CN103616697B - A kind of intelligent underwater laser detection system - Google Patents
A kind of intelligent underwater laser detection system Download PDFInfo
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- CN103616697B CN103616697B CN201310652190.0A CN201310652190A CN103616697B CN 103616697 B CN103616697 B CN 103616697B CN 201310652190 A CN201310652190 A CN 201310652190A CN 103616697 B CN103616697 B CN 103616697B
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- underwater laser
- dispersion
- underwater
- 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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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
What the present invention realized is a kind of intelligent underwater laser detection system.This system controls underwater laser by the embedded platform running VxWorks, the original laser image of submarine target is obtained by underwater laser, under VxWorks system, the laser image obtained is processed, estimating target orientation, then the underwater laser systematic parameter improved is generated according to result, and use this parameter adjustment underwater laser to arrange, again imaging is carried out to target.Through repeatedly automatically adjusting, this system finally can obtain target image clearly.This system is by expansion simultaneously, can connect the processing result image that PC carrys out real-time monitoring system.The present invention is applicable to the automatic detection of submarine target, also can carry out exploitation and the debugging of underwater laser image processing algorithm and underwater laser automatic control algorithm simultaneously.
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 utilizing underwater laser to obtain submarine target image.By processing the image obtained, many target detail features can be obtained, for further target classification identification provides material.
Along with the development of unmanned device of diving under water, Dispersion for Underwater Laser Imaging System can be used as a underwater human visual system's part.Utilize the target image obtained by specific Dispersion for Underwater Laser Imaging System automatic control technology, valuable help can be provided for underwater robot navigation.
VxWorks, as a high performance embedded real-time operating system, is with good expansibility.By adding corresponding device drives and data processing algorithm for it, can make it have the ability that automatic control equipment work also provides data processed result in real time, its range of application is just becoming more extensive.
Summary of the invention
The object of the present invention is to provide a kind of intelligent underwater laser detection system realizing utilizing this system automatic acquisition submarine target laser image.
The object of the present invention is achieved like this:
A kind of intelligent underwater laser detection 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 running VxWorks embedded OS, embedded processing platform by network cable and PC interconnected.
VxWorks embedded OS comprises VxWorks kernel and board suppot package BSP, wherein board suppot 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 launches underwater laser according to initial parameter to suspicious object; The underwater laser reflected through target is received by underwater laser receiver and forms original image; This raw image data enters VxWorks embedded OS by communication controler; Underwater laser image processing module processes in real time this raw data and forms result images; This result images is submitted to underwater laser control module, and underwater laser control module is extracted target information and generated the underwater laser systematic parameter improved 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, when with PC] set up network be connected, the result images that underwater laser image processing module produces also to be sent to the software for display on PC by VxWorks system by TCP/IP network communication mode, 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 process 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) launches underwater laser according to initial parameter to suspicious object; The underwater laser reflected through target is received by underwater laser receiver (12) and is formed original image; This raw image data enters VxWorks embedded OS (1) by communication controler (13); Underwater laser image processing algorithm (9) processes in real time this raw data and forms result images; This result images is submitted to underwater laser control algolithm (10), and this algorithm extracts target information and then generates the underwater laser systematic parameter improved 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.Be connected with VxWorks embedded OS (1) by PC (16) by network cable, 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 laser detection 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 being 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 board suppot package BSP(5) and compiling generates VxWorks kernel (4).During work, first this system is generated by underwater laser control algolithm (10) according to the target azimuth estimated in advance and distance and arranges Dispersion for Underwater Laser Imaging System and gather systematic parameter needed for image first, and this parameter is sent to the Dispersion for Underwater Laser Imaging System equipment control task (8) under VxWorks system; This task utilizes this systematic parameter to generate equipment control command and calls 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 according to order and sends it back VxWorks system (1); These data will be submitted to underwater laser control algolithm [10] after underwater laser image processing algorithm (9) process; Underwater laser control algolithm [10] will produce new Dispersion for Underwater Laser Imaging System systematic parameter according to processing result image; The Dispersion for Underwater Laser Imaging System equipment control task (8) be sent under VxWorks system is started the data acquisition and processing (DAP) of next round by this parameter.
