CN106872468B - Laser differential imaging detection method and device thereof - Google Patents
Laser differential imaging detection method and device thereof Download PDFInfo
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- CN106872468B CN106872468B CN201710017050.4A CN201710017050A CN106872468B CN 106872468 B CN106872468 B CN 106872468B CN 201710017050 A CN201710017050 A CN 201710017050A CN 106872468 B CN106872468 B CN 106872468B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8405—Application to two-phase or mixed materials, e.g. gas dissolved in liquids
Abstract
A kind of laser differential imaging detection method and device thereof, method includes the following steps: Range-gated Imager obtains the n frame retroreflection image of the n slice in area to be detected using one, one arteries and veins of frame Exposure mode；The n frame retroreflection image is divided into m information frame and n-m background frames according to gray threshold；It asks difference to obtain the m enhancement information frame of m information frame m information frame and background frames, m enhancement information frame is divided by k bubble information frame and m-k fake information frame using trained classifier；The gray average and MDL modulation delay of k bubble information frame are calculated separately, fitting obtains bubble with the spatial distribution curve of delay；Bubble Region range and bubble yield are obtained according to the spatial distribution curve；Wherein, m, n, k are the natural number not less than 1.The present invention can accurately detect the range and yield of Bubble Region, have the characteristics that precision is high, adaptable and flexibility is high, be of great significance to underwater bubble detection and analysis.
Description
Technical field
The invention belongs to underwater optics technical field of imaging, relate more specifically to a kind of laser differential imaging detection method and
Its device.
Background technique
Underwater bubble high-precision, quick, quantitative detection have important meaning in terms of ship wake detection, cold seepage detection
Justice.By taking cold spring detects as an example, cold spring is the air-water mixture of seabed water, hydrocarbon and hydrogen sulfide etc., is followed to the carbon in the whole world
Ring and climate warming have a major impact, and being stored in the natural gas in hydrate is future source of energy, so cold spring detection is for grinding
Study carefully influence of the cold spring gas to global warming and instructs ocean aqueous vapor resources exploration that there is important research meaning.
Underwater bubble has the physical effects such as different sound, light, can be detected to bubble using these effects.Non-imaged
Lighting wake bubble detection is one of method of bubble detection, according to bubble in the pass of some angle reflective light intensity and bubble density
System, the anti-space distribution situation for releasing bubble, but bubble backscatter intensity and bubble diameter and Density Distribution relationship are complicated, this
As the problem of lighting wake detection, bubble spatial distribution, Bu Nengzhun can only be qualitatively judged by the strong and weak of back reflected laser at present
The really spatial distribution state and yield of detection bubble.Underwater optics are imaged bubble detection and utilize at high speed photography and image
Reason technology is to bubble motion and Study on regularity, but underwater optics imaging resolution is seriously influenced by backscattering of ocean water,
Imaging resolution is low, operating distance is close, and larger by digital image processing techniques analysis bubble difficulty, is unsatisfactory for high-precision
The demand of degree, quantitative detection.Multi-beam scanning sonar observation method can effectively observe certain sea area as bubble acoustic sounding method
The Three-Dimensional Dynamic of bubble is distributed, and resolution ratio is low, although may determine that the presence or absence of bubble, but is difficult to bubble yield and space
Distribution situation carries out detected with high accuracy.
In conclusion lacking the effective ways of the high-precision metrization detection of bubble at present.
Summary of the invention
Based on problem above, it is an object of the invention to propose a kind of laser differential imaging detection method and device thereof, use
In at least one of above technical problem of solution.
To achieve the goals above, as one aspect of the present invention, the invention proposes a kind of imagings of laser differential to visit
Survey method, comprising the following steps:
Step 1, using one, one arteries and veins of frame Exposure mode, Range-gated Imager obtains the n frame of the n slice in area to be detected
Retroreflection image, wherein n is the natural number not less than 1；
N frame retroreflection image is divided into m information frame and n-m background according to preset gray threshold by step 2
Frame, wherein m is the natural number not less than 1；
Step 3 asks m information frame and background frames difference to obtain the m enhancement information frame of m information frame, using training
M enhancement information frame is divided into k bubble information frame and m-k fake information frame by the classifier got well, and wherein k is oneself not less than 1
So number；
Step 4, the gray average and MDL modulation delay for calculating separately k bubble information frame, fitting obtain bubble with delay
Spatial distribution curve；
Step 5 obtains Bubble Region range and bubble yield according to spatial distribution curve.
