CN105035282A - Submerged reef detection system based on laser imaging - Google Patents
Submerged reef detection system based on laser imaging Download PDFInfo
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- CN105035282A CN105035282A CN201510470999.0A CN201510470999A CN105035282A CN 105035282 A CN105035282 A CN 105035282A CN 201510470999 A CN201510470999 A CN 201510470999A CN 105035282 A CN105035282 A CN 105035282A
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Abstract
The invention relates to a submerged reef detection system based on laser imaging, which is used for underwater submerged reef recognition and comprises a laser imaging device, a static storage device and a submerged reef detection device, wherein the laser imaging device starts shooting underwater laser images based on sonar image processing results, the static storage device stores data needed by submerged reef detection in advance, and the submerged reef detection device is respectively connected to the laser imaging device and the static storage device so as to conduct image processing of the underwater laser images and determine whether a submerged reef object exists. By the submerged reef detection system based on the laser imaging provided by the invention, underwater topography can be accurately explored.
Description
Technical field
The present invention relates to image processing field, particularly relate to a kind of submerged reef checking system based on laser imaging.
Background technology
Under water in topographic(al) reconnaissance, the subsea equipment performing exploration task needs to identify the submerged reef of complexity, locate and evade, but, the technical scheme using laser image to detect in prior art is by being difficult to the aperture time accurately controlling imaging under water, simultaneously, current submerged reef identification and fixing aid precision not high, circumvention device strategy is reasonable not.
For this reason, the present invention proposes a kind of submerged reef checking system based on laser imaging, can the submerged reef shape of complexity be identified and be located, underwater operation environment can be adapted to, and can accurately control Underwater Imaging aperture time, thus complete underwater topography exploration task smoothly.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides a kind of submerged reef checking system based on laser imaging, sonar and sonograms equipment is utilized to control the shutter activation time of underwater laser images device, improve the fineness of underwater laser image, simultaneously, adopt the image recognition technology and rational evasion tactics under water that comprise rim detection, underwater topography is surveyed becomes possibility.
According to an aspect of the present invention, provide a kind of submerged reef checking system based on laser imaging, for ledge identification, described checking system comprises laser imaging apparatus, static storage device and submerged reef check implement, described laser imaging apparatus starts the shooting to underwater laser image based on sonar image result, described static storage device prestores submerged reef and detects desired data, described submerged reef check implement is connected respectively with described laser imaging apparatus and described static storage device, image procossing is carried out to determine whether there is submerged reef target to described underwater laser image.
More specifically, described based in the submerged reef checking system of laser imaging, also comprise: driving arrangement, be arranged on described checking system main framework, for providing auxiliary power for advancing of described checking system, the direction of described auxiliary power be up, float downward, left-hand, dextrad, to move forward and backward, excavating equipment, is arranged on described checking system main framework, and comprise digging motor and excavate actuator, described excavation actuator is connected with described digging motor, for excavating front submerged reef, sonar equipment, is arranged on described checking system main framework, for performing sonar image collection, to obtain sonar image to submarine target, sonar image treatment facility, be arranged on described checking system main framework, be connected respectively with described sonar equipment and described static storage device, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar equipment and described static storage device, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit, described second detection subset detects subset with described first and described static storage device is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into ultimate aim region, described object range detection subset and described second detects subset and is connected, and the center-point calculating ultimate aim region detects the distance of initial point to sonar image and exports as target range, described laser imaging apparatus, be arranged on described checking system main framework, comprise laser, detector and microcontroller, described laser gives off laser beam to submarine target, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser is connected respectively with described detector, based target Distance geometry laser under water propagation speed determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image, described static storage device, be arranged on described checking system main framework, the luminance threshold upper limit and luminance threshold lower limit are prestored, also for prestoring black and white threshold value and threshold number of pixels, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored gray processing submerged reef masterplate, described gray processing submerged reef masterplate obtains for taking obtained submerged reef image execution gray processing process to benchmark submerged reef, also prestore submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold is directly proportional to the excavation horsepower output of described excavating equipment, described submerged reef height threshold is directly proportional to the instantaneous horsepower output that climbs of