CN107241533A - A kind of battle array scanning laser imaging device and method under water - Google Patents
A kind of battle array scanning laser imaging device and method under water Download PDFInfo
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- CN107241533A CN107241533A CN201610188617.XA CN201610188617A CN107241533A CN 107241533 A CN107241533 A CN 107241533A CN 201610188617 A CN201610188617 A CN 201610188617A CN 107241533 A CN107241533 A CN 107241533A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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Abstract
The invention provides a kind of battle array scanning laser imaging device under water, described device includes：Vehicle (l), electrical module (19) and image-forming module (18)；The vehicle (1) is the shell of whole device, and the electrical module (19) includes illumination laser (15), combined inertial nevigation (16) and control process unit (17)；Each part of the electrical module (19) is fixed on installing plate (22) both sides, fixed by installing plate (22) and vehicle (1)；The image-forming module (18) includes pitching servo control mechanism (5), roll servo control mechanism (6) and optical imagery module (14), and the optical imagery module (14) includes imaging lens (7), optical filter (8), gated imaging sensor (9) and illumination camera lens (l0)；The laser of illumination laser (15) transmitting is transmitted to illumination camera lens (10) by energy-transmission optic fibre (11).The device of the present invention has miniaturization, the characteristics of can realizing planar array scanning under water.
Description
Technical field
The present invention relates to Underwater Imaging technical field, and in particular to a kind of battle array scanning laser imaging device and side under water
Method.
Background technology
High-resolution, big visual field Underwater Imaging under water topography and geomorphology mapping, subsea petroleum pipeline and optical cable maintenance exploration,
Wrecked ship, which only reaches the fields such as the wreckage of an plane search, naval mine detection, under water has important civilian and military meaning.
Imaging sonar is to judge the presence of object, position and type in ocean using sound wave, with the visual field is wide, finding range
Big the advantages of.But it is due to that underwater acoustic channel is complicated, larger (such as thermocline layer) affected by environment, compared with optical imagery, water
The resolution ratio of acoustic image is low, noise is serious, and picture quality is not high, and closely there is blind area, it is impossible to effectively detects Small object,
It is unfavorable for the identification of the Small objects such as oil pipeline and optical cable.
Optical imagery is then the direct optical imagery for obtaining target, with containing much information, sensitivity is high, measurement accuracy is high,
The advantages of response is fast, anti-electromagnetic field interference performance is strong, noncontact is detected, also has very high resolution ratio, institute in closer distance
The abundant information of acquisition, accuracy of identification is higher, is recognized beneficial to small target detection.
Current underwater optics imaging is mainly Active Imaging, i.e., be illuminated using blue green light or white light source, using CCD
Or CMOS gathers the information of target in illumination field of view as image device.Active optics imaging under water mainly has two kinds：One is to connect
The Underwater Imaging technology of continuous optical illumination, such as Chinese Marine University propose a kind of underwater imaging device of annular laser lighting (in
State's patent of invention, application number：201010293845.6)；A kind of is the range-gated imaging technique of pulse illumination light, and such as Beijing is managed
Work university proposes a kind of underground distance gated imaging method (Chinese invention patent, the patent No. based on electronic shutter
ZL201010238852.6).The bright underwater optics imaging operating distance of continuous illumination is nearer, generally 1~2 times attenuation length,
Main cause is that the back scattering of water have impact on operating distance：The Underwater Imaging bright compared to continuous illumination, it is underground distance gated
Imaging can effectively suppress the back scattering of water, and operating distance is mentioned into 5~7 times of attenuation lengths.Although it is underground distance gated into
As improving undersea detection distance, still, imaging viewing field is small, easy when carrying the moving platforms such as underwater vehicle and carrying out underwater operation
Target is lost, when carrying out the operation such as the exploration of underwater topography landforms or pipeline prospecting maintenance, is unfavorable for big visual field operation, so that band
The problems such as coming difficult planning parameters of scanning paths and inefficiency.
The content of the invention
It is an object of the invention to overcome at present the drawbacks described above that scanning technique is present under water, it is proposed that a kind of battle array under water
Scanning laser imaging device, the device can solve the problem that the problem of remote big field optical imaging is difficult under water, can realize under water
Wide view-field three-D is imaged.
