CN103616697A - Intelligent underwater laser detection system - Google Patents
Intelligent underwater laser detection system Download PDFInfo
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- CN103616697A CN103616697A CN201310652190.0A CN201310652190A CN103616697A CN 103616697 A CN103616697 A CN 103616697A CN 201310652190 A CN201310652190 A CN 201310652190A CN 103616697 A CN103616697 A CN 103616697A
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- underwater laser
- underwater
- dispersion
- imaging system
- vxworks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to an intelligent underwater laser detection system. According to the system, an embedded platform where the VxWorks operates is used for controlling an underwater laser and the underground laser is used for obtaining a primitive laser image of an underwater target. The obtained laser image is processed under the VxWorks system and target orientation is estimated. Afterwards, according to a processing result, parameters of an improved underwater laser system are generated, the parameters are used for adjusting setting of the underwater laser and imaging is carried out on the target again. After multiple-time automatic adjustment, the system can obtain a clear target image finally. Meanwhile, the system can be connected with a PC to monitor an image processing result of the system in real time through expansion. The intelligent underwater laser detection system is applicable to automatic detection of the underwater target and in addition, can carry out development and debugging of the underwater laser image processing algorithm and the underwater laser automatic control algorithm.
Description
Technical field
What the present invention relates to is a kind of intelligent detecting system, is specifically related to a kind of laser imaging system for automatic detection submarine target.
Background technology
Dispersion for Underwater Laser Imaging System is a kind of equipment that utilizes underwater laser to obtain submarine target image.By the image obtaining is processed, can obtain many target detail features, for further target classification identification provides material.
Along with the development of the unmanned device of diving under water, Dispersion for Underwater Laser Imaging System can be used as underwater human visual system's a part.Utilize the target image obtaining by specific Dispersion for Underwater Laser Imaging System automatic control technology, can provide valuable help for underwater robot navigation.
VxWorks, as a high performance embedded real-time operating system, is with good expansibility.By add corresponding device drives and data processing algorithm for it, can make it have automatic control equipment work and also provide in real time the ability of data processed result, it is more extensive that its range of application is just becoming.
Summary of the invention
The object of the present invention is to provide a kind of intelligent underwater lidar system that utilizes this system automatic acquisition submarine target laser image of realizing.
The object of the present invention is achieved like this:
A kind of intelligent underwater lidar system, comprise embedded processing platform and Dispersion for Underwater Laser Imaging System, underwater laser view data is gathered by Dispersion for Underwater Laser Imaging System, Dispersion for Underwater Laser Imaging System is interconnected by USB cable with the embedded processing platform of operation VxWorks embedded OS, and embedded processing platform is interconnected by network cable and PC.
VxWorks embedded OS comprises VxWorks kernel and plate level support package BSP, wherein plate level support package BSP contains the driving of Dispersion for Underwater Laser Imaging System USB device class, network communication module, Dispersion for Underwater Laser Imaging System equipment control task module, underwater laser image processing module and underwater laser control module, the working material of VxWorks kernel is the Pentium processor on embedded processing platform, and is kept on the expansion nonvolatile memory of embedded processing platform.
Dispersion for Underwater Laser Imaging System comprises underwater laser transmitter, underwater laser receiver and communication controler, and wherein communication controler carries out data transmission by USB cable and VxWorks embedded OS.
Underwater laser transmitter is launched underwater laser according to initial parameter to suspicious object; The underwater laser reflecting through target receives and forms original image by underwater laser receiver; This raw image data enters VxWorks embedded OS by communication controler; Underwater laser image processing module is processed in real time this raw data and is formed result images; This result images is submitted to underwater laser control module, and underwater laser control module is extracted target information and generated improved underwater laser systematic parameter from result images; Underwater laser systematic parameter is sent to Dispersion for Underwater Laser Imaging System again to obtain target image, finally obtains submarine target image clearly.
