CN106772423A - Laser active illuminated imaging device and imaging method under a kind of intelligent water - Google Patents
Laser active illuminated imaging device and imaging method under a kind of intelligent water Download PDFInfo
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- CN106772423A CN106772423A CN201610993053.7A CN201610993053A CN106772423A CN 106772423 A CN106772423 A CN 106772423A CN 201610993053 A CN201610993053 A CN 201610993053A CN 106772423 A CN106772423 A CN 106772423A
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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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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides Laser active illuminated imaging device and imaging method under a kind of intelligent water, and acoustic detection submarine target is sent by sonar, determines target area；By generating laser after sonar determines target area, ps pulsed laser and ns pulsed laser is sent to submarine target；Then raster scanning is carried out to submarine target by motor drive generating laser, imaging detection system up and down motion and side-to-side movement；Last imaging detection system obtains the image of raster scanning, and image imaging will be carried out after image de-jittering, while the image of imaging to be passed to the display terminal of distal end.The present invention can reduce the influence of back scattering effect, obtain optimal image space.
Description
Technical field
The present invention relates to Laser active illuminated imaging device under a kind of intelligent water, by automatic adjusting support level, automatically adjust
Pulse laser（Nanosecond）With the distance of detector, while using nanometer displacement drive quick titling mirror（Fast
Steering Mirror-FSM）Flating is eliminated, so as to complete to be stable into picture to submarine target.
Background technology
During underwater laser Active Imaging, back scattering effect influences very big to optical detection precision；Turbulent flow is tight under water
Under the conditions of weight, turbulent flow can bring the shake of image, have a strong impact on the detection of target；For water-bed injustice of jolting, cause system
The imbalance of itself is so as to can not steadily be imaged.Therefore underwater laser images requirement suppresses back scattering effect, eliminates image and trembles
It is dynamic.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of intelligent water for eliminating back scattering, eliminating flating
Lower Laser active illuminated imaging device and imaging method, to solve the problems, such as prior art.
The present invention uses following technical scheme：
Laser active illuminated imaging device under a kind of intelligent water, it is characterised in that：Including
Sonar 5, for sending acoustic detection submarine target, determines target area；
Generating laser 1, for after sonar 5 determines target area, ps pulsed laser and ns pulsed laser being sent to submarine target；
Motor 4, for driving, generating laser 1, imaging detection system 3 move up and down and side-to-side movement carries out light to submarine target
Grid are scanned；
Imaging detection system 3, the image for obtaining raster scanning, and image imaging will be carried out after image de-jittering, while
The image of imaging is passed to the display terminal of distal end.
The generating laser 1 includes transmitting optical lens, for launching laser to target；
The imaging detection system 3 includes receiving optical lens and ccd detector, receives optical lens and receives the return from target
Image pass to ccd detector, image is passed to long-range display terminal by ccd detector.
The generating laser 1 also includes spectroscope, optical attenuator, photoelectricity PIN, trigger card and Synchronization Control card；
The ps pulsed laser and ns pulsed laser of the transmitting of the generating laser 1 is by the way that after spectroscope light splitting, light beam is by launching optical lens
It is transmitted into target, it is synchronous after another light beam is used to pass sequentially through optical attenuator, photoelectricity PIN, trigger card, Synchronization Control card
Control card produces synchronizing signal triggering ccd detector gating according to preset time t, carries out the acquisition of raster-scanned image.
The preset time t is obtained in the following manner：Sonar（5）After getting the detection range of target, according to laser
Spread speed in water, calculates the time t that laser reaches target from transmitting, and Synchronization Control is stuck in the arteries and veins for receiving trigger card
After rushing signal, postpone preset time t sending signal triggering ccd detector gating.
The imaging detection system also includes nano ceramics driving, gamma controller, video processing board-card, the nanometer pottery
Porcelain drives includes FSM minute surfaces and FSM actuators；
Receive optical lens to receive from target after the laser of return, laser enters into CCD and performs by FSM mirror-reflections
Device, after video processing board-card obtains the image that ccd detector is obtained, calculates the deviation that shake brings, and the deviation is sent into non-thread
Property controller, gamma controller drives the FSM actuators adjustment of angle is carried out to FSM minute surfaces.