Further, above-mentioned bubble is MDL modulation delay with the abscissa of the spatial distribution curve of delay, and ordinate is gray scale
Mean value.
Further, above-mentioned Bubble Region range is by bubble with the time delay initialization value τ of the spatial distribution curve of delaysAnd termination
Value τeIt obtains, expression formula are as follows:
Wherein, S is Bubble Region range, and c is the light velocity, and n is medium refraction index, time delay initialization value τsFor on spatial distribution curve
The initial value risen, be delayed stop value τeFor the stop value of spatial distribution curve decline.
Further, above-mentioned bubble yield obtains space integral with the spatial distribution curve of delay by bubble:
Wherein, F is bubble yield, and ω is scale parameter, and z is space coordinate.
Further, the expression formula of the MDL modulation delay of above-mentioned k bubble are as follows:
τk=τ0+tg(k-1)；
Wherein, τ0For the delay of preset gating, tgTo gate gate-width.
Further, the calculating formula of the gray average of above-mentioned k bubble information frame are as follows:
Wherein, M, N are the horizontal and vertical pixel number of each information frame, aijIt is laterally i-th, longitudinal j-th of pixel
The gray value of point.
Further, in above-mentioned steps 2, when the gray average of n-th frame retroreflection image is less than preset gray scale
When threshold value, n-th frame retroreflection image is classified as background frames；It is set in advance when the gray average of n-th frame retroreflection image is greater than
When fixed gray threshold, n-th frame retroreflection image is classified as information frame.
Further, above-mentioned trained classifier is by instructing SVM classifier using HOG feature using supervised learning
It gets.
To achieve the goals above, as another aspect of the present invention, the invention also provides a kind of laser differential at
As detection device, including
Imaging unit irradiates region to be detected for issuing laser beam, and receives the reflected laser signals in region to be detected
And generate reflected image；
Image processing unit, the reflected image for generating to imaging unit carry out data processing；
Control unit, controls imaging unit and image processing unit executes above-mentioned laser differential imaging detection method, by
This obtains the Bubble Region range and bubble yield in region to be detected.
Further, above-mentioned imaging unit is equipped on submarine navigation device, and imaging unit includes a pulse laser, a gating
The laser pulse width of image intensifier and time schedule controller, the gating gate-width for gating image intensifier and the pulse laser meets item
Part tg≥10tl, the thickness that is individually sliced meets the following conditions in n slice:
Wherein, tgTo gate gate-width, tlFor laser pulse width；
The thickness that the movement speed of submarine navigation device, gated imaging frame frequency are individually sliced in being sliced with n meets following item
Part:
Wherein, vBoatFor the movement speed of the submarine navigation device, fFPSFor gated imaging frame frequency.
Based on the above-mentioned technical proposal it is found that detection method proposed by the present invention and its device have the advantages that
1, the present invention is due to using average gray and the MDL modulation delay matched curve of bubble information frame, and bubble can be obtained with prolonging
When spatial distribution state, the range of bubble area can be calculated by the initial value and stop value of curve MDL modulation delay, by curve pair
The integral in space can estimate bubble yield, so, the present invention accurately has estimated gas using discrete spatial sampling gating slice
The continuously distributed rule in the space of bubble, so can range to bubble and yield accurately calculate, this method provides for bubble detection
The advantages that new approaches, are advantageously implemented the precise measurement of bubble, adaptable strong, accuracy is high, strong operability.
2, the present invention gates slice imaging to bubble area spatial sampling, can press down due to using Range-gated Imager method
Water body back scattering processed has the advantages that imaging resolution is high, detection range is remote；And the method for using background frame difference, it can be into
One step reduces the back scattering noise of water body, and bubble weak signal is effectively amplified, and then information frame enhancing is made to obtain enhancement information
Frame, so, the accurately detecting to the micro- target of bubble can be achieved in the present invention.
3, the present invention is very narrow due to gating gate-width and laser pulse width, and the gating image intensifier time for exposure is extremely short, therefore
The motion blur because of submarine navigation device movement or the generations such as bubble floating upward quickly can be effectively eliminated, the resolution ratio of image and right is improved
It than degree, and converts bubble tiny dots target acquisition to the face Detection Techniques of image grayscale mean value, enhances the stabilization of signal
Property.