Beneficial effect of the present invention is:
This system can circulate and repeatedly work, to find best Underwater Target Detection result.In addition, with PC] set up network and be connected in the situation that, the result images that VxWorks system also can produce underwater laser image processing module by TCP/IP network communication mode sends to the software for display on PC, for user's real time inspection working state of system.
Accompanying drawing explanation
Fig. 1 is general structure block diagram of the present invention.
Fig. 2 is Whole Work Flow figure of the present invention.
Fig. 3 is Dispersion for Underwater Laser Imaging System equipment control task process flow diagram of the present invention.
Fig. 4 is Dispersion for Underwater Laser Imaging System initialization flowchart of the present invention.
Fig. 5 is the process flow diagram that underwater laser control algolithm of the present invention generates steering order.
Embodiment
Whole system is divided into VxWorks embedded OS (1) and Dispersion for Underwater Laser Imaging System (2) two parts.VxWorks embedded OS (1) is responsible for the real-time processing of data and the control of underwater laser, and Dispersion for Underwater Laser Imaging System (2) is responsible for the laser image collection of interesting target under water.
Underwater laser transmitter (11) is launched underwater laser according to initial parameter to suspicious object; The underwater laser reflecting through target receives and forms original image by underwater laser receiver (12); This raw image data enters VxWorks embedded OS (1) by communication controler (13); Underwater laser image processing algorithm (9) is processed in real time this raw data and is formed result images; This result images is submitted to underwater laser control algolithm (10), and this algorithm extracts target information and then generates improved underwater laser systematic parameter from result images; This parameter will be sent to Dispersion for Underwater Laser Imaging System (2) again to obtain target image.By repeatedly automatically adjusting, finally this system will obtain submarine target image clearly.
In addition, this system also can be expanded.By network cable, PC (16) is connected with VxWorks embedded OS (1), user can utilize software for display (18) the real time inspection processing result image on PC (16), with the working condition of evaluating system.
Principle of work of the present invention is:
This intelligent underwater lidar system needs VxWorks embedded OS (1) and Dispersion for Underwater Laser Imaging System (2) collaborative work.This system need be arranged in watertight compartment, as is installed in underwater hiding-machine.Before work, according to the orientation of working environment and suspicious object, select suitable underwater laser image processing algorithm (9) and underwater laser control algolithm (10), added entering plate level support package BSP(5) and compiling generation VxWorks kernel (4).During work, first this system gathers the required systematic parameter of image first according to the target azimuth of estimation in advance with apart from generating and arrange Dispersion for Underwater Laser Imaging System by underwater laser control algolithm (10), and this parameter is sent to the Dispersion for Underwater Laser Imaging System equipment control task (8) under VxWorks system; This task is utilized this systematic parameter to generate equipment control command and is called Dispersion for Underwater Laser Imaging System USB device class and drives (6) that this order is sent to Dispersion for Underwater Laser Imaging System (2); Dispersion for Underwater Laser Imaging System (2) gathers target image and sends it back VxWorks system (1) according to order; These data will be submitted to underwater laser control algolithm [10] after underwater laser image processing algorithm (9) is processed; Underwater laser control algolithm [10] will produce new Dispersion for Underwater Laser Imaging System systematic parameter according to processing result image; This parameter will be sent to Dispersion for Underwater Laser Imaging System equipment control task (8) under VxWorks system and start the data acquisition and processing (DAP) of next round.
From the above course of work, this platform can circulate and repeatedly work, to find best Underwater Target Detection result.In addition, with PC (16) is set up network and is connected in the situation that, the result images that VxWorks system also can produce underwater laser image processing algorithm (9) by TCP/IP network communication mode sends to the software for display (18) on PC (16), for user's real time inspection working state of system.
1. in conjunction with Fig. 1, will estimate that the underwater laser image processing algorithm (9) using is incorporated in Dispersion for Underwater Laser Imaging System equipment control task (8); Underwater laser control algolithm (10) is incorporated in Dispersion for Underwater Laser Imaging System equipment control task (8); The BSP that compiling comprises above two kinds of algorithms generates VxWorks kernel (4) and is kept on the expansion nonvolatile memory of embedded processing platform (3).