Connected by way of point is viscous between the FSM minute surfaces and FSM actuators.
Also include support 2, the top of support 2 sets swingable connecting rod, the generating laser 1 and imaging detection system 3
It is connected on connecting rod by different electric expansion bars respectively, the sonar 5 is arranged on the side of connecting rod, the motor 4 is set
On support 2, after motor 4 receives the signal of distal end transmission, by the elevating movement and side-to-side movement of drivening rod, and then
Generating laser 1 is driven to move up and down and side-to-side movement；Or motor is after the signal for receiving distal end, by controlling electronic stretching
The distance between extension and contraction control generating laser 1 and imaging detection system 3 of contracting bar.
A kind of Laser active illuminated imaging method under intelligent water, including：
The target area for determining under water is detected by sonar 5；
Target is illuminated using laser as light source, by manipulating the up and down motion and side-to-side movement of LASER Light Source, to water
Under target carry out raster scanning；
Capture the target image of raster scanning by acquisition equipment, and image to capturing carries out Key dithering, obtains target image
Image；
Image is transferred to the display terminal of distal end.
After the image of capture target image, staff adjusts light by observing the image of display terminal
The distance between source and acquisition equipment are used to obtain the small image of back scattering.
After sonar 5 detects target range, the spread speed according to laser in water obtains laser and is reached from transmitting
The time t of target, when the capture of target image is carried out, after the LASER Light Source transmitting t times, begins to use acquisition equipment to carry out figure
The capture of picture.
Beneficial effects of the present invention：1st, pulse laser of the invention and detector spacing are adjustable, can reduce backward dissipating
The influence of effect is penetrated, optimal image space is obtained；2nd, the present invention installs nano ceramics and drives FSM using imaging system inside, from
And realize submarine target and be stable into picture.
Brief description of the drawings
Fig. 1 is program flow diagram of the invention.
Fig. 2 is mechanical construction drawing of the invention.
Fig. 3 is System Working Principle figure of the invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
As shown in Fig. 2 the present invention provides Laser active illuminated imaging device under a kind of intelligent water, the device by automatically controlling,
Nanometer displacement drives the method being combined with optical detection, so that for underwater manoeuvre targeted cache is stable into as providing necessary skill
Art is supported；Simultaneously as using Piezoelectric Ceramic technology, thus the present invention can realize it is high-precision be stable into picture, in work
Also it is more easy to realize in journey.
The inventive system comprises sonar 5, for sending acoustic detection submarine target, target area is determined；Laser emission
Device 1, for after sonar 5 determines target area, laser being sent to submarine target；Motor 4, for driving generating laser 1
Lower motion and side-to-side movement carry out raster scanning to submarine target；Imaging detection system 3, the image for obtaining raster scanning,
And image imaging will be carried out after image de-jittering, while the image of imaging to be passed to the display terminal of distal end.
As shown in Fig. 2 present invention additionally comprises telescopic support 2, gyrosensor is set on support 2, while support 2 sets
Four legs are set to, four legs are scalable, the top of support 2 sets swingable connecting rod, generating laser 1 and imaging detection system
3 are connected on connecting rod by different electric expansion bars 6 respectively, and sonar 5 is arranged on the side of connecting rod, and generating laser,
Imaging detection system 3, sonar 5 should conveniently carry out the detection of target towards identical side, and motor 4 is arranged on support 2.
After device is placed on the region of target proximity by staff, device is remotely sent a signal to by staff, pass through device
Motor 4 automatically adjusts the height of telescopic support 2, keeps the balance of support.Raster scanning is proceeded by if desired, then work
Make personnel to sending signal, after motor 4 receives the signal of distal end transmission, transported by the elevating movement and left and right of drivening rod
It is dynamic, and then drive generating laser 1 and imaging detection system 3 to move up and down and side-to-side movement, by way of raster scanning pair
Target carries out the capture of image.And during due to being illuminated under water, back scattering is easily produced, therefore, staff passes through
The effect of the image that remote reviewing display terminal is obtained, manually regulation sends a signal to motor, by motor control electric expansion
Bar it is flexible, and then control the distance between generating laser 1 and imaging detection system 3, find an imaging for eye-observation
The preferable distance of effect.
