CN108169763A - Underwater remote imaging system based on compressed sensing theory - Google Patents
Underwater remote imaging system based on compressed sensing theory Download PDFInfo
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- CN108169763A CN108169763A CN201711462265.3A CN201711462265A CN108169763A CN 108169763 A CN108169763 A CN 108169763A CN 201711462265 A CN201711462265 A CN 201711462265A CN 108169763 A CN108169763 A CN 108169763A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 103
- 238000005070 sampling Methods 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 4
- 230000003287 optical effect Effects 0.000 claims description 24
- 238000005192 partition Methods 0.000 claims description 14
- 230000002706 hydrostatic effect Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 230000006835 compression Effects 0.000 abstract description 5
- 238000007906 compression Methods 0.000 abstract description 5
- 230000008033 biological extinction Effects 0.000 abstract 3
- 101000694017 Homo sapiens Sodium channel protein type 5 subunit alpha Proteins 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000012736 aqueous medium Substances 0.000 description 1
- 201000009310 astigmatism Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
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- 238000012634 optical imaging Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Studio Devices (AREA)
Abstract
The invention belongs to the technical field of underwater imaging, and particularly relates to an underwater remote imaging system based on a compressed sensing theory. The system comprises a compression sensing imaging system, a pulse laser and a microcomputer which are arranged in a watertight pressure-resistant shell, wherein the microcomputer is connected with the compression sensing imaging system; the compressive sensing imaging system comprises a digital micromirror device, an imaging unit, a sampling unit and an extinction unit, wherein the sampling unit and the extinction unit are symmetrically distributed on two sides of the imaging unit; the digital micromirror device performs compressed sensing measurement on an imaging target image signal, then reflects the signal light into the sampling unit, and reflects stray light into the extinction unit. The invention can subdivide echo signals of different distances in time sequence, selectively extract data according to corresponding time to reconstruct images, thereby realizing the imaging of targets at different distances through one imaging process, having simple operation and being not easy to lose the targets.
Description
Technical field
The invention belongs to Underwater Imaging technical fields, and in particular to it is a kind of based on compressive sensing theory it is underwater at a distance into
As system.
Background technology
Underwater optics imaging technique has the advantages that big imaging resolution height, information content, good confidentiality, imaging are intuitive, is
Not available for other undersea detection technologies.Therefore in marine resources investigation, Undersea Scientific Expedition, underwater robot, underwater peace
Entirely, the various fields such as underwater military target detection, Underwater Engineering have remote high-resolution underwater optics imaging technique
Extensive and urgent demand.Since water body and its contained substance have imaging beam strong attenuation effect so that remote imaging
It is extremely difficult.
The main method for being capable of underwater optics image-forming range at present is underwater optics rangerate-gate technique, which utilizes allusion quotation
The range gating shutter that ICCD (enhancing Charged Couple) camera of type carries, by controlling the opening and closing of shutter so as to hard
The non-imaged stray light of non-selected distance is blocked in except ICCD cameras on part, and the imaging beam of selected distance then reaches
ICCD cameras and be imaged.The essence of the technology is to reach imaging system with imaging beam according to stray lights such as most of consequent scatterings
Difference in time is excluded stray light from sequential by hardware, improves image quality.
Underground distance gated camera using ICCD cameras as image-forming component, by the gate-width of ICCD camera shutters is set come pair
Target imaging apart from camera specified distance, but technology single imaging can only obtain the target preset at distance, if thinking
The target image of different location before and after the target is obtained, then needs to reset camera shutter, it is complicated for operation, it be easy to cause mesh
Mark is lost.
Invention content
It is an object of the present invention to provide a kind of underwater remote imaging systems based on compressive sensing theory, solve existing
The technical issues of underwater optics imaging technique can not obtain different distance target image in single imaging.
The present invention technical solution be：A kind of underwater remote imaging system based on compressive sensing theory, it is special
Different part is：Including compressed sensing imaging system, pulse laser and the miniature calculating being arranged in watertightness pressure hull
Machine, the microcomputer are connected with compressed sensing imaging system；
The compressed sensing imaging system includes Digital Micromirror Device, imaging unit, sampling unit and delustring unit, sampling
Unit and delustring unit are symmetrical in the both sides of imaging unit；
Imageable target picture signal is carried out compressed sensing measurement by the Digital Micromirror Device, then reflects into flashlight
Enter sampling unit, stray light is reflected into delustring unit.
Further, above-mentioned imaging unit include along the direction of propagation of imaging beam set gradually into light source shielding cylinder,
Optical imagery lens barrel, the first image-forming objective lens, diaphragm, the second image-forming objective lens, spacer ring and third image-forming objective lens.
Further, what the signal optical propagation direction that above-mentioned sampling unit includes reflecting along Digital Micromirror Device was set gradually
First optical concentration mirror, the first electromagnetic shielding cylinder and photomultiplier；
The delustring unit includes the second optics set gradually along the spuious optical propagation direction that Digital Micromirror Device reflects
Condenser, the second electromagnetic shielding cylinder and darkroom.
