CN107241533B - 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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- CN107241533B CN107241533B CN201610188617.XA CN201610188617A CN107241533B CN 107241533 B CN107241533 B CN 107241533B CN 201610188617 A CN201610188617 A CN 201610188617A CN 107241533 B CN107241533 B CN 107241533B
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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
Abstract
The present invention provides one kind, battle array scanning laser imaging device, described device include: vehicle (l), electrical module (19) and image-forming module (18) under water；The vehicle (1) is the shell of whole device, and the electrical module (19) includes illumination laser (15), combined inertial nevigation (16) and control processing unit (17)；Each component of the electrical module (19) is fixed on mounting plate (22) two sides, fixed by mounting plate (22) and vehicle (1)；The image-forming module (18) includes pitching servo mechanism (5), roll servo mechanism (6) and optical imagery mould group (14), and the optical imagery mould group (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 characteristics of the device of the invention has miniaturization, can realize planar array scanning under water.
Description
Technical field
The present invention relates to Underwater Imaging technical fields, and in particular to a kind of battle array scanning laser imaging device and side under water
Method.
Background technique
High-resolution, big visual field Underwater Imaging under water topography and geomorphology mapping, subsea petroleum pipeline and optical cable maintenance exploration,
Underwater wrecked ship only reaches the fields such as the wreckage of an plane search, naval mine detection with important civilian and military meaning.
Imaging sonar is to judge the presence of object, position and type in ocean using sound wave, the wide, ranging range with the visual field
The advantages that big.It is larger (such as thermocline layer) affected by environment but since underwater acoustic channel is complicated, 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, can not effectively detect Small object,
It is unfavorable for the identification of the Small objects such as oil pipeline and optical cable.
Optical imagery is then the optical imagery for directly acquiring target, have contain much information, high sensitivity, measurement accuracy are high,
The advantages that response is fast, anti-electromagnetic field interference performance is strong, non-contact detection, also has very high resolution ratio, institute in closer distance
The abundant information of acquisition, accuracy of identification is relatively high, is conducive to small target detection and identifies.
Underwater optics imaging at present is mainly Active Imaging, i.e., is illuminated using blue green light or white light source, using CCD
Or information of the CMOS as target in image device acquisition illumination field of view.There are mainly two types of underwater active optics imagings: first is that even
The Underwater Imaging technology of continuous optical illumination, as Chinese Marine University propose a kind of annular laser lighting underwater imaging device (in
State's patent of invention, application number: 201010293845.6)；One is the range-gated imaging techniques of pulse illumination light, such as Beijing to manage
Work university proposes a kind of underground distance gated imaging method (Chinese invention patent, patent No. based on electronic shutter
ZL201010238852.6).The bright underwater optics imaging operating distance of continuous illumination is closer, generally 1~2 times of attenuation length,
Main cause is that the back scattering of water affects operating distance: the Underwater Imaging bright compared to continuous illumination, underground distance gated
Imaging can effectively inhibit the back scattering of water, and operating distance is mentioned 5~7 times of attenuation lengths.Although it is underground distance gated at
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 operations such as the exploration of underwater topography landforms or pipeline prospecting maintenance, is unfavorable for big visual field operation, thus band
Carry out the problems such as planning parameters of scanning paths is difficult and working efficiency is low.
Summary of the invention
It is an object of the invention to overcome drawbacks described above existing for underwater scanning technique at present, a kind of battle array under water is proposed
Scanning laser imaging device, the device are able to solve the problem of underwater remote big field optical imaging hardly possible, can be realized underwater
Wide view-field three-D imaging.