Generating laser of the invention 1 is at least included for launching transmitting optical lens of the laser to target, and is imaged
Detection system 3 then at least includes receiving optical lens and ccd detector, receives optical lens and receives the image returned from target
Ccd detector is passed to, image is passed to long-range display terminal and shown by ccd detector.
And it is as shown in Figure 3, generating laser of the invention 1 also includes spectroscope, optical attenuator, photoelectricity PIN, triggering
Card and Synchronization Control card；The ps pulsed laser and ns pulsed laser of the transmitting of generating laser 1 is by the way that after spectroscope light splitting, light beam passes through launching light
Learn camera lens to be transmitted into target, another light beam is used to pass sequentially through optical attenuator, photoelectricity PIN, trigger card, Synchronization Control card
Afterwards, Synchronization Control card produces synchronizing signal triggering ccd detector gating according to preset time t, carries out obtaining for raster-scanned image
Take.
Above-mentioned preset time t is obtained in the following manner：After sonar 5 gets the detection range of target, existed according to laser
Spread speed in water, calculates the time t that laser reaches target from transmitting, and Synchronization Control is stuck in the synchronization for receiving trigger card
After pulse signal, postpone preset time t sending signal triggering ccd detector gating, ccd detector is obtained from target by gating
The image of return, it is to avoid obtain from generating laser be sent to target during because back scattering problem generate noise it is big
Image.
Pulse laser is implemented to illuminate using nanosecond pulse to submarine target in the present invention, and CCD is coordinated using simultaneous techniques
The gated imaging function of detector, reduces the rear orientation light that suspended particulates bring, and is remarkably improved the signal to noise ratio of detection.
The present invention in order to elimination image shake, imaging detection system also include nano ceramics drive, nonlinear Control
Device, video processing board-card, nano ceramics drives includes FSM minute surfaces and FSM actuators；Reception optical lens is received and returned from target
After the laser for returning, laser enters into CCD actuators by FSM mirror-reflections, and video processing board-card obtains the figure that ccd detector is obtained
As after, the deviation that shake brings is calculated, the deviation is sent to gamma controller, gamma controller drives FSM actuators
The adjustment of angle is carried out to FSM minute surfaces, for eliminating the flating that the reason such as turbulent flow or device action is brought under water, i.e., originally
Invention drives FSM to compensate deviation by nano ceramics, completes the function of synchronism stability imaging.
High-quality image is obtained, it is necessary to ensure the surface figure accuracy of FSM mirror bodies.Technique realization on, the mirror body of FSM with
FSM actuators are connected using " gluing form ", and the present invention realizes that FSM drives actuator with nano ceramics using " point is viscous " method
Connection；Face shape is carried out to suppress aberration effects, after the completion of " point is viscous " to FSM to test, surface figure accuracy（RMS）No more than λ/20
（λ is the optical wavelength of laser）.
As shown in figure 1, the course of work of apparatus of the present invention is：
First, system boot, after system boot, designated area is thrown to by device, then will determine that support 2 whether leveling,
Leveling is carried out to support if no, if being, starting sonar carries out the positioning of target area, if no-fix is to target area,
Then continue dispensing device, if navigating to target area, start generating laser and imaging detection system, while controlled motor
Start raster scanning, if target image, then by adjusting the distance of generating laser and detector, adjusting FSM minute surfaces
Angle starts image stabilization system and obtains the image of stabilization, and sends an image to ships data processing center.
The present invention also provides a kind of Laser active illuminated imaging method under intelligent water, comprises the following steps：
The target area for determining under water is detected by sonar 5；
Target is illuminated using laser as light source, by manipulating the up and down motion and side-to-side movement of LASER Light Source, to water
Under target carry out raster scanning；
Capture the target image of raster scanning by acquisition equipment, and image to capturing carries out Key dithering, obtains target image
Image；
Image is transferred to the display terminal of distal end.
After the image of capture target image, staff adjusts light by observing the image of display terminal
The distance between source and acquisition equipment are used to obtain the small image of back scattering.
And after sonar 5 detects target range, the spread speed according to laser in water obtains laser and reaches from being transmitted into
To the time t of target, when the capture of target image is carried out, after the LASER Light Source transmitting t times, acquisition equipment is begun to use to carry out
The capture of image, improves the signal to noise ratio of image.
