CN103792543A - Underwater laser line scanning digital imaging system - Google Patents
Underwater laser line scanning digital imaging system Download PDFInfo
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- CN103792543A CN103792543A CN201410040653.2A CN201410040653A CN103792543A CN 103792543 A CN103792543 A CN 103792543A CN 201410040653 A CN201410040653 A CN 201410040653A CN 103792543 A CN103792543 A CN 103792543A
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- 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
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Abstract
The invention discloses an underwater laser line scanning digital imaging system which comprises an upper computer module (8), a cylindrical pressure resistant shell (9), a laser module (1), an optical-mechanical-electrical scanning module and a digitization camera shooting module, wherein the laser module (1), the optical-mechanical-electrical scanning module and the digitization camera shooting module are installed inside the shell (9). The laser module (1) comprises a solid-state frequency doubling laser device, an optical focusing system and a laser control system. The optical-mechanical-electrical scanning module comprises an input reflecting mirror (2), an optical subsystem (3) and an output reflecting mirror (4), wherein the optical subsystem (3) comprises an optical trigger, a motor and a rotary shaft driven by the motor. The digitization camera shooting module comprises an incident hole (5), a receiving machine (6), a low-noise pre-amplifier and a video processing system (7). The upper computer module (8) comprises a keyboard, a mouse and a video monitor. According to the underwater laser line scanning digital imaging system, back scattering influences in absorption and scanning water space can be reduced to the maximum degree, and a high-resolution image can be provided.
Description
Technical field
The present invention relates to a kind of Dispersion for Underwater Laser Imaging System, particularly relate to a kind of laser line scan digital imaging system being applied under water.
Background technology
In recent years, Underwater Imaging Detection Techniques are just being subject to various countries researcher's pay attention to day by day, and it can be used for surveying the target of rapid movement, also can be used for lifesaving, salvaging and development of resources etc.But scattering and the absorption to light wave due to the suspended particulates in seawater and hydrone, the defect such as the decling phase of laser beam in seawater be when fast, and its attenuation degree and image-forming range are exponential relationship, cause picture noise large, and image quality is poor.
Chinese patent application 201310071635.6 discloses a kind of " a kind of detection imaging system based on laser scanning ", and the feature of this system is take laser as light source, gathers imaging by the scattered light to object, to object is analyzed and judged.Chinese patent application 201110001461.7 discloses a kind of " the Brillouin scattering underwater laser imaging detecting device based on photonic crystal filtering ", the feature of this device is to provide a kind of Brillouin scattering underwater laser imaging detecting device based on photonic crystal filtering, when in the time submarine target being carried out to laser imaging detection, it can effectively survey brillouin scattering signal, improves image quality.But above-mentioned system and device all fail effectively to solve the backward scattered impact of laser beam, can make laser imaging quality significantly decline, and observation and image-forming range obviously shorten.
How to overcome the deficiencies in the prior art and become one of emphasis difficult problem urgently to be resolved hurrily in current underwater laser technical field of imaging.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of underwater laser line scanning digital imaging system, can improve Underwater Optical transmitting energy, strengthens and receives signal, and inhalation effects is cut to bone; Adopt a kind of optical system of synchronous scanning machine, make Ear Mucosa Treated by He Ne Laser Irradiation scope on time and space, all coordinate consistent and synchronized movement with receiver visual field, back scattering in scanning hydrospace can be cut to bone, high-resolution image is provided, has expanded the camera distance in turbidity simultaneously; The present invention can be used for clean sea water, muddy seawater, the seawater that contains a large amount of suspended particulates and pitch-dark deep-sea water etc. and extremely under complex environment condition, works.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A kind of underwater laser line scanning digital imaging system, this system comprises pressure hull and installation laser module, Light Electrical scan module, the digitizing photographing module therein of upper computer module, a tubular, and described digitizing photographing module is connected with upper computer module by RS232 communication port respectively; Wherein:
Described laser module comprises solid-state frequency double laser, optical focusing system, laser control system; Wherein:
Described solid-state frequency double laser, as light source, comprises a frequency-doubling crystal, and laser frequency after frequency-doubling crystal increases doubly;
Described optical focusing system focuses on for the laser beam that described solid-state frequency double laser is sent, and constriction is strip laser beam;
Described laser control system comprises buried sensor controller, for the emission process of the power by monitoring output beam and control laser, thereby the laser power of output is implemented to regulation and control;
Described Light Electrical scan module comprises input reflection mirror, optical subsystem, output reflector, and described optical subsystem comprises optical flip-flop, motor and by motor-operated rotating shaft; Described input reflection mirror and output reflector are installed on the both sides of rotating shaft; Wherein:
Described input reflection mirror is used for laser beam deflecting reflection to target object;
Described output reflector is reflected by target object and next laser beam for deflection;
Described optical flip-flop, using clock signal as control signal, for the Timing Synchronization of control inputs catoptron and output reflector, thereby makes Ear Mucosa Treated by He Ne Laser Irradiation scope be synchronizeed with the motion of receiver instantaneous field of view;
Described digitizing photographing module includes perforation, receiver, low-noise preamplifier and processing system for video; Wherein:
Described receiver for by described enter perforation receive the laser beam of described output reflector deflecting reflection, and be translated into electric signal, described electric signal is directly proportional with the laser that the target object in instantaneous field of view reflects;
Described low-noise preamplifier amplifies for the electric signal that receiver is exported, and transfers to processing system for video;
Described processing system for video is used for the electric signal after amplifying to be converted into composite video signal, and transfers to upper computer module.