To achieve the goals above, the present invention provides a kind of battle array scanning laser imaging device under water, described device packets
It 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
With control processing unit 17；Each component of the electrical module 19 is fixed on 22 two sides of mounting plate, passes through mounting plate 22 and delivery
Device 1 is fixed；
The image-forming module 18 includes pitching servo mechanism 5, roll servo mechanism 6 and optical imagery mould group 14, described vertical
It is fixed by pinboard 24 and vehicle 1 to shake servo mechanism 5, the pitching servo mechanism 5 loads roll using rigid support 21
Servo mechanism 6, the roll servo mechanism 6 directly load optical imagery mould group 14；The roll servo mechanism 6 is for realizing cross
To scanning and lateral aiming off line；The pitching servo mechanism 5 for realizing longitudinal scanning and longitudinal aiming off line function,
And the switching of forward-looking mode and look-down mode is realized by pitching different angle；
The optical imagery mould group 14 includes imaging lens 7, optical filter 8, gated imaging sensor 9 and illumination camera lens l0；
The laser that the illumination laser 15 emits is transmitted to illumination camera lens 10 by energy-transmission optic fibre 11.
In above-mentioned technical proposal, the vehicle 1 is equipped with 2 connection cables of plug, realizes and carries out letter with nobody latent device 25
Breath interaction and power supply；1 overall appearance of vehicle is cylindrical, and head is spherical in shape, and head has forward sight optical window 4, abdomen
With lower optometry window 3.
In above-mentioned technical proposal, the combined inertial nevigation 16, for obtaining the attitude parameter of vehicle 1, the reality including mass center
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 processing unit 17 includes: communication subelement, image procossing subelement and servo
Control subelement；
The communication subelement, for receiving the control command for passing through the host computer that plug 2 is passed to, the blit on host computer
The image data information generated as processing subelement；
The SERVO CONTROL subelement generates control pitching servo mechanism 5 for receiving the information of the transmission of combined inertial nevigation 16
With the control command of roll servo mechanism 6；
Described image handles subelement, for receiving the image information of 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 coupled to array image sensor composition, for the received target laser echo-signal of imaging lens 7 to be converted into electric signal,
And two dimensional image is exported to the image procossing subelement for controlling processing module 17；The face system of battle formations used by gated imaging sensor 9
Picture sensor is CCD or CMOS, is correspondingly formed two kinds of gated imaging sensor ICs CD and ICMOS, wherein gating ICCD is by gating
Image intensifier is constituted through light-cone QCD sum rules to CCD, and gating ICMOS is made of gating image intensifier through light-cone QCD sum rules to CMOS.
In above-mentioned technical proposal, the image-forming module 18 further includes reflective mirror 20, is carried in roll servo mechanism 6, cloth
It sets before optical imagery mould group 14, will illuminate on the laser reflection to assigned direction that camera lens 10 issues, by what is be reflected back from target
On laser reflection to imaging lens 7, that is, will be on the optical axis direction assigned direction of optical imagery mould group.
In above-mentioned technical proposal, the image-forming module 18 further includes search index and distance measuring unit, is shone for reconnaissance probe
The target for the laser-irradiated domain that bright laser 15 issues and the distance for measuring target, then feed back to the control for range information
Processing unit 17 processed；Described search guidance includes receiving camera lens 12 and photodetector 13, illumination laser 15 with distance measuring unit
Nano second laser pulse is provided for search index and distance measuring unit, ranging is carried out by Delay；
The control processing unit 17 further includes ranging processing subelement, incoming for receiving search index and distance measuring unit
Target range information, and range information is converted into delayed data, generates control gated imaging sensor 9 and illumination laser
15 working sequence realizes underground distance gated imaging.
