed is about 2 nautical miles/hour) along survey line, obtain several DIDs of the different angles of same object, employing recovers the three-dimensional geometric information of object based on principle of parallax, thereby rebuild object three-dimensional contour outline and position, and mensurable object size dimension.
The binocular stereo vision three-dimensional measurement is based on principle of parallax, Figure 6 shows that simply to look squarely the binocular stereo imaging schematic diagram, and the distance of the line of the projection centre of two video cameras, namely the baseline distance is b.The initial point of camera coordinate system is at the photocentre place of video camera.
The initial point of left and right sides image coordinate system is at the intersection point o on camera optical axis and plane
1And o
2Certain some P corresponding coordinate in left image and right image is respectively P in the space
1(u
1, v
1) and P
2(u
2, v
2).Suppose the image of two video cameras on same plane, the Y coordinate of then putting the P image coordinate is identical, i.e. v
1=v
2Obtain following formula by the triangle geometrical relationship;
(x in the following formula
c, y
c, z
c) being the coordinate of P in left camera coordinate system, b is the baseline distance, f is the focal length of two video cameras, (u
1, v
1) and (u
2, v
2) be respectively the coordinate of a P in left image and right image.
Parallax is defined as certain some alternate position spike of respective point in two width of cloth images, and formula is as follows:
Can calculate thus in the space coordinate of certain some P in left camera coordinate system is shown below:
Therefore, if find in the space certain point about respective point on two video camera image planes, and obtain the inside and outside parameter of video camera by camera calibration, just can determine the three-dimensional coordinate of this point.
What need statement is that content of the present invention and embodiment are intended to prove the practical application of technical scheme provided by the present invention, should not be construed as the restriction to protection range of the present invention.Those skilled in the art can do various modifications, be equal to and replace or improve inspired by the spirit and principles of the present invention.But these changes or modification are all in the protection range that application is awaited the reply.
Claims (21)
1. three-dimensional video monitoring system under water, it comprises: the deck video display subsystem; It is characterized in that, described supervisory control system comprises: the detection subsystem of three-dimensional video-frequency under water that is connected by myriametre copper core coaxial cable with described deck video display subsystem.
2. supervisory control system according to claim 1 is characterized in that, described deck video display subsystem comprises stereopsis monitoring operation desk and frequency divider 1; Described stereopsis monitoring operation desk is carried out control command and is received the vision signal of its transmission to the described detection subsystem of three-dimensional video-frequency under water sending action by described frequency divider 1, finishes simultaneously from described deck video display subsystem and provides electric energy to the described detection subsystem of three-dimensional video-frequency under water.
3. supervisory control system according to claim 2 is characterized in that, described stereopsis monitoring operation desk comprises monitoring unit and difference connected measurement module, memory module and supply module on the ship; Described monitoring unit is used for observing the video data of uploading from the described detection subsystem of three-dimensional video-frequency under water; Described measurement module is monitored and is processed the video data that receives; Described memory module is stored video data; Described supply module is for providing 300VDC, the 2A electric energy by described frequency divider 1 to the described detection subsystem of three-dimensional video-frequency under water.
4. supervisory control system according to claim 3 is characterized in that, described memory module is disk.
5. supervisory control system according to claim 3 is characterized in that, described supply module is AC/DC power.
6. supervisory control system according to claim 1 is characterized in that, the described detection subsystem of three-dimensional video-frequency under water comprises: video acquisition unit and to the three-dimensional video-frequency image unit of its transmission video signal.
7. supervisory control system according to claim 6 is characterized in that, described video acquisition unit comprises: pressure-resistant cabin and be located at its inner video acquisition module, frequency divider 2 and I/O controller; Described video acquisition module by described frequency divider 2 to described deck video display subsystem transmission video signal and adopt high low-pass filtering to isolate the power supply electric energy; Described video acquisition module be connected the I/O controller and be connected with described three-dimensional video-frequency image unit respectively; Described video acquisition module be connected the I/O controller and connect.