To achieve these goals, the invention provides a kind of battle array scanning laser imaging device, described device bag under water
Include：Vehicle l, electrical module 19 and image-forming module 18；
The vehicle 1 is the shell of whole device, and the electrical module 19 includes illumination laser 15, combined inertial nevigation 16
With control process unit 17；Each part of the electrical module 19 is fixed on the both sides of installing plate 22, passes through installing plate 22 and delivery
Device 1 is fixed；
The image-forming module 18 includes pitching servo control mechanism 5, roll servo control mechanism 6 and optical imagery module 14, described vertical
Shake servo control mechanism 5 to fix with vehicle 1 by pinboard 24, the pitching servo control mechanism 5 loads roll using rigid support 21
Servo control mechanism 6, the roll servo control mechanism 6 directly loads optical imagery module 14；The roll servo control mechanism 6 is used to realize horizontal stroke
To scanning and horizontal aiming off line；The pitching servo control mechanism 5 is used to realize longitudinal scanning and longitudinal aiming off line function,
And the switching of forward-looking mode and look-down mode is realized by the different angles of pitching；
The optical imagery module 14 includes imaging lens 7, optical filter 8, gated imaging sensor 9 and illumination camera lens l0；
The laser that the illumination laser 15 is launched is transmitted to illumination camera lens 10 by energy-transmission optic fibre 11.
In above-mentioned technical proposal, the vehicle 1 is provided with the connection cables of plug 2, realizes and is believed with nobody latent device 25
Breath interaction and supply of electric power；The overall appearance of vehicle 1 is in cylinder, and head is spherical in shape, and head has forward sight optical window 4, belly
With lower optometry window 3.
In above-mentioned technical proposal, the combined inertial nevigation 16, the attitude parameter for obtaining vehicle 1 includes the reality of barycenter
When translation vector, course, pitching and roll attitude angle information, and transmit the information to processing unit 17 processed.
In above-mentioned technical proposal, the control process unit 17 includes：Communicate subelement, image procossing subelement and servo
Control subelement；
The communication subelement, for receiving the control command by the incoming host computer of plug 2, to host computer on blit
As the image data information of processing subelement generation；
The SERVO CONTROL subelement, the information for receiving the transmission of combined inertial nevigation 16 produces control pitching servo control mechanism 5
With the control command of roll servo control mechanism 6；
Described image handles subelement, and the image information for receiving gated imaging sensor 9 carries out image mosaic, three
Tie up image procossing and synthesis panorama sketch.
In above-mentioned technical proposal, the gated imaging sensor 9 is the image device of whole device, by image intensifier through light
Cone is constituted coupled to array image sensor, and the target laser echo-signal for imaging lens 7 to be received is converted into electric signal,
And two dimensional image is exported to the image procossing subelement of control process module 17；The face system of battle formations that gated imaging sensor 9 is used
As sensor is CCD or CMOS, two kinds of gated imagings sensor IC CD and ICMOS are correspondingly formed, wherein, gating ICCD is by gating
Image intensifier is constituted through light-cone QCD sum rules to CCD, and gating ICMOS is made up of gating image intensifier through light-cone QCD sum rules to CMOS.
In above-mentioned technical proposal, the image-forming module 18 also includes reflective mirror 20, is carried on roll servo control mechanism 6, cloth
Put before optical imagery module 14, on the laser reflection that illumination camera lens 10 is sent to assigned direction, by what is be reflected back from target
Laser reflection is pointed on assigned direction on imaging lens 7, that is, by the optical axis of optical imagery module.
In above-mentioned technical proposal, the image-forming module 18 also includes search index and range cells, is shone for reconnaissance probe
The target for the laser-irradiated domain that bright laser 15 is sent and the distance for measuring target, then feed back to the control by range information
Processing unit 17 processed；The search index includes receiving camera lens 12 and photodetector 13, illumination laser 15 with range cells
It is that search index and range cells provide nano second laser pulse, ranging is carried out by Delay；
The control process unit 17 also includes ranging and handles subelement, incoming with range cells for receiving search index
Target range information, and range information is converted into delayed data, produces control gated imaging sensor 9 and illumination laser
15 work schedule, realizes underground distance gated imaging.