As further prioritization scheme of the present invention, described upper computer module comprises keyboard and mouse, video monitor, and described keyboard, mouse operate for operator, and described video monitor is for the composite video signal of display video disposal system transmission.
As further prioritization scheme of the present invention, described laser adopts the Nd:YAG laser that wavelength is 1064nm, and after frequency-doubling crystal, frequency increases doubly, is converted into the laser that wavelength is 532nm.
As further prioritization scheme of the present invention, described buried sensor controller is a single board computer, has analog-and digital-formula I/O sensor control & monitor ability.
As further prioritization scheme of the present invention, described in enter perforation and have multiple, size can adjust and can rotate, the size that enters perforation determines according to entering distance between perforation and target object, with according to the instantaneous field of view of change of distance control system.
As further prioritization scheme of the present invention, the fan-shaped angle that described strip laser beam motion forms is 90 °, is 70 ° for the angle of imaging.
As further prioritization scheme of the present invention, described input reflection mirror and output reflector are taper polygonal mirror.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1) the present invention has improved Underwater Optical transmitting energy, strengthens and receives signal, and inhalation effects is cut to bone;
2) the present invention has adopted a kind of optical system of synchronous scanning machine, make Ear Mucosa Treated by He Ne Laser Irradiation scope on time and space, all coordinate consistent and synchronized movement with receiver visual field, back scattering in scanning hydrospace can be cut to bone, high-resolution image is provided, has expanded the camera distance in turbidity simultaneously;
3) the present invention can be used for clean sea water, muddy seawater, the seawater that contains a large amount of suspended particulates and pitch-dark deep-sea water etc. and extremely under complex environment condition, works.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, underwater laser line scanning digital imaging system comprises the pressure hull 9 of upper computer module 8, a tubular and laser module 1, Light Electrical scan module, a digitizing photographing module is therein installed, and described digitizing photographing module is connected with upper computer module 8 by RS232 communication port respectively; Wherein:
Described laser module 1 comprises solid-state frequency double laser, optical focusing system, laser control system; Wherein:
Described solid-state frequency double laser, as light source, comprises a frequency-doubling crystal, and laser frequency after frequency-doubling crystal increases doubly;
Described optical focusing system focuses on for the laser beam that described solid-state frequency double laser is sent, and constriction is strip laser beam;
Described laser control system comprises buried sensor controller, for the emission process of the power by monitoring output beam and control laser, thereby the laser power of output is implemented to regulation and control;
Described Light Electrical scan module comprises input reflection mirror 2, optical subsystem 3, output reflector 4, and described optical subsystem comprises optical flip-flop, motor and by motor-operated rotating shaft; Described input reflection mirror 2 and output reflector 4 are installed on the both sides of rotating shaft; Wherein:
Described input reflection mirror 2 for by laser beam deflecting reflection to target object 10;
Described output reflector 4 is reflected by target object 10 for deflection and next laser beam;
Described optical flip-flop, using clock signal as control signal, for the Timing Synchronization of control inputs catoptron 2 and output reflector 4, thereby makes Ear Mucosa Treated by He Ne Laser Irradiation scope be synchronizeed with the motion of receiver instantaneous field of view;
Described digitizing photographing module includes perforation 5, receiver 6, low-noise preamplifier and processing system for video 7; Wherein:
Described enter perforation 5 match with input reflection mirror 2, output reflector 4, the visual field of receiver is controlled, make it with Ear Mucosa Treated by He Ne Laser Irradiation scope coincide and synchronized movement, form high-resolution image;
Described receiver 6 for by described enter perforation 5 receive the laser beam of described output reflector 4 deflecting reflections, and be translated into electric signal, described electric signal is directly proportional to the laser that the target object 10 in instantaneous field of view reflects;
Described low-noise preamplifier amplifies for the electric signal that receiver 6 is exported, and transfers to processing system for video 7;
Described processing system for video 7, for the electric signal after amplifying is converted into composite video signal, and transfers to upper computer module 8.