Based on the above-mentioned scanning laser imaging device of battle array under water, the present invention also provides a kind of battle array scanning laser under water at
Image space method, which comprises
Step 1) the control processing unit 17 receives the control command of nobody latent device 25, and work is arranged according to control command
Mode；The type of the operating mode is forward-looking mode or backsight mode；
If step 2) operating mode is forward-looking mode, it is transferred to step 3)；If operating mode is backsight mode, it is transferred to step
It is rapid 4)；
Step 3) pitching servo mechanism 5 passes through the optical imagery mould group 14 that rigid support 21 loads roll servo mechanism 6
Optical axis direction be adjusted on the course direction of vehicle 1, be imaged by the realization transverse direction planar array scanning of roll servo mechanism 6；
Step 4) pitching servo mechanism 5 passes through the optical imagery mould group 14 that rigid support 21 loads roll servo mechanism 6
Optical axis be directed toward the earth's core；Pitching servo mechanism 5 and the cooperation of roll servo mechanism 6 carry out planar array scanning imaging；
The image procossing subelement of step 5) control processing processing unit 17 receives the figure that gated imaging sensor 9 is sent
Picture carries out splicing synthesis to image and cuts the panorama sketch that width is n × a；
Step 6) control processing processing unit 17 communication subelement to nobody dive device 25 upload image data information.
In above-mentioned technical proposal, the tool of the lateral planar array scanning imaging of the realization of the roll servo mechanism 6 in the step 3)
Body process are as follows:
Transversely stepping n-1 times of roll servo mechanism 6, transverse direction stepping-in amount is α every time, realizes transverse direction n by transversal scanning
Frame scan, it is n × α that width is cut in scanning, and wherein α is underground distance gated imaging single imaging transverse visual field, in the process, is indulged
The attitude parameter for shaking the vehicle 1 that servo mechanism 5 and roll servo mechanism 6 are provided according to combined inertial nevigation 16 generates and disturbance torque
Equal in magnitude, contrary control moment compensates two freedom degrees of vertical and horizontal, offsets ocean current and disturbs with what is gushed
It is dynamic, so that sight line is kept given direction within 9 time of integration of gated imaging sensor, to realize what transversal scanning obtained
The continuous splicing of n frame image, and then realize that the wide field that width is n α is cut in front of vehicle 1 to be scanned.
In above-mentioned technical proposal, pitching servo mechanism 5 and roll servo mechanism 6 in the step 4) cooperate carry out face battle array
The detailed process of scanning imagery are as follows:
Transversely stepping n-l times of roll servo mechanism 6, transverse direction stepping-in amount is α every time, realizes transverse direction by transversal scanning
N frame scan, it is n × α that width is cut in scanning, and pitching servo mechanism 5 carries out the compensation of the vehicle speed of a ship or plane, and stepping compensates n-l times along longitudinal direction,
Longitudinal direction stepping compensation rate is β/(n-1) every time；Wherein β is that longitudinal visual field is imaged in underground distance gated imaging single；Pitching servo
The speed of a ship or plane compensation of mechanism 5 and the transverse direction of roll servo mechanism 6 are swept to catch to synchronously complete after stepping reaches specified aiming line position and be stopped
te；teFor 9 time of integration of gated imaging sensor, sight line stepping period is 6 machine of pitching servo mechanism 5 and roll servo mechanism
The sum of tool stepping time and 9 time of integration of gated imaging sensor；Pitching servo mechanism 5 and roll servo mechanism 6 are according to combination
The attitude parameter for the vehicle 1 that inertial navigation 16 provides generates and disturbance torque control moment equal in magnitude, contrary, to longitudinal direction
It is compensated with laterally two freedom degrees, the disturbance offsetting ocean current and gushing enables sight line to integrate in gated imaging sensor 9
When ask it is interior keep given and be directed toward, so that the continuous splicing for the n frame image that transversal scanning obtains can be realized, and then realize vehicle 1
Cut the wide field scanning that width is n × α in lower section.