The present invention has advantages below：
（1）By adjusting the distance between laser and ccd detector, back scattering can be reduced in the range of detector field of view
Influence, and then aid in Range-gated Imager, make image quality more excellent；
（2）To eliminate flating, video processing board-card quickly calculates shake deviation, is received by using nonlinear control algorithm control
Rice ceramic driving FSM, FSM shakes deviation with identical offset cancellation, realizes Fast Digital Image Stabilization；
（3）Bracket control system receives the deviation signal from gyrosensor, and filtered, demodulation, correction are driven by motor
" four legs " regulation height, makes whole device keep balance.
Above-described is only the preferred embodiment of the present invention, it is noted that for a person skilled in the art,
Under the premise of general idea of the present invention is not departed from, some changes and improvements can also be made, these should also be considered as of the invention
Protection domain.
Claims (10)
1. Laser active illuminated imaging device under a kind of intelligent water, it is characterised in that：Including
Sonar（5）, for sending acoustic detection submarine target, determine target area；
Generating laser（1）, in sonar（5）After determining target area, ps pulsed laser and ns pulsed laser is sent to submarine target；
Motor（4）, for driving generating laser（1）, imaging detection system（3）Move up and down and side-to-side movement is to submarine target
Carry out raster scanning；
Imaging detection system（3）, the image for obtaining raster scanning, and image imaging will be carried out after image de-jittering, together
When the image of imaging is passed to the display terminal of distal end.
2. Laser active illuminated imaging device under a kind of intelligent water according to claim 1, it is characterised in that：
The generating laser（1）Including transmitting optical lens, for launching laser to target；
The imaging detection system（3）Including receiving optical lens and ccd detector, receive optical lens reception and returned from target
The image for returning passes to ccd detector, and image is passed to long-range display terminal by ccd detector.
3. Laser active illuminated imaging device under a kind of intelligent water according to claim 2, it is characterised in that：The Laser emission
Device（1）Also include spectroscope, optical attenuator, photoelectricity PIN, trigger card and Synchronization Control card；
The generating laser（1）The ps pulsed laser and ns pulsed laser of transmitting is by the way that after spectroscope light splitting, light beam is by launching optical frames
Hair is mapped in target, after another light beam is used to pass sequentially through optical attenuator, photoelectricity PIN, trigger card, Synchronization Control card, together
Step control card produces synchronizing signal triggering ccd detector gating according to preset time t, carries out the acquisition of raster-scanned image.
4. Laser active illuminated imaging device under a kind of intelligent water according to claim 3, it is characterised in that：The Preset Time
T is obtained in the following manner：Sonar（5）After getting the detection range of target, the spread speed according to laser in water, meter
The time t that laser reaches target from transmitting is calculated, after Synchronization Control is stuck in the pulse signal for receiving trigger card, when postponing default
Between t sending signals triggering ccd detector gating.
5. Laser active illuminated imaging device under a kind of intelligent water according to claim 3, it is characterised in that：The imaging detection
System also includes nano ceramics drivings, gamma controller, video processing board-card, the nano ceramics drive include FSM minute surfaces with
FSM actuators；
Receive optical lens to receive from target after the laser of return, laser enters into CCD and performs by FSM mirror-reflections
Device, after video processing board-card obtains the image that ccd detector is obtained, calculates the deviation that shake brings, and the deviation is sent into non-thread
Property controller, gamma controller drives the FSM actuators adjustment of angle is carried out to FSM minute surfaces.
6. Laser active illuminated imaging device under a kind of intelligent water according to claim 5, it is characterised in that：The FSM minute surfaces
Connected by way of point is viscous and FSM actuators between.
7. Laser active illuminated imaging device under a kind of intelligent water according to claim 1, it is characterised in that：Also include support
（2）, support（2）Top sets swingable connecting rod, the generating laser（1）And imaging detection system（3）Respectively by not
Same electric expansion bar is connected on connecting rod, the sonar（5）It is arranged on the side of connecting rod, the motor（4）It is arranged on support
（2）On, work as motor（4）After receiving the signal of distal end transmission, by the elevating movement and side-to-side movement of drivening rod, and then band
Dynamic generating laser（1）Move up and down and side-to-side movement；Or motor is after the signal for receiving distal end, by controlling electronic stretching
The extension and contraction control generating laser of contracting bar（1）And imaging detection system（3）The distance between.