described driving arrangement, described submerged reef width threshold value is directly proportional to the instantaneous horsepower output that detours of described driving arrangement, described submerged reef check implement, be arranged on described checking system main framework, be connected with described laser imaging apparatus, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described laser imaging apparatus, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater laser image, to obtain pretreated water hypograph, described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture, described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns, described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines, described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture, described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subimage and described gray processing submerged reef stencil matching, the match is successful, then export and there is submerged reef signal, it fails to match, then export and there is not submerged reef signal, submerged reef state analysis equipment, be connected respectively with described submerged reef check implement and described sonar image treatment facility, when receive described there is submerged reef signal time, the area percentage occupying described binaryzation underwater picture based on described target range and described target subimage calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described binaryzation underwater picture based on described target range and described target subimage calculates ledge height, the width percentage occupying described binaryzation underwater picture transverse width based on described target range and described target subimage transverse width calculates ledge width, digital signal processor, be arranged on described checking system main framework, be connected with described submerged reef check implement, for receive described there is submerged reef signal time, described target subimage is performed MPEG-4 compressed encoding to obtain compressed image, and by described compressed image with describedly there is submerged reef signal and be sent to processing enter waterborne by underwater cable, wherein, described digital signal processor is also connected respectively with described submerged reef state analysis equipment, described submerged reef check implement and described static storage device, when receive described there is submerged reef signal time, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern, described digital signal processor operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal, described digital signal processor is also connected with described driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described driving arrangement, described digital signal processor is also connected with described excavation actuator, so that described excavation drive singal is sent to described excavation actuator.
More specifically, described based in the submerged reef checking system of laser imaging: described digital signal processor, when there is not submerged reef signal described in receiving, does not exist submerged reef signal and is sent to processing enter waterborne by described by underwater cable.
More specifically, described based in the submerged reef checking system of laser imaging, described checking system also comprises: GPS fixing aid, be arranged on the water surface float above described checking system main framework, be connected with described digital signal processor, for receive described there is submerged reef signal time, the GPS locating data received is sent to processing enter waterborne.
More specifically, described based in the submerged reef checking system of laser imaging: described GPS fixing aid comprises solar energy photovoltaic panel, for providing electric power supply for described GPS fixing aid.
More specifically, described based in the submerged reef checking system of laser imaging: described digital signal processor is the dsp chip of TI company.
More specifically, described based in the submerged reef checking system of laser imaging: described submerged reef state analysis equipment and described digital signal processor are integrated on same surface-mounted integrated circuit.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the submerged reef checking system based on laser imaging illustrated according to an embodiment of the present invention.
Reference numeral: 1 laser imaging apparatus; 2 static storage devices; 3 submerged reef check implements
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the submerged reef checking system based on laser imaging of the present invention is described in detail.
In underwater topography exploration, one of most important task is submerged reef exploration, and can evade submerged reef after exploration submerged reef, continues other topographic(al) reconnaissances.But, due to the complexity of underwater environment and the polytropy of submerged reef, at present, not yet there is the technical scheme can carrying out ledge exploration.
In order to overcome above-mentioned deficiency, the present invention has built a kind of submerged reef checking system based on laser imaging, by the identification to High Precision Underwater laser image, accurately determines submerged reef size, and can effectively evade, thus ensure normally carrying out of underwater topography exploration work.
Fig. 1 is the block diagram of the submerged reef checking system based on laser imaging illustrated according to an embodiment of the present invention, described checking system is used for ledge identification, comprise laser imaging apparatus, static storage device and submerged reef check implement, described laser imaging apparatus starts the shooting to underwater laser image based on sonar image result, described static storage device prestores submerged reef and detects desired data, described submerged reef check implement is connected respectively with described laser imaging apparatus and described static storage device, image procossing is carried out to determine whether there is submerged reef target to described underwater laser image.