Preferably, above-mentioned watertightness pressure hull is cylinder shell structure, and housing both ends utilize end-face seal ring or axis
Hydrostatic seal is carried out to sealing ring.
Further, axial partition board is provided in above-mentioned watertightness pressure hull, the axial direction partition board is pressure-resistant by watertightness
Enclosure interior is divided into upper chamber and lower chambers；The compressed sensing imaging system and microcomputer are located in upper chamber, institute
It states pulse laser and is located at bottom chamber.
Further, above-mentioned compressed sensing imaging system and microcomputer are fixed on the upper surface of axial partition board, described
Pulse laser is fixed on the lower surface of axial partition board.
Further, reflection mirror array is provided in above-mentioned Digital Micromirror Device, speculum can carry out ± 12 ° around fixing axle
The overturning of angle.
Further, above-mentioned Digital Micromirror Device is fixed in multiple free degree micro regulation mounting base.
Further, the output port setting optical lens of above-mentioned pulse laser.
Further, light path light splitting seat is provided in the light path of above-mentioned Digital Micromirror Device.
The beneficial effects of the present invention are：
(1) compressed sensing imaging technique is applied to Underwater Imaging field by the present invention, is excluded with reference to rangerate-gate technique miscellaneous
The characteristics of astigmatism can be effectively increased imaging beam energy to the advantage of imaging interference and underwater laser illumination, devises pulse and swashs
The single-phase plain camera system of the underwater compressed sensing of light device；Algorithm command range gating technique is applied in systematic sampling for the first time, profit
(0.2 receive second/time) feature is sampled with the unique texture and photomultiplier ultra-high frequency of underwater compressed sensing imaging system, it can will
The echo-signal of different distance carries out the subdivision in sequential, is selectively extracted data according to the corresponding time, carries out
Image reconstruction.Therefore it is just realized to the target imaging at different distance by Polaroid process, it is easy to operate, not easy to lose
Target.
(2) present invention is had for the first time using algorithm rangerate-gate technique by the Place object signal to any distance
The sampling of selection and the reconstruct of image, reduce the time consumed in sampling process, greatly reduce and are produced by non-imaged distance
The influence of raw stray light.
Description of the drawings
Fig. 1 is the isometric side view of the underwater remote imaging system of the present invention.
Fig. 2 is the mounted inside view of the underwater remote imaging system of the present invention.
Fig. 3 is the structural decomposition diagram of compressed sensing imaging system of the present invention.
Wherein, reference numeral is：1- compressed sensing imaging systems, 2- axial direction partition boards, 3- microcomputers, 4- pulse lasers
Device, 5- watertightness pressure hulls, 6- Digital Micromirror Device, 7- imaging units, 8- sampling units, 9- delustring units, 61- light paths point
Light seat, 71- is into light source shielding cylinder, 72- optical imagery lens barrels, the first image-forming objective lens of 73-, 74- diaphragms, the second image-forming objective lens of 75-,
76- spacer rings, 77- third image-forming objective lens, 81- the first optical concentration mirrors, 82- first are electromagnetically shielded cylinder, 83- photomultipliers, 91-
Second optical concentration mirror, 92- second are electromagnetically shielded cylinder, 93- darkrooms.
Specific embodiment
The present invention design principle be：By using short pulse (nanosecond) laser active illumination, short-pulse laser is utilized
The characteristics of energy density is high, good directionality is enhancing the energy of echo target, Digital Micromirror Device (DMD) and photomultiplier
Compressed sensing sampling system is formed, high frequency sampling is carried out by the algorithm being integrated in computer and carries out the reconstruct of image.By
In the influence of aqueous medium, object and imaging system its opposing stationary time compared with land are longer, system can sample when
Between it is also longer, this is conducive to compressed sensing sampling system and carries out underwater weak echo signal the high frequency of " few value repeatedly " to adopt
Sample, thus image resolution ratio is effectively increased, and have higher signal-to-noise ratio, realize underwater remote high quality imaging.Specifically
Embodiment is as follows：
Referring to Fig. 1 and Fig. 2, the present embodiment is a kind of underwater remote imaging system based on compressive sensing theory, is tied
Structure includes the compressed sensing imaging system 1, pulse laser 4 and the microcomputer 3 that are arranged in watertightness pressure hull 5, micro-
Type computer 3 is connected with compressed sensing imaging system 1.
Compressed sensing imaging system 1 is the core of the present invention, it can be incited somebody to action using the mode of algorithm command range gating
It is extracted with the sampled signal of the same distance in target location, and reconstructed algorithm obtains the high quality graphic of the distance.
Microcomputer 3 is integrated with the algorithm based on compressive sensing theory, is control and the image reconstruction of range gating
Brain.