Bring advantage of the present invention is:
1, it illuminates camera lens in the device of the invention to separate with illumination laser, servo mechanism does not carry the illumination of larger size
Laser, considerably reduces the load requirement of pitching servo mechanism and roll servo mechanism, and servo mechanism is easier to realize high
Precision SERVO CONTROL precision and scan control speed, so that planar array scanning is achieved；
2, it illuminates camera lens in the device of the invention to separate with illumination laser, servo mechanism does not carry the illumination of larger size
Laser significantly reduces the radius of gyration and quality of pitching servo mechanism and roll servo mechanism, not only effectively reduces
Power consumption needed for servo mechanism, it is often more important that the volume that can effectively reduce whole system reduces the weight of whole system, is conducive to
The manufacture of pressure hull is conducive to integrate in nobody middle-size and small-size latent device and promote the use of；
3, the imaging lens in the device of the invention, illumination camera lens and reception camera lens are disposed closely together, and are 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 entire
The detection performance of device；The reduction of pressure-resistant optical window size is able to achieve the pressure-resistance structure for manufacturing anti-more deep-water pressure and pressure resistance
Optical window, engineering realizability are higher.
4, target range information is provided for Range-gated Imager using search index and range finder module in the device of the invention,
Making gated imaging module, Range-gated Imager working sequence is arranged in information automatically according to this distance, and it is sliding not need gated imaging module
Dynamic gating time carries out target search, and therefore, the present invention is able to achieve extensive search and automatic gated imaging to target, obtains
The high-resolution three-dimension image of target and the three-dimensional space position of target, improve search and imaging efficiency, also just improve and are
The availability and practicability of system.
Detailed description of the invention
Fig. 1 a is the schematic diagram of the scanning laser imaging device of battle array under water of the embodiment of the present invention 1；
Fig. 1 b is the schematic diagram of the scanning laser imaging device of battle array under water of the embodiment of the present invention 2；
Fig. 1 c is the schematic diagram of the scanning laser imaging device of battle array under water of the embodiment of the present invention 3；
Fig. 2 a is the scanning laser imaging device side view bevel figure of battle array under water under forward-looking mode of the invention；
Fig. 2 b is the elevational sectional view of the scanning laser imaging device of battle array under water under forward-looking mode of the invention；
Fig. 3 is the scanning schematic diagram of the scanning laser imaging device of battle array under water under forward-looking mode of the invention；
Fig. 4 a is the scanning schematic diagram of the scanning laser imaging device of battle array under water under backsight mode of the invention；
Fig. 4 b is Motion-compensated scan scheme of the invention；
Fig. 4 c is image mosaic scheme of the invention.
Attached drawing mark:
1, vehicle 2, plug 3, lower optometry window 4, forward sight optical window
5, pitching servo mechanism 6, roll servo mechanism 7, imaging lens
8, optical filter 9, gated imaging sensor 10, illumination camera lens
11, energy-transmission optic fibre 12, reception camera lens 13, photodetector
14, optical imagery mould group 15, illumination laser 16, combined inertial nevigation
17, processing module 18, image-forming module 19, electrical module are controlled
20, reflecting mirror 21, rigid support 22, mounting plate
23, work cable 24, pinboard 25, nobody latent device
Specific embodiment
The present invention will be further described in detail in the following with reference to the drawings and specific embodiments.
Embodiment 1
It is as shown in Figure 1a, a kind of that battle array scanning laser imaging device, described device include: vehicle l, electrical module under water
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 2 connecting line of plug
Cable and nobody latent device 25 carry out information exchange and power supply；1 overall appearance of vehicle is cylindrical, and head is spherical in shape, head
With forward sight optical window 4, carrier abdomen has lower optometry window 3；
The electrical module 19 includes illumination laser 15, combined inertial nevigation 16 and control processing unit 17；As shown in Figure 2 a,
Each component of the electrical module 19 is fixed on 22 two sides of circular mounting plate, is fixed by mounting plate 22 and the shell of vehicle 1；
The image-forming module 18 includes pitching servo mechanism 5, roll servo mechanism 6 and optical imagery mould group 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, described
Pitching servo mechanism 5 is fixed by pinboard 24 and vehicle 1, and the pitching servo mechanism 5 loads cross using rigid support 21
Servo mechanism 6 is rolled, the roll servo mechanism 6 directly loads optical imagery mould group 14.