Based on the above-mentioned scanning laser imaging device of battle array under water, present invention also offers a kind of battle array scanning laser under water into
Image space method, methods described includes：
Step 1) the control process unit 17 receives the control command of nobody latent device 25, according to control command setting work
Pattern；The type of the mode of operation is forward-looking mode or backsight pattern；
Step 2) if mode of operation is forward-looking mode, it is transferred to step 3)；If mode of operation is backsight pattern, step is transferred to
It is rapid 4)；
Step 3) the optical imagery module 14 that is loaded roll servo control mechanism 6 by rigid support 21 of pitching servo control mechanism 5
Optical axis direction adjust to the course direction of vehicle 1, be imaged by the horizontal planar array scanning of the realization of roll servo control mechanism 6；
Step 4) the optical imagery module 14 that is loaded roll servo control mechanism 6 by rigid support 21 of pitching servo control mechanism 5
Optical axis point to the earth's core；Pitching servo control mechanism 5 and roll servo control mechanism 6, which coordinate, carries out planar array scanning imaging；
Step 5) the image procossing subelement of control process processing unit 17 receives the figure that gated imaging sensor 9 is sent
Picture, splicing synthesis is carried out to image and cuts the panorama sketch that width is n α；
Step 6) the communication subelement of control process processing unit 17 uploads image data information to nobody latent device 25.
In above-mentioned technical proposal, the step 3) in roll servo control mechanism 6 the horizontal planar array scanning imaging of realization tool
Body process is：
Transversely stepping n-1 times of roll servo control mechanism 6, transverse direction stepping-in amount is α every time, and transverse direction n is realized by transversal scanning
Frame scan, scanning cuts width for n α, and wherein α is underground distance gated imaging single imaging transverse visual field, in the process, pitching
The attitude parameter for the vehicle 1 that servo control mechanism 5 and roll servo control mechanism 6 are provided according to combined inertial nevigation 16 produces big with disturbance torque
Two frees degree of vertical and horizontal are compensated by small equal, in opposite direction control moment, offset ocean current and the disturbance gushed,
Sight line is set to keep given sensing within the time of integration of gated imaging sensor 9, so as to realize the n frames that transversal scanning is obtained
The continuous splicing of image, and then realize that the front of vehicle 1 is cut the wide field that width is n α and scanned.
In above-mentioned technical proposal, the step 4) in pitching servo control mechanism 5 and roll servo control mechanism 6 coordinate carry out face battle array
The detailed process of scanning imagery is：
Transversely stepping n-l times of roll servo control mechanism 6, transverse direction stepping-in amount is α every time, and transverse direction is realized by transversal scanning
N frame scans, scanning cuts width for n α, and pitching servo control mechanism 5 carries out vehicle speed of a ship or plane compensation, compensates n-l times along longitudinal stepping, often
Secondary longitudinal stepping compensation rate is β/(n-1)；Wherein β is the longitudinal visual field of underground distance gated imaging single imaging；Pitching servo
The speed of a ship or plane compensation of structure 5 and the transverse direction of roll servo control mechanism 6 are swept to catch to synchronously complete after stepping reaches specified aiming line position and stopped
te；teFor the time of integration of gated imaging sensor 9, sight line stepping period is pitching servo control mechanism 5 and the machine of roll servo control mechanism 6
Tool stepping time and gated imaging sensor 9 time of integration sum；Pitching servo control mechanism 5 and roll servo control mechanism 6 are according to combination
The attitude parameter for the vehicle 1 that inertial navigation 16 is provided is produced and disturbance torque control moment equal in magnitude, in opposite direction, to longitudinal direction
Compensated with laterally two frees degree, offset ocean current and the disturbance gushed, sight line is integrated in gated imaging sensor 9
When ask it is interior keep given and point to, so that the continuous splicing for the n two field pictures that transversal scanning is obtained can be realized, and then realize vehicle l
Cut the wide field scanning that width is n α in lower section.