A kind of course of work of underwater laser line scanning digital imaging system is as follows:
In the time that motor starts to rotate, solid-state frequency double laser is as light source, by the Nd:YAG laser transforming through frequency-doubling crystal, focusing on constriction by optical focusing system is strip laser beam, make the irradiating laser that arrives body surface almost become a luminous point, the shared hydrospace of underwater laser range of exposures and receiver instantaneous field of view is narrowed down to bottom line.
Strip laser beam is by input reflection mirror 2 with linear mode scanning target object 10, and the fan-shaped angle that laser beam side-to-side movement forms is 90 °, and the angle that wherein can be used for imaging is approximately 70 °.By the optical flip-flop in the scan module of Light Electrical using clock signal as control signal, the Timing Synchronization of control inputs catoptron 2 and output reflector 4, thus Ear Mucosa Treated by He Ne Laser Irradiation scope is synchronizeed with the motion of receiver instantaneous field of view.
Multiple adjustable perforations 5 that proceed to are set in digitizing photographing module, can just adjust to and be enough to synchronously receive the laser beam that output reflector 4 reflects, the back scattering of receiver instantaneous field of view is cut to bone.Receiver 6 in digitizing photographing module is by entering the synchronous laser beam that receives output reflector 4 deflecting reflections of perforation 5, input reflection mirror 2 by Timing Synchronization and output reflector 4, adjustable turn enter perforation 5, the visual field of receiver 6 is controlled, coincide and synchronized movement with Ear Mucosa Treated by He Ne Laser Irradiation scope.The electric signal that receiver 6 is converted into the laser beam receiving, this electric signal is directly proportional to the laser that the target object 10 in instantaneous field of view reflects; Electric signal transfers to processing system for video 7 after amplifying by low-noise preamplifier.Processing system for video, by the processing to electric signal, looks like real-time bar graph to separate; Laser beam continues the next position of scanning, by continuously laser scanning, and image is added up, and obtains the panoramic picture of measured target by computing machine after processing.
The above; it is only the embodiment in the present invention; but protection scope of the present invention is not limited to this; any people who is familiar with this technology is in the disclosed technical scope of the present invention; can understand conversion or the replacement expected; all should be encompassed in of the present invention comprise scope within, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (8)
1. a underwater laser line scanning digital imaging system, it is characterized in that, this system comprises pressure hull (9) and installation laser module (1), Light Electrical scan module, the digitizing photographing module therein of upper computer module (8), a tubular, and described digitizing photographing module is connected with upper computer module (8) by RS232 communication port respectively; Wherein:
Described laser module (1) comprises solid-state frequency double laser, optical focusing system, laser control system; Wherein:
Described solid-state frequency double laser, as light source, comprises a frequency-doubling crystal, and laser frequency after frequency-doubling crystal increases doubly;
Described optical focusing system focuses on for the laser beam that described solid-state frequency double laser is sent, and constriction is strip laser beam;
Described laser control system comprises buried sensor controller, for the emission process of the power by monitoring output beam and control laser, thereby the laser power of output is implemented to regulation and control;
Described Light Electrical scan module comprises input reflection mirror (2), optical subsystem (3), output reflector (4), and described optical subsystem comprises optical flip-flop, motor and by motor-operated rotating shaft; Described input reflection mirror (2) and output reflector (4) are installed on the both sides of rotating shaft; Wherein:
Described input reflection mirror (2) for by laser beam deflecting reflection to target object (10);
The laser beam that described output reflector (4) is come by target object (10) reflection for deflection;
Described optical flip-flop, using clock signal as control signal, for the Timing Synchronization of control inputs catoptron (2) and output reflector (4), thereby makes Ear Mucosa Treated by He Ne Laser Irradiation scope be synchronizeed with the motion of receiver instantaneous field of view;
Described digitizing photographing module includes perforation (5), receiver (6), low-noise preamplifier and processing system for video (7); Wherein:
Described receiver (6) for by described enter perforation (5) receive the laser beam of described output reflector (4) deflecting reflection, and be translated into electric signal;
Described low-noise preamplifier amplifies for the electric signal that receiver (6) is exported, and transfers to processing system for video (7);
Described processing system for video (7), for the electric signal after amplifying is converted into composite video signal, and transfers to upper computer module (8).