From the above course of work, this platform can circulate and repeatedly work, to find best Underwater Target Detection result.In addition, when with PC (16) set up network be connected, the result images that underwater laser image processing algorithm (9) produces also to be sent to the software for display (18) on PC (16) by VxWorks system by TCP/IP network communication mode, for user's real time inspection working state of system.
1. composition graphs 1, will estimate that the underwater laser image processing algorithm (9) used 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) running VxWorks system (1) is interconnected by USB cable (17) with the communication controler (13) of underwater laser (2).
3. composition graphs 2, embedded processing platform (3) powers on, and starts VxWorks system (1), and initialization Dispersion for Underwater Laser Imaging System USB device class drives (6), the network communication module (7) strengthened and Dispersion for Underwater Laser Imaging System equipment control task (8).
4. composition graphs 3 and Fig. 4, underwater laser (2) powers on, and VxWorks system (1) detects equipment connection and carries out initialization to it.
5. composition graphs 5, underwater laser control algolithm (10) generates the underwater laser systematic parameter for data acquisition first by the target azimuth estimated and distance.
6. composition graphs 5, this systematic parameter is converted to underwater laser control command by Dispersion for Underwater Laser Imaging System equipment control task (8), and call Dispersion for Underwater Laser Imaging System USB device class drive (6) this order is sent to Dispersion for Underwater Laser Imaging System (2).
7. composition graphs 2 and Fig. 3, Dispersion for Underwater Laser Imaging System (2) launches underwater laser according to the order received, and gathers target image and returns to VxWorks system (1).
8. composition graphs 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 the software for display (18) that extends on PC (16), then the network communication module (7) by strengthening is sent to software for display (18) and carries out real time imagery by result images.
9. composition graphs 5, underwater laser control algolithm (10), by the new systematic parameter of analysis result Computer image genration, comprises aperture size, focal length, angular field of view, image enhaucament degree, storbing gate start-up time and pentrution.
10. composition graphs 5, encodes to each systematic parameter, generates new underwater laser steering order, and transfers to Dispersion for Underwater Laser Imaging System USB device class to drive (6) to send to Dispersion for Underwater Laser Imaging System (2), thus starts data acquisition next time.
10. if the new underwater laser systematic parameter generated is identical with last parameter or gap in the scope preset, then think and stop automatic detection by the picture rich in detail having obtained target, preserve result of detection, otherwise continuation automatic detection.
A kind of intelligent underwater laser detection 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] running VxWorks embedded OS.When expanding, the embedded processing platform running VxWorks embedded OS by network cable and PC interconnected.
VxWorks embedded OS comprises: VxWorks kernel and board suppot package BSP.Wherein board suppot package BSP contain network communication module that Dispersion for Underwater Laser Imaging System USB device class drives, strengthens, Dispersion for Underwater Laser Imaging System equipment control task, underwater laser image processing algorithm and underwater laser control algolithm [.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 by network cable and VxWorks embedded OS interconnected.
Claims (1)
1. an intelligent underwater laser detection 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 running VxWorks embedded OS, embedded processing platform by network cable and PC interconnected; Described VxWorks embedded OS comprises VxWorks kernel and board suppot package BSP, wherein board suppot 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; Described 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; Described underwater laser transmitter launches underwater laser according to initial parameter to suspicious object; The underwater laser reflected through target is received by underwater laser receiver and forms original image; This raw image data enters VxWorks embedded OS by communication controler; Underwater laser image processing module processes in real time this raw data and forms result images; This result images is submitted to underwater laser control module, and underwater laser control module is extracted target information and generated the underwater laser systematic parameter improved 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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| CN103616697B true CN103616697B (en) | 2015-12-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| CN111090103B (en) * | 2019-12-25 | 2021-03-02 | 河海大学 | Three-dimensional imaging device and method for dynamically and finely detecting underwater small target |
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| US7830442B2 (en) * | 2002-04-30 | 2010-11-09 | ARETé ASSOCIATES | Compact economical lidar system |
| JP4607821B2 (en) * | 2006-05-26 | 2011-01-05 | 株式会社日立製作所 | Underwater defect inspection apparatus 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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