The advantage that the present invention is brought is：
1st, illumination camera lens is separated with illumination laser in device of the invention, and servo control mechanism does not carry the illumination of large-size
Laser, considerably reduces the load request of pitching servo control mechanism and roll servo control mechanism, and servo control mechanism is easier to realize height
Precision SERVO CONTROL precision and scan control speed so that planar array scanning is achieved；
2nd, illumination camera lens is separated with illumination laser in device of the invention, and servo control mechanism does not carry the illumination of large-size
Laser, significantly reduces the radius of gyration and quality of pitching servo control mechanism and roll servo control mechanism, not only effectively reduces
Power consumption needed for servo control mechanism, it is often more important that can effectively reduce the volume of whole system, reduces the weight of whole system, is conducive to
The manufacture of pressure hull, is conducive to integrated in nobody middle-size and small-size latent device promote the use of；
3rd, in device of the invention imaging lens, illumination camera lens and reception camera lens is disposed closely together, and is not only expanded
The observation scope of device, but also significantly reduce the size and thickness of pressure-resistant optical window；Pressure-resistant optical window thickness
Reduction, reduce absorption of the pressure-resistant optical window to the laser launched and the laser for being reflected back camera lens, improve whole
The detection performance of device；The reduction of pressure-resistant optical window size, can realize the pressure-resistance structure of the anti-more deep-water pressure of manufacture and pressure-resistant
Optical window, engineering realizability is higher.
4th, target range information is provided for Range-gated Imager using search index and range finder module in device of the invention,
Make gated imaging module that Range-gated Imager work schedule is set automatically according to the range information, it is not necessary to which gated imaging module is slided
Dynamic gating time carries out target search, therefore, and the present invention can realize the extensive search and automatic gated imaging to target, obtains
The high-resolution three-dimension image and the three-dimensional space position of target of target, improve search and imaging efficiency, also just improve and be
The availability and practicality of system.
Brief description of the drawings
Fig. 1 a are the schematic diagram of the scanning laser imaging device of battle array under water of embodiments of the invention 1；
Fig. 1 b are the schematic diagram of the scanning laser imaging device of battle array under water of embodiments of the invention 2；
Fig. 1 c are the schematic diagram of the scanning laser imaging device of battle array under water of embodiments of the invention 3；
Fig. 2 a are the scanning laser imaging device side view bevel figure of battle array under water under the forward-looking mode of the present invention；
Fig. 2 b for the present invention forward-looking mode under the scanning laser imaging device of battle array under water elevational sectional view；
Fig. 3 for the present invention forward-looking mode under the scanning laser imaging device of battle array under water scanning schematic diagram；
Fig. 4 a for the present invention backsight pattern under the scanning laser imaging device of battle array under water scanning schematic diagram；
Fig. 4 b are Motion-compensated scan scheme of the invention；
Fig. 4 c are image mosaic scheme of the invention.
Accompanying drawing is identified：
1st, vehicle 2, plug 3, lower optometry window 4, forward sight optical window
5th, pitching servo control mechanism 6, roll servo control mechanism 7, imaging lens
8th, optical filter 9, gated imaging sensor 10, illumination camera lens
11st, energy-transmission optic fibre 12, reception camera lens 13, photodetector
14th, optical imagery module 15, illumination laser 16, combined inertial nevigation
17th, control process module 18, image-forming module 19, electrical module
20th, speculum 21, rigid support 22, installing plate
23rd, work cable 24, pinboard 25, nobody latent device
Embodiment
The present invention will be further described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1a, a kind of battle array scanning laser imaging device under water, described device includes：Vehicle l, electrical module
19 and image-forming module 18；
The vehicle 1 is the shell of whole device, meets the resistance to pressure request of underwater operation, and can pass through the connecting line of plug 2
Cable carries out information exchange and supply of electric power with nobody latent device 25；The overall appearance of vehicle 1 is in cylinder, and head is spherical in shape, head
With forward sight optical window 4, carrier belly has lower optometry window 3；
The electrical module 19 includes illumination laser 15, combined inertial nevigation 16 and control process unit 17；As shown in Figure 2 a,
Each part of the electrical module 19 is fixed on the both sides of circular mounting plate 22, is fixed by the shell of installing plate 22 and vehicle 1；
The image-forming module 18 includes pitching servo control mechanism 5, roll servo control mechanism 6 and optical imagery module 14, wherein, light
Learning imaging modules 14 includes imaging lens 7, optical filter 8, gated imaging sensor 9 and illumination camera lens l0；As shown in Figure 2 b, it is described
Pitching servo control mechanism 5 is fixed by pinboard 24 with vehicle 1, and the pitching servo control mechanism 5 loads horizontal stroke using rigid support 21
Servo control mechanism 6 is rolled, the roll servo control mechanism 6 directly loads optical imagery module 14.