The illumination laser 15 is bluish-green light pulse laser, can generate nano second laser pulse and realize to underwater mesh
Mark illumination, the laser that the illumination laser 15 emits are transmitted to illumination camera lens 10 by energy-transmission optic fibre 11；
The combined inertial nevigation 16, for obtaining the attitude parameter of vehicle 1, real-time translation vector, course including mass center,
Pitching and roll attitude angle information, and transmit the information to processing unit 17 processed；
The control processing unit 17 includes: communication subelement, image procossing subelement and SERVO CONTROL subelement；
The communication subelement, for receiving the control command for passing through the host computer that plug 2 is passed to, the blit on host computer
The image data information generated as processing subelement；
The SERVO CONTROL subelement generates control pitching servo mechanism 5 for receiving the information of the transmission of combined inertial nevigation 16
With the control command of roll servo mechanism 6；
Described image handles subelement, for receiving the image information of gated imaging sensor 9, carries out image mosaic synthesis
Panorama sketch；
The roll servo mechanism 6 realizes transversal scanning and lateral aiming off for loading optical imagery mould group 14
Line；
As shown in Figure 2 b, the pitching servo mechanism 5 loads roll servo mechanism 6 by rigid support 21, for realizing
Longitudinal scanning and longitudinal aiming off line function, and pass through the switching of pitching different angle realization forward-looking mode and look-down mode.
The imaging lens 7 are collected optical signal to gated imaging and are sensed for receiving the laser echo signal from target
Device 9；
The optical filter 8: for filtering out bias light and interference light other than laser echo signal, signal noise ratio (snr) of image is improved.
The gated imaging sensor 9 is the image device of whole device, by gating image intensifier through light-cone QCD sum rules to face
Array image sensor gating is constituted, and for the received target laser echo-signal of imaging lens 7 to be converted into electric signal, and is exported
Two dimensional image extremely controls the image procossing subelement of processing module 17；The battle array image sensing of face used by gated imaging sensor 9
Device is CCD or CMOS, is correspondingly formed two kinds of gated imaging sensor ICs 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 of gating image intensifier through light-cone QCD sum rules to CMOS.
The illumination camera lens 10 realizes target illumination for carrying out shaping to laser.
Embodiment 2
The structural schematic diagram of device is as shown in Figure 1 b, similar to the device of embodiment 1, the difference is that, the imaging
Module 18 further includes reflective mirror 20, is carried in roll servo mechanism 6, before being arranged in optical imagery mould group 14, will illuminate camera lens
On 10 laser reflections to assigned direction issued, by the laser reflection to imaging lens 7 being reflected back from target, that is, by light
The optical axis for learning imaging modules is directed toward on assigned direction.
Embodiment 3
The structural schematic diagram of device is as illustrated in figure 1 c, similar to Example 1, the difference is that, the image-forming module 18
Further include search index and distance measuring unit, for carrying out ranging to target, and range information is fed back into the control and handles list
Member 17；Described search guidance includes receiving camera lens 12 and photodetector 13 with distance measuring unit, and illumination laser 15 is that search is drawn
It leads and provides nano second laser pulse with distance measuring unit, ranging is carried out by Delay；
The control processing unit 17 further includes ranging processing subelement, incoming for receiving search index and distance measuring unit
Target range information, and range information is converted into delayed data, generates control gated imaging sensor 9 and illumination laser
15 working sequence realizes underground distance gated imaging.