Then, continue to be further detailed the concrete structure of the submerged reef checking system based on laser imaging of the present invention.
Described checking system also comprises: driving arrangement, is arranged on described checking system main framework, for providing auxiliary power for advancing of described checking system, the direction of described auxiliary power be up, float downward, left-hand, dextrad, to move forward and backward.
Described checking system also comprises: excavating equipment, is arranged on described checking system main framework, and comprise digging motor and excavate actuator, described excavation actuator is connected with described digging motor, for excavating front submerged reef.
Described checking system also comprises: sonar equipment, is arranged on described checking system main framework, for performing sonar image collection, to obtain sonar image to submarine target.
Described checking system also comprises: sonar image treatment facility, be arranged on described checking system main framework, be connected respectively with described sonar equipment and described static storage device, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar equipment and described static storage device, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit.
Described second detection subset detects subset with described first and described static storage device is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into ultimate aim region; Described object range detection subset and described second detects subset and is connected, and the center-point calculating ultimate aim region detects the distance of initial point to sonar image and exports as target range.
Described laser imaging apparatus, be arranged on described checking system main framework, comprise laser, detector and microcontroller, described laser gives off laser beam to submarine target, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser is connected respectively with described detector, based target Distance geometry laser under water propagation speed determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image.
Described static storage device, be arranged on described checking system main framework, the luminance threshold upper limit and luminance threshold lower limit are prestored, also for prestoring black and white threshold value and threshold number of pixels, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored gray processing submerged reef masterplate, described gray processing submerged reef masterplate obtains for taking obtained submerged reef image execution gray processing process to benchmark submerged reef, also prestore submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold is directly proportional to the excavation horsepower output of described excavating equipment, described submerged reef height threshold is directly proportional to the instantaneous horsepower output that climbs of described driving arrangement, described submerged reef width threshold value is directly proportional to the instantaneous horsepower output that detours of described driving arrangement.
Described submerged reef check implement, be arranged on described checking system main framework, be connected with described laser imaging apparatus, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described laser imaging apparatus, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater laser image, to obtain pretreated water hypograph; Described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture; Described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns; Described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines; Described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture; Described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subimage and described gray processing submerged reef stencil matching, the match is successful, then export and there is submerged reef signal, it fails to match, then export and there is not submerged reef signal.
Described checking system also comprises: submerged reef state analysis equipment, be connected respectively with described submerged reef check implement and described sonar image treatment facility, when receive described there is submerged reef signal time, the area percentage occupying described binaryzation underwater picture based on described target range and described target subimage calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described binaryzation underwater picture based on described target range and described target subimage calculates ledge height, the width percentage occupying described binaryzation underwater picture transverse width based on described target range and described target subimage transverse width calculates ledge width.
Described checking system also comprises: digital signal processor, be arranged on described checking system main framework, be connected with described submerged reef check implement, for receive described there is submerged reef signal time, described target subimage is performed MPEG-4 compressed encoding to obtain compressed image, and by described compressed image with describedly there is submerged reef signal and be sent to processing enter waterborne by underwater cable.
Described digital signal processor is also connected respectively with described submerged reef state analysis equipment, described submerged reef check implement and described static storage device, when receive described there is submerged reef signal time, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern; Described digital signal processor operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal.
Described digital signal processor is also connected with described driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described driving arrangement; Described digital signal processor is also connected with described excavation actuator, so that described excavation drive singal is sent to described excavation actuator.
Alternatively, described based in the submerged reef checking system of laser imaging: described digital signal processor, when there is not submerged reef signal described in receiving, does not exist submerged reef signal and is sent to processing enter waterborne by described by underwater cable; Described checking system also comprises: GPS fixing aid, be arranged on the water surface float above described checking system main framework, be connected with described digital signal processor, for receive described there is submerged reef signal time, the GPS locating data received is sent to processing enter waterborne; Described GPS fixing aid comprises solar energy photovoltaic panel, for providing electric power supply for described GPS fixing aid; Described digital signal processor is the dsp chip of TI company; And described submerged reef state analysis equipment and described digital signal processor are integrated on same surface-mounted integrated circuit.