The illumination laser 15 is bluish-green light pulse laser, can produce nano second laser pulse and realize to mesh under water
Mark illumination, the laser that the illumination laser 15 is launched is transmitted to illumination camera lens 10 by energy-transmission optic fibre 11；
The real-time translation vector of the combined inertial nevigation 16, the attitude parameter for obtaining vehicle 1, including barycenter, course,
Pitching and roll attitude angle information, and transmit the information to processing unit 17 processed；
The control process unit 17 includes：Communicate subelement, image procossing subelement and SERVO CONTROL subelement；
The communication subelement, for receiving the control command by the incoming host computer of plug 2, to host computer on blit
As the image data information of processing subelement generation；
The SERVO CONTROL subelement, the information for receiving the transmission of combined inertial nevigation 16 produces control pitching servo control mechanism 5
With the control command of roll servo control mechanism 6；
Described image handles subelement, and the image information for receiving gated imaging sensor 9 carries out image mosaic synthesis
Panorama sketch；
The roll servo control mechanism 6, for loading optical imagery module 14, realizes transversal scanning and horizontal aiming off
Line；
As shown in Figure 2 b, the pitching servo control mechanism 5, loads roll servo control mechanism 6, for realizing by rigid support 21
Longitudinal scanning and longitudinal aiming off line function, and realize by the different angles of pitching the switching of forward-looking mode and look-down mode.
The imaging lens 7, for receiving the laser echo signal from target, collect optical signal to gated imaging and sense
Device 9；
The optical filter 8：For filtering out bias light and interference light beyond laser echo signal, signal noise ratio (snr) of image is improved.
The gated imaging sensor 9 be whole device image device, by gating image intensifier through light-cone QCD sum rules to and
Array image sensor gating is constituted, and the target laser echo-signal for imaging lens 7 to be received is converted into electric signal, and exports
Two dimensional image to control process module 17 image procossing subelement；The face battle array image sensing that gated imaging sensor 9 is used
Device is CCD or CMOS, is correspondingly formed two kinds of gated imagings sensor IC CD and ICMOS, wherein, gating ICCD is by gating image intensifying
Device is constituted through light-cone QCD sum rules to CCD, and gating ICMOS is made up of gating image intensifier through light-cone QCD sum rules to CMOS.
The illumination camera lens 10, target illumination is realized for carrying out shaping to laser.
Embodiment 2
As shown in Figure 1 b, similar to the device of embodiment 1, difference is the structural representation of device, the imaging
Module 18 also includes reflective mirror 20, is carried on roll servo control mechanism 6, is arranged in before optical imagery module 14, will illuminate camera lens
10 laser reflections sent are on assigned direction, by the laser reflection being reflected back from target to imaging lens 7, that is, by light
The optical axis for learning imaging modules is pointed on assigned direction.
Embodiment 3
The structural representation of device is as illustrated in figure 1 c, similar to Example 1, and difference is, the image-forming module 18
Also include search index and range cells, for carrying out ranging to target, and range information is fed back into the control process list
Member 17；The search index includes receiving camera lens 12 and photodetector 13 with range cells, and illumination laser 15 draws for search
Lead and provide nano second laser pulse with range cells, ranging is carried out by Delay；
The control process unit 17 also includes ranging and handles subelement, incoming with range cells for receiving search index
Target range information, and range information is converted into delayed data, produces control gated imaging sensor 9 and illumination laser
15 work schedule, realizes underground distance gated imaging.