Based on the device of embodiment 1, the present invention provides a kind of battle array scanning laser imaging method under water, the method packets
It includes:
Step 1) the control processing unit 17 receives the control command of nobody latent device 25, and work is arranged according to control command
Mode；The type of the operating mode is forward-looking mode or backsight mode；
If step 2) operating mode is forward-looking mode, it is transferred to step 3)；If operating mode is backsight mode, it is transferred to step
It is rapid 4)；
Step 3) pitching servo mechanism 5 passes through the optical imagery mould group 14 that rigid support 21 loads roll servo mechanism 6
Optical axis direction be adjusted on the course direction of vehicle 1, be imaged by the realization transverse direction planar array scanning of roll servo mechanism 6；
As shown in figure 3, detailed process are as follows: transversely stepping n-1 times of roll servo mechanism 6, transverse direction stepping-in amount is α every time,
Transverse direction n frame scan is realized by transversal scanning, and it is n × α that width is cut in scanning, and wherein α is the imaging of underground distance gated imaging single
Transverse field, in the process, the vehicle 1 that pitching servo mechanism 5 and roll servo mechanism 6 are provided according to combined inertial nevigation 16
Attitude parameter generates and disturbance torque control moment equal in magnitude, contrary, carries out to two freedom degrees of vertical and horizontal
Compensation, the disturbance offsetting ocean current and gushing enable sight line to keep given direction within 9 time of integration of gated imaging sensor,
To realize the continuous splicing for the n frame image that transversal scanning obtains, and then realize the wide field for cutting that width is n × α in front of vehicle 1
Scanning.
Step 4) pitching servo mechanism 5 passes through the optical imagery mould group 14 that rigid support 21 loads roll servo mechanism 6
Optical axis be directed toward the earth's core；Pitching servo mechanism 5 and the cooperation of roll servo mechanism 6 carry out planar array scanning imaging；
As shown in Fig. 4 a, Fig. 4 b and Fig. 4 c, detailed process are as follows: transversely stepping n-1 times of roll servo mechanism 6, it is horizontal every time
It is α to stepping-in amount, lateral n frame scan is realized by transversal scanning, it is n × α that width is cut in scanning, and pitching servo mechanism 5 carries out
The compensation of the vehicle speed of a ship or plane, stepping compensates n-1 times along longitudinal direction, and longitudinal direction stepping compensation rate is β/(n-1) every time；Wherein β be under water away from
Longitudinal visual field is imaged from gated imaging single；The speed of a ship or plane compensation of pitching servo mechanism 5 and the transverse direction of roll servo mechanism 6 are swept and are caught together
Step is completed to stop t after stepping reaches specified aiming line positione；teFor 9 time of integration of gated imaging sensor, sight line stepping week
Phase is the sum of pitching servo mechanism 5 and mechanical 9 time of integration of stepping Shi Wenyu gated imaging sensor of roll Dao Fu mechanism 6；It is vertical
The attitude parameter for shaking the vehicle 1 that servo mechanism 5 and roll servo mechanism 6 are provided according to combined inertial nevigation 16 generates and disturbance torque
Equal in magnitude, contrary control moment compensates two freedom degrees of vertical and horizontal, offsets ocean current and disturbs with what is gushed
It is dynamic, so that sight line is asked that interior holding is given when gated imaging sensor 9 integrates and be directed toward, to can realize that transversal scanning obtains
N frame image continuous splicing, and then realize vehicle 1 below cut width be n × α wide field scan；
The image procossing subelement of step 5) control processing processing unit 17 receives the figure that gated imaging sensor 9 is sent
Picture carries out splicing synthesis to image and cuts the panorama sketch that width is n × α；
Step 6) control processing processing unit 17 communication subelement to nobody dive device 25 upload image data information.