2. a kind of underwater laser line scanning digital imaging system according to claim 1, it is characterized in that, described upper computer module (8) comprises keyboard and mouse, video monitor, described keyboard, mouse operate for operator, and described video monitor is for the composite video signal of display video disposal system (7) transmission.
3. a kind of underwater laser line scanning digital imaging system according to claim 1, is characterized in that, described laser adopts the Nd:YAG laser that wavelength is 1064nm, and after frequency-doubling crystal, frequency increases doubly, is converted into the laser that wavelength is 532nm.
4. a kind of underwater laser line scanning digital imaging system according to claim 1, is characterized in that, described buried sensor controller is a single board computer, has analog-and digital-formula I/O sensor control & monitor ability.
5. a kind of underwater laser line scanning digital imaging system according to claim 1, is characterized in that, the electric signal of described receiver (6) output is directly proportional with the laser that the target object (10) in instantaneous field of view reflects.
6. a kind of underwater laser line scanning digital imaging system according to claim 1, it is characterized in that, described enter perforation (5) have multiple, size can adjust and can rotate, the size that enters perforation (5) determines according to entering distance between perforation (5) and target object (10), with according to the instantaneous field of view of change of distance control system.
7. a kind of underwater laser line scanning digital imaging system according to claim 1, is characterized in that, the fan-shaped angle that described strip laser beam motion forms is 90 °, is 70 ° for the angle of imaging.
8. a kind of underwater laser line scanning digital imaging system according to claim 1, is characterized in that, described input reflection mirror (2) and output reflector (4) are taper polygonal mirror.
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| CN201410040653.2A CN103792543B (en) | 2014-01-28 | 2014-01-28 | A kind of underwater laser line scanning digital imaging system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109507658A (en) * | 2018-11-21 | 2019-03-22 | 浙江大学 | A kind of comprehensive tracing positioning device of underwater robot coastal waters bed motion |
| CN109921855A (en) * | 2019-04-30 | 2019-06-21 | 电子科技大学 | A kind of underwater wireless synchronization system and method based on miniature blue-green laser |
| CN110345863A (en) * | 2018-04-01 | 2019-10-18 | 深圳慎始科技有限公司 | A kind of solid state annular three-dimensional imaging device |
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| CN103196873A (en) * | 2013-03-06 | 2013-07-10 | 东南大学 | Detection imaging system based on laser scanning |
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| CN103196873A (en) * | 2013-03-06 | 2013-07-10 | 东南大学 | Detection imaging system based on laser scanning |
Non-Patent Citations (2)
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| 郑冰 等: "一种水下激光成像的新方法", 《中国海洋大学学报》, vol. 36, no. 1, 31 January 2006 (2006-01-31), pages 119 - 122 * |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345863A (en) * | 2018-04-01 | 2019-10-18 | 深圳慎始科技有限公司 | A kind of solid state annular three-dimensional imaging device |
| CN109507658A (en) * | 2018-11-21 | 2019-03-22 | 浙江大学 | A kind of comprehensive tracing positioning device of underwater robot coastal waters bed motion |
| CN109507658B (en) * | 2018-11-21 | 2020-09-22 | 浙江大学 | All-round tracking positioner of underwater robot coastal waters bed motion |
| CN109921855A (en) * | 2019-04-30 | 2019-06-21 | 电子科技大学 | A kind of underwater wireless synchronization system and method based on miniature blue-green laser |
| CN109921855B (en) * | 2019-04-30 | 2020-08-18 | 电子科技大学 | Underwater wireless synchronization system and method based on small blue-green laser |
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Effective date of registration: 20190718 Address after: Room 1538, 15th floor, 70 Qingjiang South Road, Gulou District, Nanjing City, Jiangsu Province Patentee after: Nanjing River Seawater Science and Technology Innovation Development Co.,Ltd. Address before: Xikang Road, Gulou District of Nanjing city of Jiangsu Province, No. 1 210098 Patentee before: HOHAI University |
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Effective date of registration: 20210813 Address after: No.70, Qingjiang South Road, Gulou District, Nanjing, Jiangsu Province, 210000 Patentee after: NANJING HEHAI TECHNOLOGY Ltd. Address before: Room 1538, 15 / F, No. 70, Qingjiang South Road, Gulou District, Nanjing City, Jiangsu Province, 210019 Patentee before: Nanjing River Seawater Science and Technology Innovation Development Co.,Ltd. |