Detailed description of the invention
Fig. 1 (a) is back scattering in non-gated section in range-gated imaging technique used in one embodiment of the invention
Noise returns to image device, the situation that storbing gate is closed；
Fig. 1 (b) is that bubble backreflected signals light returns to image device, the feelings that storbing gate is opened in one embodiment of the invention
Shape；
Fig. 2 (a) is the signal of range gating bubble detection method detection background frames gating slice in one embodiment of the invention
Figure；
Fig. 2 (b) is range gating bubble detection method detection bubble information frame gating slice in one embodiment of the invention
Schematic diagram；
Fig. 3 is underwater different zones target gating image grayscale and information type relational graph in one embodiment of the invention；
Fig. 4 is to detect underwater bubble based on submarine navigation device bubble frame difference laser imaging method in one embodiment of the invention
The flow chart of area's range and bubble yield；
Fig. 5 is the schematic diagram for obtaining enhancement information frame in one embodiment of the invention by frame difference；
Fig. 6 be the bubble that is fitted in one embodiment of the invention according to bubble information frame average gray and MDL modulation delay with
The spatial distribution curve synoptic diagram of delay.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in further detail.
The invention discloses a kind of laser differential imaging detection methods, method includes the following steps:
Step 1, using one, one arteries and veins of frame Exposure mode, Range-gated Imager obtains the n frame of the n slice in area to be detected
Retroreflection image, wherein n is the natural number not less than 1；
N frame retroreflection image is divided into m information frame and n-m background according to preset gray threshold by step 2
Frame, wherein m is the natural number not less than 1；
Step 3 asks m information frame and background frames difference to obtain the m enhancement information frame of m information frame, using training
M enhancement information frame is divided into k bubble information frame and m-k fake information frame by the classifier got well, and wherein k is oneself not less than 1
So number；
Step 4, the gray average and MDL modulation delay for calculating separately k bubble information frame, fitting obtain bubble with delay
Spatial distribution curve；
Step 5 obtains Bubble Region range and bubble yield according to spatial distribution curve.
Laser differential imaging detection method disclosed by the invention, range and production suitable for Ship Wake, cold spring bubble etc.
Raw amount detection.Fig. 1 (a) and Fig. 1 (b) is the detection system signal for being equipped on submarine navigation device that Range-gated Imager method uses
Figure, the system are mainly made of pulse laser, gating image intensifier (ICCD) and sequence controller, utilize bubble reflected light
(see Fig. 1 (b)) is different with backscattering of ocean water noise (see Fig. 1 (a)) the arrival ICCD time, by the switch of storbing gate, makes gas
Bubble is imaged in gating section, inhibits non-gated area's back scattering noise, thus to Bubble Region slice imaging, wherein laser pulse
Delay between gate pulse is known as gating delay.Since the density of bubble in different gating spaces is different, so retroreflection
Intensity is different, and the gray scale for showing as image on the image is different, is made the difference by a series of bubble area sectioning images with background frames
Dividing can be such that information frame enhances, and obtain bubble space distribution information indirectly.
The detection system for being equipped on submarine navigation device detects along the z-axis direction, and Fig. 2 (a) is that system obtains water body gated imaging
The schematic diagram of background frames is obtained, Fig. 2 (b) is that system successively gates the schematic diagram that slice imaging obtains information frame to bubble area.Fig. 3
Show the relationship of underwater different zones target gating image grayscale and information type, the average gray in general information area is much larger than
The average gray of water body back scattering background area, the threshold value I between themthMeet, Ith≥1.1Ibm, wherein IbmFor background area choosing
The average gray of logical sectioning image.Therefore when the average gray of spatial sampling gating slice is greater than IthWhen be information frame, otherwise for back
Scape frame, wherein information frame is divided into fake information frame and bubble information frame including water plant and the shoal of fish etc. again.
Fig. 4 is the flow chart for detecting underwater Bubble Region range and bubble yield, and submarine navigation device is according to the rail planned
Mark, detection system pushes away search coverage slice using the gated fashion of one, one arteries and veins of a frame and sweeps, and gates gate-width and be much larger than laser
Pulsewidth (tg≥10tl), which can effectively eliminate the motion blur of aircraft and bubble, improve imaging frame frequency, and gating is cut at this time
Piece thickness D is approximately:
Wherein tgTo gate gate-width, tlFor laser pulse width, c is the light velocity, and n is medium refraction index.To guarantee spatial sampling gating
Slice can closely cover entire detection waters, keep bubble detection more accurate, and gating slice thickness D should meet:
Wherein vBoatFor the mobile speed of submarine navigation device, fFPSFor gated imaging frame frequency.After having configured system parameter, system
To delay τ0The spatial sampling for locating the water body that slice thickness is D gates slice imaging.