2. install and be connected VxWorks system (1) and underwater laser (2), whole system need be arranged in watertight compartment, and the embedded processing platform (3) of operation VxWorks system (1) is interconnected by USB cable (17) with the communication controler (13) of underwater laser (2).
3. in conjunction with Fig. 2, embedded processing platform (3) powers on, and starts VxWorks system (1), network communication module (7) and Dispersion for Underwater Laser Imaging System equipment control task (8) that initialization Dispersion for Underwater Laser Imaging System USB device class drives (6), strengthens.
4. in conjunction with Fig. 3 and Fig. 4, underwater laser (2) powers on, and VxWorks system (1) detects equipment connection and it is carried out to initialization.
5. in conjunction with Fig. 5, underwater laser control algolithm (10) generates the underwater laser systematic parameter for data acquisition first by target azimuth and the distance of estimating.
6. in conjunction with Fig. 5, Dispersion for Underwater Laser Imaging System equipment control task (8) is converted to underwater laser control command by this systematic parameter, and calls Dispersion for Underwater Laser Imaging System USB device class and drive (6) that this order is sent to Dispersion for Underwater Laser Imaging System (2).
7. in conjunction with Fig. 2 and Fig. 3, Dispersion for Underwater Laser Imaging System (2), according to the order transmitting underwater laser of receiving, gathers target image and returns to VxWorks system (1).
8. in conjunction with Fig. 3, Dispersion for Underwater Laser Imaging System equipment control task (8) is called Dispersion for Underwater Laser Imaging System USB device class and is driven (6) to receive view data, and utilizes underwater laser image processing algorithm (9) to process it, obtains result images.If select, expanded the software for display (18) on PC (16), result images is sent to software for display (18) by the network communication module (7) by enhancing and carries out real time imagery.
9. in conjunction with Fig. 5, underwater laser control algolithm (10) generates new systematic parameter by analysis result image, comprises aperture size, focal length, angular field of view, figure image intensifying degree, storbing gate start-up time and pentrution.
10. in conjunction with Fig. 5, each systematic parameter is encoded, generate new underwater laser steering order, and transfer to Dispersion for Underwater Laser Imaging System USB device class to drive (6) to send to Dispersion for Underwater Laser Imaging System (2), thereby start data acquisition next time.
10. if the new underwater laser systematic parameter generating is identical with last parameter or gap in predefined scope, think and obtained the picture rich in detail of target, stop automatic detection, preserve result of detection, otherwise continuation automatic detection.
An intelligent underwater lidar system, its composition comprises: VxWorks embedded OS and Dispersion for Underwater Laser Imaging System.Underwater laser view data is gathered by Dispersion for Underwater Laser Imaging System; Dispersion for Underwater Laser Imaging System is interconnected by USB cable with the embedded processing platform [3] of operation VxWorks embedded OS.While expanding, the embedded processing platform of operation VxWorks embedded OS can be interconnected by network cable and PC.
VxWorks embedded OS comprises: VxWorks kernel and plate level support package BSP.Network communication module, Dispersion for Underwater Laser Imaging System equipment control task, underwater laser image processing algorithm and the underwater laser control algolithm that wherein plate level support package BSP contains the driving of Dispersion for Underwater Laser Imaging System USB device class, enhancing [.The working material of VxWorks kernel [4] is the Pentium processor on embedded processing platform, and is kept on the expansion nonvolatile memory of embedded processing platform.
Dispersion for Underwater Laser Imaging System comprises: underwater laser transmitter, underwater laser receiver and communication controler.Wherein communication controler carries out data transmission by USB cable and VxWorks embedded OS.
Optional components PC comprises: Windows system and software for display.PC can be interconnected by network cable and VxWorks embedded OS.
Claims (4)
1. an intelligent underwater lidar system, comprise embedded processing platform and Dispersion for Underwater Laser Imaging System, it is characterized in that: underwater laser view data is gathered by Dispersion for Underwater Laser Imaging System, Dispersion for Underwater Laser Imaging System is interconnected by USB cable with the embedded processing platform of operation VxWorks embedded OS, and embedded processing platform is interconnected by network cable and PC.