Realization in order to demonstrate the invention, describes above-mentioned specific embodiment, but other variations of the invention and repairs
Change, it will be apparent to those skilled in the art that, the present invention is not limited to described specific embodiments.Therefore, at this
The true spirit and copy principle model of invention disclosure of that do not belong to interior any/all modifications, variation or equivalent transformation
In claims of the 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
(16) and processing unit (17) are controlled；Each component of the electrical module (19) is fixed on mounting plate (22) two sides, passes through installation
Plate (22) and vehicle (1) are fixed；
The image-forming module (18) includes pitching servo mechanism (5), roll servo mechanism (6) and optical imagery mould group (14), institute
It states pitching servo mechanism (5) to fix by pinboard (24) and vehicle (1), the pitching servo mechanism (5) utilizes rigidity branch
Frame (21) loads roll servo mechanism (6), and the roll servo mechanism (6) directly loads optical imagery mould group (14)；The cross
Servo mechanism (6) are rolled for realizing transversal scanning and lateral aiming off line；The pitching servo mechanism (5) is for realizing longitudinal direction
Scanning and longitudinal aiming off line function, and pass through the switching of pitching different angle realization forward-looking mode and look-down mode；
The optical imagery mould group (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, which is characterized in that on the vehicle (1)
Equipped with plug (2) connection cables, realizes and carry out information exchange and power supply with nobody latent device (25)；Vehicle (1) is whole outer
See cylindrical, head is spherical in shape, and head has forward sight optical window (4), and abdomen has lower optometry window (3).
3. the scanning laser imaging device of battle array under water according to claim 1, which is characterized in that the combined inertial nevigation
(16), for obtaining the attitude parameter of vehicle (1), real-time translation vector, course, pitching and roll attitude angle including mass center
Information, and transmit the information to control processing unit (17).
4. the scanning laser imaging device of battle array under water according to claim 1, which is characterized in that the control processing unit
It (17) include: communication subelement, image procossing subelement and SERVO CONTROL subelement；
The communication subelement uploads image to host computer for receiving the control command for the host computer being passed to by plug (2)
Handle the image data information that subelement generates；
The SERVO CONTROL subelement generates control pitching servo mechanism (5) for receiving the information of combined inertial nevigation (16) transmission
With the control command of roll servo mechanism (6)；
Described image handles subelement, for receiving the image information of 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, which is characterized in that the gated imaging sensing
Device (9) is the image device of whole device, is made of gating image intensifier through light-cone QCD sum rules to array image sensor, and being used for will
The received target laser echo-signal of imaging lens (7) is converted into electric signal, and exports two dimensional image to controlling processing unit
(17) image procossing subelement；Array image sensor used by gated imaging sensor (9) is CCD or CMOS, corresponding
Form two kinds of gated imaging sensor ICs CD and ICMOS, wherein gating ICCD is by gating image intensifier through light-cone QCD sum rules to CCD
It constitutes, gating ICMOS is made of gating image intensifier through light-cone QCD sum rules to CMOS.
6. battle array scanning laser imaging device under water described in one of -5 according to claim 1, which is characterized in that the imaging mould
Block (18) further includes reflective mirror (20), is carried on roll servo mechanism (6), before being arranged in optical imagery mould group (14), will be shone
On the laser reflection to assigned direction that bright mirror head (10) issues, by the laser reflection being reflected back from target to imaging lens (7),
Namely the optical axis of optical imagery mould group is directed toward on assigned direction.
7. battle array scanning laser imaging device under water described in one of -5 according to claim 1, which is characterized in that the imaging mould
Block (18) further includes search index and distance measuring unit, is used for the laser-irradiated domain that reconnaissance probe illumination laser (15) issue
Then range information is fed back to the control processing unit (17) by target and the distance for measuring target；Described search guidance with
Distance measuring unit includes receiving camera lens (12) and photodetector (13), and illumination laser (15) is that search index is mentioned with distance measuring unit
For nano second laser pulse, ranging is carried out by Delay；
The control processing unit (17) further includes ranging processing subelement, is passed to for receiving search index and distance measuring unit
Target range information, and range information is converted into delayed data, generate control gated imaging sensor (9) and illumination laser
(15) working sequence realizes underground distance gated imaging.