Fig. 5 be by frame difference obtain enhancement information frame schematic diagram, when pass through threshold value IthInformation frame and background has been determined
After frame, the back scattering that background frames further decrease water body is subtracted using information frame, improves picture contrast, obtains enhancement information
Frame Idiffi.By SVM classifier to enhancement information frame classification, the HOG feature of difference enhancement information frame is extracted first, uses supervision
The method of study is trained SVM classifier, and enhancement information frame can be divided into bubble information frame and puppet by trained classifier
Information frame.It can be seen that the gray scale of bubble information frame increases according to same rule with the variation of bubble density in gating section
Or reduce.Due to the seawater background frames grey scale change very little in small search coverage, the background frames for carrying out difference are any back
Scape frame；If search coverage is larger, in due course amendment background frames.
Bubble information frame average gray and MDL modulation delay use polynomial fitting curve schematic diagram.Bubble information frame is averaged
Gray scale ImkMeet:
Wherein M, N are the horizontal and vertical pixel number of each information frame, aijFor laterally i-th and longitudinal j-th of pixel
The gray value of point.In order to guarantee that information frame backscatter intensity is only related with bubble density, with gated imaging apart from unrelated, therefore it is
System uses constant time lag τ0Slice imaging is gated to spatial sampling, for the detection completed to bubble that carries out curve fitting, is needed
The delay of bubble information frame is modulated, the MDL modulation delay τ of the i-th frameiMeet:
τi=τ0+tg(i-1) i=1,2,3 ...；(4)
Wherein τ0For gating delay, tgTo gate gate-width, with τiAnd ImRespectively X and Y-axis matched curve obtain bubble with prolonging
When spatial distribution curve.
The starting point I that gray scale rises in spatial distribution curvemsFor the initial position of Bubble Region, the termination of curve gray scale decline
Point ImeFor the end position of Bubble Region, then range S in Bubble Region meets:
Wherein c is the light velocity, and n is medium refraction index.
If the Spatial Density Distribution of bubble is ρ (x, y, z), system detects along the z-axis direction, bubble information frame gray average
It is f (τ) with MDL modulation delay matched curve, then f (τ) is proportional to the bubble density of x/y plane, and hasIt substitutes into f (τ)
Then:
For the average retroreflection intensity of x/y plane bubble, then bubble yield F are as follows:
Wherein ω is scale parameter.
The invention also discloses a kind of laser differential imaging detecting devices, including
Imaging unit irradiates region to be detected for issuing laser beam, and receives the reflected laser signals in region to be detected
And generate reflected image；
Image processing unit, the reflected image for generating to imaging unit carry out data processing；
Control unit, controls imaging unit and image processing unit executes above-mentioned laser differential imaging detection method, by
This obtains the Bubble Region range and bubble yield in region to be detected.
Laser differential imaging detection method and device thereof proposed by the present invention are carried out below by way of specific embodiment detailed
It describes in detail bright.
Embodiment
By taking underwater unmanned autonomous navigation device AUV as an example, the present embodiment proposes a kind of laser differential imaging detection method, should
Specific step is as follows for method:
Step 1, using Range-gated Imager method, configure reasonable gating parameter and system parameter, AUV by planning rail
Mark treats search coverage spatial sampling gating slice imaging, obtains the n frame retroreflection image of the n slice in area to be detected；
N frame retroreflection image is divided into m information frame and n-m back according to pre-set gray threshold by step 2
Scape frame；
Step 3 asks m information frame and background frames difference to obtain the m enhancement information frame of m information frame, using training
M enhancement information frame is divided into k bubble information frame and m-k fake information frame by good SVM classifier；
Step 4, the gray average that k bubble information frame is calculated according to formula (3) calculate k bubble letter according to formula (4)
The MDL modulation delay of frame is ceased, fitting obtains bubble with the spatial distribution curve of delay；
Step 5, by the spatial distribution curve, Bubble Region range is obtained according to formula (5), is obtained according to formula (7)
Bubble yield.