Alternatively, Image semantic classification subset, binary conversion treatment subset, column border detect subset, row rim detection subset, Target Segmentation subset and target recognin device distribution and adopt different fpga chips to realize.
In addition, FPGA (Field-ProgrammableGateArray), i.e. field programmable gate array, he is the product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
With the circuit layout that hardware description language (Verilog or VHDL) completes, can through simple comprehensive and layout, fast speed is burned onto on FPGA and tests, and is the technology main flow of modern IC designs checking.These can be edited element and can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complex combination function such as demoder or mathematical equation.Inside most FPGA, in these editable elements, also comprise memory cell such as binary pair (Flip-flop) or other more complete block of memory.System designer can be coupled together the logical block of FPGA inside by editable connection as required, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA can change according to designer with being connected, so FPGA can complete required logic function.
FPGA is in general slow than the speed of ASIC (special IC), realizes same function ratio ASIC circuit area and wants large.But they also have a lot of advantages such as can finished product fast, can be modified the mistake in correction program and more cheap cost.Manufacturer also may provide the FPGA of cheap still edit capability difference.Because these chips have poor can edit capability, so exploitations of these designs complete on common FPGA, then design is transferred to one and is similar on the chip of ASIC.Another method is with CPLD (ComplexProgrammableLogicDevice, CPLD).The exploitation of FPGA has a great difference relative to the exploitation of conventional P C, micro controller system.FPGA, based on concurrent operation, realizes with hardware description language; Very large difference is had compared to the operation in tandem of PC or micro controller system (no matter being von Neumann structure or Harvard structure).
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA includes the Programmadle logic unit of some relatively large amount.The density of CPLD logical gate is between several thousand to several ten thousand logical blocks, and FPGA normally arrives millions of several ten thousand.The key distinction of CPLD and FPGA is their system architecture.CPLD is a somewhat restrictive structure.This structure is arranged by the logical groups of one or more editable result sum and forms with the register of the locking of some relatively small amounts.Such result lacks editor's alerting ability, but but have the delay time and logical block that can estimate to the advantage of linkage unit height ratio.And FPGA has a lot of linkage units, although allow him edit more flexibly like this, structure is complicated many.
Adopt the submerged reef checking system based on laser imaging of the present invention, the technical matters launched is difficult to for ledge exploration in prior art, have employed the High Precision Underwater laser imaging apparatus of applicable underwater environment, submerged reef identification equipment and submerged reef analytical equipment, accurately determine the shape of various submerged reef under water, and reasonably avoiding can be carried out after having surveyed, thus ledge exploration task can be carried out smoothly.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (7)
1. the submerged reef checking system based on laser imaging, for ledge identification, described checking system comprises laser imaging apparatus, static storage device and submerged reef check implement, described laser imaging apparatus starts the shooting to underwater laser image based on sonar image result, described static storage device prestores submerged reef and detects desired data, described submerged reef check implement is connected respectively with described laser imaging apparatus and described static storage device, carries out image procossing to determine whether there is submerged reef target to described underwater laser image.