Based on the device of embodiment 1, the invention provides a kind of battle array scanning laser imaging method, methods described bag under water
Include：
Step 1) the control process unit 17 receives the control command of nobody latent device 25, according to control command setting work
Pattern；The type of the mode of operation is forward-looking mode or backsight pattern；
Step 2) if mode of operation is forward-looking mode, it is transferred to step 3)；If mode of operation is backsight pattern, step is transferred to
It is rapid 4)；
Step 3) the optical imagery module 14 that is loaded roll servo control mechanism 6 by rigid support 21 of pitching servo control mechanism 5
Optical axis direction adjust to the course direction of vehicle 1, be imaged by the horizontal planar array scanning of the realization of roll servo control mechanism 6；
As shown in figure 3, detailed process is：Transversely stepping n-1 times of roll servo control mechanism 6, transverse direction stepping-in amount is α every time,
Transverse direction n frame scans are realized by transversal scanning, scanning cuts width for n α, wherein α is that the imaging of underground distance gated imaging single is horizontal
To visual field, in the process, the appearance for the vehicle 1 that pitching servo control mechanism 5 and roll servo control mechanism 6 are provided according to combined inertial nevigation 16
State parameter is produced and disturbance torque control moment equal in magnitude, in opposite direction, and two frees degree of vertical and horizontal are mended
Repay, offset ocean current and the disturbance gushed, sight line is kept given sensing within the time of integration of gated imaging sensor 9, from
And the continuous splicing for the n two field pictures that transversal scanning is obtained is realized, and then realize that the front of vehicle 1 is cut the wide field that width is n α and swept
Retouch.
Step 4) the optical imagery module 14 that is loaded roll servo control mechanism 6 by rigid support 21 of pitching servo control mechanism 5
Optical axis point to the earth's core；Pitching servo control mechanism 5 and roll servo control mechanism 6, which coordinate, carries out planar array scanning imaging；
As shown in Fig. 4 a, Fig. 4 b and Fig. 4 c, detailed process is：Transversely stepping n-l times of roll servo control mechanism 6, it is horizontal every time
It is α to stepping-in amount, horizontal n frame scans is realized by transversal scanning, scanning cuts width for n α, and pitching servo control mechanism 5 is transported
The compensation of the device speed of a ship or plane is carried, is compensated n-l times along longitudinal stepping, stepping compensation rate in longitudinal direction is β/(n-1) every time；Wherein β is Underwater Range
The longitudinal visual field of gated imaging single imaging；The speed of a ship or plane compensation of pitching servo control mechanism 5 is swept with the transverse direction of roll servo control mechanism 6 catches synchronous
Complete to stop t after stepping reaches specified aiming line positione；teFor the time of integration of gated imaging sensor 9, sight line stepping period
Asked and gated imaging sensor 9 time of integration sum during for pitching servo control mechanism 5 and the machinery stepping of roll Dao Fu mechanisms 6；Pitching
The attitude parameter for the vehicle 1 that servo control mechanism 5 and roll servo control mechanism 6 are provided according to combined inertial nevigation 16 produces big with disturbance torque
Two frees degree of vertical and horizontal are compensated by small equal, in opposite direction control moment, offset ocean current and the disturbance gushed,
Enable sight line to ask that interior holding is given when gated imaging sensor 9 is integrated to point to, so that the n that transversal scanning is obtained can be realized
The continuous splicing of two field picture, and then realize that the wide field that width is n α is cut below vehicle l to be scanned；
Step 5) the image procossing subelement of control process processing unit 17 receives the figure that gated imaging sensor 9 is sent
Picture, splicing synthesis is carried out to image and cuts the panorama sketch that width is n α；
Step 6) the communication subelement of control process processing unit 17 uploads image data information to nobody latent device 25.
Realization in order to demonstrate the invention, describes above-mentioned specific embodiment, but other changes of the present invention and repaiies
Change, it will be apparent to those skilled in the art that, the present invention is not limited to described embodiment.Therefore, at this
The true spirit and copy principle model of invention disclosure of that do not belong to interior any/all modifications, change or equivalent transformation
In the claims of the present invention.