In order to further illustrate the method for the present embodiment, an example is given below.If gating gate-width tg=2ns, tl=
200ps meets tg> > tlRequirement, refractive index n takes 1.33, can be calculated gating slice thickness D=by formula (1)
22.56cm, the imaging frame frequency f of systemFPS=10, then it can be calculated the speed of detection v of AUV by formula (2)Boat=2.256m/s is (about
For 4.4 sections).If gating delay τ0=100ns then obtains system to the seawater of 11.28m 0.2256m by range gating principle
Space carries out gating slice imaging, when the average gray of certain slice is greater than IthWhen be information frame, otherwise be background frames.Information frame and
Background frames ask difference to obtain enhancement information frame, and enhancement information frame input SVM classifier is obtained bubble information frame, utilizes formula
(3) the average gray I of bubble information frame is calculatedm, and according to delay τ0It is modulated to obtain prolonging for every frame image by formula (4)
When τi, by ImkAnd τiBubble is fitted with the spatial distribution curve f (τ) of delay, as shown in fig. 6, determining the initial value τ of curvesAnd end
Only value τe, the distribution and yield of bubble are calculated separately by formula (5), formula (7).
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in protection of the invention
Within the scope of.
Claims (8)
1. a kind of laser differential imaging detection method, comprising the following steps:
Step 1, using one, one arteries and veins of frame Exposure mode, the n frame that Range-gated Imager obtains the n slice in area to be detected is backward
Reflected image, wherein n is the natural number greater than 1；
The n frame retroreflection image is divided into m information frame and n-m background according to preset gray threshold by step 2
Frame, wherein m is the natural number greater than 1；
Step 3 asks the m information frame and background frames difference to obtain m enhancement information frame of the m information frame, uses
The m enhancement information frame is divided into k bubble information frame and m-k fake information frame by trained classifier, wherein k be greater than
1 natural number；
Step 4, the gray average and MDL modulation delay for calculating separately the k bubble information frame, fitting obtain the bubble with prolonging
When spatial distribution curve；
Step 5 obtains Bubble Region range and bubble yield according to the spatial distribution curve, and the Bubble Region range is by described
Bubble with the spatial distribution curve of delay time delay initialization value τsWith stop value τeIt obtains, expression formula are as follows:
Wherein, S is Bubble Region range, and c is the light velocity, and n is medium refraction index, time delay initialization value τsFor on the spatial distribution curve
The initial value risen, be delayed stop value τeFor the stop value of spatial distribution curve decline；
The bubble yield obtains space integral with the spatial distribution curve of delay by the bubble:
Wherein, F is bubble yield, and ω is scale parameter, and z is space coordinate.
2. laser differential imaging detection method as described in claim 1, which is characterized in that the bubble divides with the space of delay
The abscissa of cloth curve is MDL modulation delay, and ordinate is gray average.
3. laser differential imaging detection method as described in claim 1, which is characterized in that the k Bubble modulation delay
Expression formula are as follows:
τk=τ0+tg(k-1)；
Wherein, τ0For the delay of preset gating, tgTo gate gate-width.
4. laser differential imaging detection method as described in claim 1, which is characterized in that the ash of the k bubble information frame
Spend the calculating formula of mean value are as follows:
Wherein, described M, N are the horizontal and vertical pixel number of each information frame, aijIt is laterally i-th, longitudinal j-th of pixel
The gray value of point.
5. laser differential imaging detection method as claimed in claim 4, which is characterized in that in the step 2, when described n-th
When the gray average of frame retroreflection image is less than the preset gray threshold, by the n-th frame retroreflection image
It is classified as background frames；When the gray average of the n-th frame retroreflection image is greater than the preset gray threshold, by institute
It states n-th frame retroreflection image and is classified as information frame.
6. laser differential imaging detection method as described in claim 1, which is characterized in that the trained classifier is by adopting
SVM classifier is trained to obtain using HOG feature with supervised learning.
7. a kind of laser differential imaging detecting device, including
Imaging unit irradiates region to be detected for issuing laser beam, and receives the reflected laser signals in region to be detected and give birth to
At reflected image；
Image processing unit, the reflected image for generating to imaging unit carry out data processing；
Control unit, controls the imaging unit and image processing unit is executed as described in any one of claim 1 to 6
Thus laser differential imaging detection method obtains the Bubble Region range and bubble yield in region to be detected.
8. laser differential imaging detecting device as claimed in claim 7, which is characterized in that the imaging unit is equipped under water
Aircraft, the imaging unit include a pulse laser, a gating image intensifier and time schedule controller, and the gating is as increasing
The strong gating gate-width of device and the laser pulse width of the pulse laser meet condition tg≥10tl, it is described n slice in be individually sliced
Thickness meet the following conditions:
Wherein, tgTo gate gate-width, tlFor laser pulse width；
The thickness satisfaction being individually sliced in the movement speed of the submarine navigation device, gated imaging frame frequency and described n slice with
Lower condition:
Wherein, vBoatFor the movement speed of the submarine navigation device, fFPSFor gated imaging frame frequency.
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