2. a kind of intelligent underwater lidar system according to claim 1, it is characterized in that: described VxWorks embedded OS comprises VxWorks kernel and plate level support package BSP, wherein plate level support package BSP contains the driving of Dispersion for Underwater Laser Imaging System USB device class, network communication module, Dispersion for Underwater Laser Imaging System equipment control task module, underwater laser image processing module and underwater laser control module, the working material of VxWorks kernel is the Pentium processor on embedded processing platform, and be kept on the expansion nonvolatile memory of embedded processing platform.
3. a kind of intelligent underwater lidar system according to claim 1 and 2, it is characterized in that: described Dispersion for Underwater Laser Imaging System comprises underwater laser transmitter, underwater laser receiver and communication controler, wherein communication controler carries out data transmission by USB cable and VxWorks embedded OS.
4. a kind of intelligent underwater lidar system according to claim 3, is characterized in that: described underwater laser transmitter is launched underwater laser according to initial parameter to suspicious object; The underwater laser reflecting through target receives and forms original image by underwater laser receiver; This raw image data enters VxWorks embedded OS by communication controler; Underwater laser image processing module is processed in real time this raw data and is formed result images; This result images is submitted to underwater laser control module, and underwater laser control module is extracted target information and generated improved underwater laser systematic parameter from result images; Underwater laser systematic parameter is sent to Dispersion for Underwater Laser Imaging System again to obtain target image, finally obtains submarine target image clearly.
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| CN201310652190.0A CN103616697B (en) | 2013-12-05 | 2013-12-05 | A kind of intelligent underwater laser detection system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991259A (en) * | 2015-07-24 | 2015-10-21 | 王琳 | Laser imaging detection method |
| CN105225271A (en) * | 2015-11-09 | 2016-01-06 | 浙江海洋学院 | A kind of planktonic long-range real time image collection in waters and three-dimensional reconstruction system |
| CN109298430A (en) * | 2018-08-08 | 2019-02-01 | 西安交通大学 | A kind of underwater composite bionic detection device and detection information fusion method |
| CN111090103A (en) * | 2019-12-25 | 2020-05-01 | 河海大学 | Three-dimensional imaging device and method for dynamically and finely detecting underwater small target |
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| US20040119838A1 (en) * | 2002-04-30 | 2004-06-24 | Andrew Griffis | Compact economical lidar system |
| JP2007315964A (en) * | 2006-05-26 | 2007-12-06 | Hitachi Ltd | Underwater defect inspection device and underwater defect inspection method |
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Patent Citations (3)
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| US20040119838A1 (en) * | 2002-04-30 | 2004-06-24 | Andrew Griffis | Compact economical lidar system |
| JP2007315964A (en) * | 2006-05-26 | 2007-12-06 | Hitachi Ltd | Underwater defect inspection device and underwater defect inspection method |
| CN203012138U (en) * | 2012-12-05 | 2013-06-19 | 中国工程物理研究院流体物理研究所 | Underwater detection object optics imaging device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991259A (en) * | 2015-07-24 | 2015-10-21 | 王琳 | Laser imaging detection method |
| CN105225271A (en) * | 2015-11-09 | 2016-01-06 | 浙江海洋学院 | A kind of planktonic long-range real time image collection in waters and three-dimensional reconstruction system |
| CN109298430A (en) * | 2018-08-08 | 2019-02-01 | 西安交通大学 | A kind of underwater composite bionic detection device and detection information fusion method |
| CN109298430B (en) * | 2018-08-08 | 2020-10-27 | 西安交通大学 | Underwater composite bionic detection device and detection target fusion identification method |
| CN111090103A (en) * | 2019-12-25 | 2020-05-01 | 河海大学 | Three-dimensional imaging device and method for dynamically and finely detecting underwater small target |
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| CN103616697B (en) | 2015-12-02 |
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