8. a kind of battle array scanning laser imaging method under water, based on the scanning laser of battle array under water described in claim 1 imaging dress
Set realization, which comprises
Step 1) control processing unit (17) receives the control command of nobody latent device (25), and work is arranged according to control command
Mode；The type of the operating mode is forward-looking mode or backsight mode；
If step 2) operating mode is forward-looking mode, it is transferred to step 3)；If operating mode is backsight mode, it is transferred to step
4)；
Step 3) pitching servo mechanism (5) passes through the optical imagery mould group that rigid support (21) load roll servo mechanism (6)
(14) optical axis direction is adjusted on the course direction of vehicle (1), is swept by the realization transverse direction face battle array of roll servo mechanism (6)
Retouch imaging；
Step 4) pitching servo mechanism (5) passes through the optical imagery mould group that rigid support (21) load roll servo mechanism (6)
(14) optical axis is directed toward the earth's core；Pitching servo mechanism (5) and roll servo mechanism (6) cooperation carry out planar array scanning imaging；
The image procossing subelement that step 5) controls processing unit (17) receives the image that gated imaging sensor (9) are sent, right
Image carries out splicing synthesis and cuts the panorama sketch that width is n × α；N is the lateral stepping number of the roll servo mechanism (6), and α is
Lateral stepping-in amount；
Step 6) control processing unit (17) communication subelement to nobody dive device (25) upload image data information.
9. the scanning laser imaging method of battle array under water according to claim 8, which is characterized in that the cross in the step 3)
Roll the detailed process of the lateral planar array scanning imaging of realization of servo mechanism (6) are as follows:
Roll servo mechanism (6) transversely stepping n-1 times, transverse direction stepping-in amount is α every time, realizes transverse direction n frame by transversal scanning
Scanning, it is n × α that width is cut in scanning, 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 mechanism (5) and roll servo mechanism (6) are provided according to combined inertial nevigation (16) is generated and is done
The control moment that torque is equal in magnitude, contrary is disturbed, two freedom degrees of vertical and horizontal are compensated, offset ocean current and is gushed
Disturbance, so that sight line is kept given within gated imaging sensor (9) time of integration and be directed toward, to realize transversal scanning
The continuous splicing of the n frame image of acquisition, 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, which is characterized in that in the step 4)
Pitching servo mechanism (5) and roll servo mechanism (6) cooperation carry out the detailed process of planar array scanning imaging are as follows:
Roll servo mechanism (6) transversely stepping n-l times, transverse direction stepping-in amount is α every time, and lateral n is realized by transversal scanning
Frame scan, it is n × α that width is cut in scanning, and pitching servo mechanism (5) carries out the compensation of the vehicle speed of a ship or plane, and stepping compensates n-l along longitudinal direction
Secondary, longitudinal direction stepping compensation rate is β/(n-1) every time；Wherein β is that longitudinal visual field is imaged in underground distance gated imaging single；Pitching is watched
The transverse direction of the speed of a ship or plane compensation and roll servo mechanism (6) that take mechanism (5), which sweeps to catch, synchronously completes stepping, reaches specified aiming line position
After stop te；twFor gated imaging sensor (9) time of integration, sight line stepping period is that pitching servo mechanism (5) and roll are watched
Take mechanism (6) mechanical the sum of stepping time and gated imaging sensor (9) time of integration；Pitching servo mechanism (5) and roll are watched
The attitude parameter for taking the vehicle (1) that mechanism (6) is provided according to combined inertial nevigation (16) generates and disturbance torque is equal in magnitude, direction
Opposite control moment compensates two freedom degrees of vertical and horizontal, and the disturbance offsetting ocean current and gushing enables sight line
It keeps given within gated imaging sensor (9) time of integration to be directed toward, so that the company for the n frame image that transversal scanning obtains can be realized
Continuous splicing, and then realize that the wide field that width is n × α is cut below vehicle (l) to be scanned.
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| CN112911172B (en) * | 2021-01-25 | 2022-11-01 | 中国人民解放军陆军工程大学 | Target scene distance extraction device and method based on InGaAs camera |
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