8. a kind of Laser active illuminated imaging method under intelligent water, it is characterised in that including：
By sonar（5）Detection determines target area under water；
Target is illuminated using laser as light source, by manipulating the up and down motion and side-to-side movement of LASER Light Source, to water
Under target carry out raster scanning；
Capture the target image of raster scanning by acquisition equipment, and image to capturing carries out Key dithering, obtains target image
Image；
Image is transferred to the display terminal of distal end.
9. Laser active illuminated imaging method under a kind of intelligent water according to claim 8, it is characterised in that：In capture target figure
After the image of picture, staff by observing the image of display terminal, between adjustment light source and acquisition equipment away from
From being used to obtain the small image of back scattering.
10. Laser active illuminated imaging method under a kind of intelligent water according to claim 8, it is characterised in that：By sonar（5）
After detection target range, the spread speed according to laser in water obtains the time t that laser reaches target from transmitting, is entering
During the capture of row target image, after the LASER Light Source transmitting t times, acquisition equipment is begun to use to carry out the capture of image.
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Cited By (8)
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| CN108226954A (en) * | 2017-12-28 | 2018-06-29 | 山东船舶技术研究院 | A kind of underwater scanning laser radar imaging method |
| CN108761469A (en) * | 2018-06-13 | 2018-11-06 | 中交基础设施养护集团有限公司 | A kind of detection method of the submerged structure damage and channel scour scanned based on sonar |
| CN109788163A (en) * | 2019-03-26 | 2019-05-21 | 南京砺剑光电技术研究院有限公司 | A kind of fusion of imaging device of two dimension sonar and technique of laser range gated imaging equipment |
| CN109799507A (en) * | 2019-03-26 | 2019-05-24 | 南京砺剑光电技术研究院有限公司 | A kind of fusion of imaging device of two dimension sonar and auxiliary laser illumination imaging device |
| CN110208817A (en) * | 2019-06-16 | 2019-09-06 | 西安应用光学研究所 | A kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager |
| CN110297253A (en) * | 2019-07-12 | 2019-10-01 | 南京第五十五所技术开发有限公司 | Enhanced sonar assists range gating Laser Underwater imaging device and method |
| CN115824413A (en) * | 2023-02-14 | 2023-03-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
| CN117111070A (en) * | 2023-10-19 | 2023-11-24 | 广东海洋大学 | Underwater target positioning method and device based on sonar and laser |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226954A (en) * | 2017-12-28 | 2018-06-29 | 山东船舶技术研究院 | A kind of underwater scanning laser radar imaging method |
| CN108761469A (en) * | 2018-06-13 | 2018-11-06 | 中交基础设施养护集团有限公司 | A kind of detection method of the submerged structure damage and channel scour scanned based on sonar |
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| CN109788163A (en) * | 2019-03-26 | 2019-05-21 | 南京砺剑光电技术研究院有限公司 | A kind of fusion of imaging device of two dimension sonar and technique of laser range gated imaging equipment |
| CN109799507A (en) * | 2019-03-26 | 2019-05-24 | 南京砺剑光电技术研究院有限公司 | A kind of fusion of imaging device of two dimension sonar and auxiliary laser illumination imaging device |
| CN110208817A (en) * | 2019-06-16 | 2019-09-06 | 西安应用光学研究所 | A kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager |
| CN110297253A (en) * | 2019-07-12 | 2019-10-01 | 南京第五十五所技术开发有限公司 | Enhanced sonar assists range gating Laser Underwater imaging device and method |
| CN115824413A (en) * | 2023-02-14 | 2023-03-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
| CN115824413B (en) * | 2023-02-14 | 2023-04-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
| CN117111070A (en) * | 2023-10-19 | 2023-11-24 | 广东海洋大学 | Underwater target positioning method and device based on sonar and laser |
| CN117111070B (en) * | 2023-10-19 | 2023-12-26 | 广东海洋大学 | Underwater target positioning method and device based on sonar and laser |
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