Claims (10)
1. a kind of battle array scanning laser imaging device under water, described device includes：Vehicle (l), electrical module (19) and imaging
Module (18)；
The vehicle (1) is the shell of whole device, and the electrical module (19) includes illumination laser (15), combined inertial nevigation
And control process unit (17) (16)；Each part of the electrical module (19) is fixed on installing plate (22) both sides, by installing
Plate (22) is fixed with vehicle (1)；
The image-forming module (18) includes pitching servo control mechanism (5), roll servo control mechanism (6) and optical imagery module (14), institute
State pitching servo control mechanism (5) fixed by pinboard (24) and vehicle (1), the pitching servo control mechanism (5) is propped up using rigidity
Frame (21) load roll servo control mechanism (6), the roll servo control mechanism (6) directly loads optical imagery module (14)；The horizontal stroke
Rolling servo control mechanism (6) is used to realize transversal scanning and horizontal aiming off line；The pitching servo control mechanism (5) is used to realize longitudinal direction
Scanning and longitudinal aiming off line function, and realize by the different angles of pitching the switching of forward-looking mode and look-down mode；
The optical imagery module (14) includes imaging lens (7), optical filter (8), gated imaging sensor (9) and illumination camera lens
(l0)；The laser of illumination laser (15) transmitting is transmitted to illumination camera lens (10) by energy-transmission optic fibre (11).
2. the scanning laser imaging device of battle array under water according to claim 1, it is characterised in that on the vehicle (1)
Provided with plug (2) connection cables, realize and carry out information exchange and supply of electric power with nobody latent device (25)；Vehicle (1) is overall outer
See in cylinder, head is spherical in shape, and head has forward sight optical window (4), and belly has lower optometry window (3).
3. the scanning laser imaging device of battle array under water according to claim 1, it is characterised in that the combined inertial nevigation
(16), for obtaining the attitude parameter of vehicle (1), real-time translation vector, course, pitching and the roll attitude angle of barycenter are included
Information, and transmit the information to processing unit processed (17).
4. the scanning laser imaging device of battle array under water according to claim 1, it is characterised in that the control process unit
(17) include：Communicate subelement, image procossing subelement and SERVO CONTROL subelement；
The communication subelement, for receiving the control command by the incoming host computer of plug (2), image is uploaded to host computer
Handle the image data information of subelement generation；
The SERVO CONTROL subelement, the information for receiving combined inertial nevigation (16) transmission, produces control pitching servo control mechanism (5)
With the control command of roll servo control mechanism (6)；
Described image handles subelement, and the image information for receiving gated imaging sensor (9) carries out image mosaic, three-dimensional
Image procossing and synthesis panorama sketch.
5. the scanning laser imaging device of battle array under water according to claim 1, it is characterised in that the gated imaging sensing
Device (9) is the image device of whole device, is made up of image intensifier through light-cone QCD sum rules to array image sensor, for that will be imaged
The target laser echo-signal that camera lens (7) is received is converted into electric signal, and exports two dimensional image to control process module (17)
Image procossing subelement；The array image sensor that gated imaging sensor (9) is used is correspondingly formed two for CCD or CMOS
Gated imaging sensor IC CD and ICMOS are planted, wherein, gating ICCD is made up of gating image intensifier through light-cone QCD sum rules to CCD, is selected
Logical ICMOS is made up of gating image intensifier through light-cone QCD sum rules to CMOS.
6. the scanning laser imaging device of battle array under water according to claim 1-5, it is characterised in that the image-forming module
(18) also include reflective mirror (20), be carried on roll servo control mechanism (6), be arranged in before optical imagery module (14), will illuminate
The laser reflection that camera lens (10) is sent is on assigned direction, by the laser reflection being reflected back from target to imaging lens (7),
It is exactly to point to the optical axis of optical imagery module on assigned direction.
7. the scanning laser imaging device of battle array under water according to claim 1-5, it is characterised in that the image-forming module
(18) search index and range cells, the mesh of the laser-irradiated domain sent for reconnaissance probe illumination laser (15) are also included
The distance of target is marked and measured, range information is then fed back into the control process unit (17)；The search index is with surveying
Include receiving camera lens (12) and photodetector (13) away from unit, illumination laser (15) provides for search index with range cells
Nano second laser pulse, ranging is carried out by Delay；
The control process unit (17) also includes ranging and handles subelement, incoming with range cells for receiving search index
Target range information, and range information is converted into delayed data, produce control gated imaging sensor (9) and illumination laser
(15) work schedule, realizes underground distance gated imaging.