8. supervisory control system according to claim 1 is characterized in that, described three-dimensional video-frequency image unit comprises: photoflash lamp, binocular camera shooting head unit and altimeter; Described camera, described photoflash lamp, described binocular camera shooting head unit and described altimeter obtain respectively the action executing control command of described stereopsis monitoring operation desk by described I/O controller; Described binocular camera shooting head unit, described camera and the altimeter of being connected are connected with described video acquisition module respectively and carry out video data transmitting.
9. supervisory control system according to claim 8 is characterized in that, described camera is the underwater digit camera, and the resolution of described camera is 2048 * 1680 pixels.
10. supervisory control system according to claim 8 is characterized in that, described photoflash lamp is high pressure resistant watertight Halogen lamp LED.
11. supervisory control system according to claim 8 is characterized in that, described photoflash lamp is the LED lamp.
12. supervisory control system according to claim 8 is characterized in that, described altimeter is be used to acoustics or the optical detector of measuring the described detection subsystem of three-dimensional video-frequency under water and seabed distance.
13. supervisory control system according to claim 8 is characterized in that, described binocular camera shooting head unit comprises support and setting two cameras with fixed focus (A, B) thereon; Described cameras with fixed focus (A) passes through respectively the described video acquisition module transmission video signal of one road video transmission line road direction with described cameras with fixed focus (B).
14. supervisory control system according to claim 8 is characterized in that, the described detection subsystem of three-dimensional video-frequency under water is integrated on the towed body that satisfies fluid dynamic towing navigation; 6000 meters of the maximum operating water depths of described towed body, anti-confined pressure 60MPa.
15. supervisory control system according to claim 13 is characterized in that, described two cameras with fixed focus (A, B) are arranged side by side on described support; Described support is the titanium alloy support.
16. supervisory control system according to claim 13 is characterized in that, the coordinate of described cameras with fixed focus (A) is OXYZ, and the coordinate of described cameras with fixed focus (B) is O ' X ' Y ' Z '; X ' axle, Y ' axle and the Z ' axle of coordinate system O ' X ' Y ' Z ' is parallel to respectively X-axis, Y-axis and the Z axis of coordinate system OXYZ; Photocentre O is denoted as (dx, dy, dz) to the translation vector of photocentre O '; Wherein, less than 1mm, dy is 80mm to photocentre O to the translation vector of O ': dx and dz.
17. supervisory control system according to claim 16 is characterized in that, described support is provided with the micromatic setting of described cameras with fixed focus (A, the B) depth of parallelism; Wherein, adjustable range: ± 3 ', regulate step-length: 10 ".
18. supervisory control system according to claim 13 is characterized in that, described video link adopts the Ethernet of tcp/ip communication agreement and bandwidth 100M that video data is transmitted.
19. according to claim 8,13 described supervisory control systems, it is characterized in that, described video acquisition module is controlled described photoflash lamp, uniformly-spaced in the time two-path video signal is being added sync mark when finishing illumination, is used for the picture of three-dimensional seabed mima type microrelief reconstruction to match reference.
20. supervisory control system according to claim 19 is characterized in that, the described uniformly-spaced time is 7 seconds.
21. supervisory control system according to claim 8 is characterized in that, the size of described binocular camera shooting head unit is as follows: long 190mm; Wide 27mm; High 160mm.
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| CN106204650A (en) * | 2016-07-11 | 2016-12-07 | 北京航空航天大学 | A kind of vehicle target tracking based on vacant lot video corresponding technology |
| CN106454268A (en) * | 2016-11-16 | 2017-02-22 | 青岛远大海洋生物科技有限公司 | Underwater habitat observation device for aquaculture system |
| CN107128445A (en) * | 2017-04-06 | 2017-09-05 | 北京臻迪科技股份有限公司 | A kind of unmanned boat |
| CN107235131A (en) * | 2017-05-25 | 2017-10-10 | 深圳微孚智能信息科技有限公司 | A kind of underwater robot that can be live |
| CN107329421A (en) * | 2017-06-09 | 2017-11-07 | 上海大学 | A kind of underwater photographic system |
| CN110411777A (en) * | 2019-08-07 | 2019-11-05 | 浙江大学 | A kind of visualization box sampler underwater and its control method |
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| CN110944153A (en) * | 2019-12-03 | 2020-03-31 | 杭州电子科技大学 | Underwater four-eye stereoscopic vision imaging system and imaging method |
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