2., as claimed in claim 1 based on the submerged reef checking system of laser imaging, it is characterized in that, described checking system also comprises:
Driving arrangement, is arranged on described checking system main framework, for providing auxiliary power for advancing of described checking system, the direction of described auxiliary power be up, float downward, left-hand, dextrad, to move forward and backward;
Excavating equipment, is arranged on described checking system main framework, and comprise digging motor and excavate actuator, described excavation actuator is connected with described digging motor, for excavating front submerged reef;
Sonar equipment, is arranged on described checking system main framework, for performing sonar image collection, to obtain sonar image to submarine target;
Sonar image treatment facility, be arranged on described checking system main framework, be connected respectively with described sonar equipment and described static storage device, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar equipment and described static storage device, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit; Described second detection subset detects subset with described first and described static storage device is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into ultimate aim region; Described object range detection subset and described second detects subset and is connected, and the center-point calculating ultimate aim region detects the distance of initial point to sonar image and exports as target range;
Described laser imaging apparatus, be arranged on described checking system main framework, comprise laser, detector and microcontroller, described laser gives off laser beam to submarine target, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser is connected respectively with described detector, based target Distance geometry laser under water propagation speed determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image,
Described static storage device, be arranged on described checking system main framework, the luminance threshold upper limit and luminance threshold lower limit are prestored, also for prestoring black and white threshold value and threshold number of pixels, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored gray processing submerged reef masterplate, described gray processing submerged reef masterplate obtains for taking obtained submerged reef image execution gray processing process to benchmark submerged reef, also prestore submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold is directly proportional to the excavation horsepower output of described excavating equipment, described submerged reef height threshold is directly proportional to the instantaneous horsepower output that climbs of described driving arrangement, described submerged reef width threshold value is directly proportional to the instantaneous horsepower output that detours of described driving arrangement,
Described submerged reef check implement, be arranged on described checking system main framework, be connected with described laser imaging apparatus, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described laser imaging apparatus, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater laser image, to obtain pretreated water hypograph; Described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture; Described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns; Described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines; Described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture; Described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subimage and described gray processing submerged reef stencil matching, the match is successful, then export and there is submerged reef signal, it fails to match, then export and there is not submerged reef signal;
Submerged reef state analysis equipment, be connected respectively with described submerged reef check implement and described sonar image treatment facility, when receive described there is submerged reef signal time, the area percentage occupying described binaryzation underwater picture based on described target range and described target subimage calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described binaryzation underwater picture based on described target range and described target subimage calculates ledge height, the width percentage occupying described binaryzation underwater picture transverse width based on described target range and described target subimage transverse width calculates ledge width,
Digital signal processor, be arranged on described checking system main framework, be connected with described submerged reef check implement, for receive described there is submerged reef signal time, described target subimage is performed MPEG-4 compressed encoding to obtain compressed image, and by described compressed image with describedly there is submerged reef signal and be sent to processing enter waterborne by underwater cable;
Wherein, described digital signal processor is also connected respectively with described submerged reef state analysis equipment, described submerged reef check implement and described static storage device, when receive described there is submerged reef signal time, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern;
Wherein, described digital signal processor operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal;
Wherein, described digital signal processor is also connected with described driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described driving arrangement;
Wherein, described digital signal processor is also connected with described excavation actuator, so that described excavation drive singal is sent to described excavation actuator.
3., as claimed in claim 2 based on the submerged reef checking system of laser imaging, it is characterized in that:
When there is not submerged reef signal described in receiving, submerged reef signal is there is not and is sent to processing enter waterborne by underwater cable in described digital signal processor by described.
4., as claimed in claim 2 based on the submerged reef checking system of laser imaging, it is characterized in that, described checking system also comprises:
GPS fixing aid, is arranged on the water surface float above described checking system main framework, is connected with described digital signal processor, for receive described there is submerged reef signal time, the GPS locating data received is sent to processing enter waterborne.
5., as claimed in claim 4 based on the submerged reef checking system of laser imaging, it is characterized in that:
Described GPS fixing aid comprises solar energy photovoltaic panel, for providing electric power supply for described GPS fixing aid.
6., as claimed in claim 2 based on the submerged reef checking system of laser imaging, it is characterized in that:
Described digital signal processor is the dsp chip of TI company.
7., as claimed in claim 2 based on the submerged reef checking system of laser imaging, it is characterized in that:
Described submerged reef state analysis equipment and described digital signal processor are integrated on same surface-mounted integrated circuit.
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| CN105310656A (en) * | 2015-12-02 | 2016-02-10 | 王芳 | Blood oxygen supply detector |
| CN112810753A (en) * | 2020-11-17 | 2021-05-18 | 泰州程顺制冷设备有限公司 | Self-adaptive underwater scene response system |
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