8. a kind of battle array scanning laser imaging method under water, dress is imaged based on the scanning laser of battle array under water described in claim 1
Realization is put, methods described includes：
Step 1) the control process unit (17) receives the control command of nobody latent device (25), according to control command setting work
Pattern；The type of the mode of operation is forward-looking mode or backsight pattern；
Step 2) if mode of operation is forward-looking mode, it is transferred to step 3)；If mode of operation is backsight pattern, step is transferred to
4)；
Step 3) pitching servo control mechanism (5) the optical imagery module that is loaded roll servo control mechanism (6) by rigid support (21)
(14) optical axis direction is adjusted to the course direction of vehicle (1), is swept by the horizontal face battle array of the realization of roll servo control mechanism (6)
Retouch imaging；
Step 4) pitching servo control mechanism (5) the optical imagery module that is loaded roll servo control mechanism (6) by rigid support (21)
(14) optical axis points to the earth's core；Pitching servo control mechanism (5) and roll servo control mechanism (6), which coordinate, carries out planar array scanning imaging；
Step 5) control process processing unit (17) image procossing subelement receive gated imaging sensor (9) send figure
Picture, splicing synthesis is carried out to image and cuts the panorama sketch that width is n α；
Step 6) the communication subelement of control process processing unit (17) uploads image data information to nobody latent device (25).
9. the scanning laser imaging method of battle array under water according to claim 8, it is characterised in that the step 3) in horizontal stroke
The detailed process of the horizontal planar array scanning imaging of realization of rolling servo control mechanism (6) is：
Roll servo control mechanism (6) transversely stepping n-1 times, transverse direction stepping-in amount is α every time, and transverse direction n frames are realized by transversal scanning
Scanning, scanning cuts width for n α, and wherein α is underground distance gated imaging single imaging transverse visual field, and in the process, pitching is watched
The attitude parameter for taking the vehicle (1) that mechanism (5) and roll servo control mechanism (6) are provided according to combined inertial nevigation (16) is produced and interference
Two frees degree of vertical and horizontal compensate by torque control moment equal in magnitude, in opposite direction, offset ocean current and gush
Disturbance, enables sight line to keep given within gated imaging sensor (9) time of integration and points to, so as to realize that transversal scanning is obtained
The continuous splicing of the n two field pictures obtained, and then realize that the wide field that width is n α is cut in front of vehicle (1) to be scanned.
10. the scanning laser imaging method of battle array under water according to claim 8, it is characterised in that the step 4) in
Pitching servo control mechanism (5) and the detailed process of roll servo control mechanism (6) cooperation progress planar array scanning imaging are：
Roll servo control mechanism (6) transversely stepping n-l times, transverse direction stepping-in amount is α every time, and horizontal n is realized by transversal scanning
Frame scan, scanning cuts width for n α, and pitching servo control mechanism (5) carries out vehicle speed of a ship or plane compensation, is compensated n-l times along longitudinal stepping,
Stepping compensation rate in longitudinal direction is β/(n-1) every time；Wherein β is the longitudinal visual field of underground distance gated imaging single imaging；Pitching servo
The speed of a ship or plane compensation of mechanism (5) and the transverse direction of roll servo control mechanism (6) are swept to catch and synchronously complete stepping, are reached to specify and are aimed at after line position
Stop te；teFor gated imaging sensor (9) time of integration, sight line stepping period is pitching servo control mechanism (5) and roll servo
Mechanism (6) machinery stepping time and gated imaging sensor 9 time of integration sum；Pitching servo control mechanism (5) and roll servo
The attitude parameter for the vehicle (1) that structure (6) is provided according to combined inertial nevigation (16) produces equal in magnitude, in opposite direction with disturbance torque
Control moment, two frees degree of vertical and horizontal are compensated, ocean current and the disturbance gushed is offset, enable sight line in choosing
Ask that interior holding is given during logical imaging sensor (9) integration to point to, so that the continuous spelling for the n two field pictures that transversal scanning is obtained can be realized
Connect, and then realize that the wide field that width is n α is cut below vehicle (l) to be scanned.
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