Pulse laser 4 is the light source as active illumination system, is risen to using short-pulse laser and reaches image planes
Imaging beam energy absolute value, realize remote imaging, and the present invention can set optical lens before short-pulse laser
To be effectively increased the angle that laser pulse expands, illumination region is made to be overlapped with areas imaging maximum magnitude, improves the profit of energy
With rate；
Watertightness pressure hull 5 plays the role of outer layer protection to components all in system, underwater due to being applied to,
Watertightness pressure hull 5 should have certain compression strength and stability, be easily installed, waterproof seal is good and corrosion resistance is strong
The features such as.More preferably, watertightness pressure hull 5 is cylinder shell structure, and housing both ends utilize end-face seal ring or axis
Hydrostatic seal is carried out to sealing ring.Axial partition board 2 can be set to be fixed as the installation of all components in watertightness pressure hull 5
Tablet, it can be disassembled from watertightness pressure hull 5, convenient for the installation and removal of component.In addition, axial partition board
2 also act as the supporting role to 5 front and rear cover of watertightness pressure hull, increase the rigidity of watertightness pressure hull 5.
Axial partition board 2 will be divided into upper chamber and lower chambers, compressed sensing imaging system 1 inside watertightness pressure hull 5
It is located in upper chamber with microcomputer 3, pulse laser 4 is located at bottom chamber, and axial partition board 2 can effectively play electromagnetic screen
The effect covered.Compressed sensing imaging system 1 and microcomputer are fixed on the upper surface of axial partition board, and pulse laser is fixed on
The lower surface of axial partition board.The arrangement of the structure can make illuminating bundle reach 79mm with imaging beam spacing minimum, utmostly
Reduce imaging blind area.
Referring to Fig. 3, compressed sensing imaging system 1 includes Digital Micromirror Device 6, imaging unit 7, sampling unit 8 and delustring
Unit 9, sampling unit 8 and delustring unit 9 are symmetrical in the both sides of imaging unit 7；
Imaging unit 7 include along the direction of propagation of imaging beam set gradually into light source shielding cylinder 71, optical imaging lens
The 72, first image-forming objective lens 73 of cylinder, diaphragm 74, the second image-forming objective lens 75, spacer ring 76 and third image-forming objective lens 77.In view of making under water
With, can be selected by way of plated film will by band of light, increase the energy of imaging beam.
Imageable target picture signal is carried out compressed sensing measurement by Digital Micromirror Device 6, then by selected signal light reflection
Into sampling unit 8, stray light is reflected into delustring unit 9.In order to improve light path isolation effect, Digital Micromirror Device 6 can
Light path to be set to be divided seat 61 in light path.
Sampling unit 8 is used to implement compression sampling, including the signal optical propagation direction that is reflected along Digital Micromirror Device 6 successively
The first optical concentration mirror 81, the first electromagnetic shielding cylinder 82 and photomultiplier 83 of setting, the first optical concentration mirror 81 will be selected
Imaging beam converge to photomultiplier 83 carry out sampling imaging.Photomultiplier 83 is adopting for compressed sensing imaging system 1
Sample receiving device, it has the characteristics that high frequency sampling, by the algorithm being integrated in microcomputer 3 can control its to it is selected away from
From echo-signal carry out slight bar in sequential, and Sampled optical signals are converted into value of electrical signals, then in miniature calculating
The reconstruct of image is carried out in machine 3.Because photomultiplier 83 is more sensitive for external photoelectricity, therefore the present invention devises the first electricity
Magnetic shielding cylinder 82 and light path light splitting seat 61, are effectively isolated electromagnetism and light path, to reach best imaging effect.
For eliminating stray light, the spuious optical propagation direction including being reflected along Digital Micromirror Device 6 is set delustring unit 9 successively
The second optical concentration mirror 91, the second electromagnetic shielding cylinder 92 put and darkroom 93, delustring unit 9, the second optical concentration mirror 91 will not
The stray light needed converges to darkroom 93 and is absorbed.
Digital Micromirror Device (DMD) be realize compression sampling critical component, it by the target image signal of imaging surface into
Row compressed sensing measures, and selected part signal is reflected towards photomultiplier by optical concentration mirror, forms sampling.DMD by
One group of small speculum rearranges in the form of an array, and speculum can carry out the overturning of ± 12 ° of angles, therefore light around fixing axle
Electric multiplier tube and the imaging beam being irradiated on DMD are distributed into ± 12 ° of both sides, by this characteristic of DMD by the light beam of needs
Signal reflex is reflected towards other direction to same direction, unwanted signal (i.e. spuious optical signal).
Since DMD is divided seat 61 and imaging unit 7 in the presence of machining to the more demanding and light path of imaging beam centering
And installation error, for these problems, the present invention devises DMD device multiple free degree micro regulation mounting base, both ensure that DMD's
Reliable installation in turn ensures that DMD is finely tuned relative to the centering of imaging beam.
Underwater Imaging technology based on compressive sensing theory is arranged using the non-concurrent property of stray light and echo-signal light
Except influence of the stray light to imaging.But the present invention is not provided with the hardware such as range gating shutter, but utilizes sample frequency 1010Hz with
On underwater compressed sensing single pixel camera system as imaging receiver device, it is complete to the echo-signal after laser lighting impulse ejection
Journey receives.What receiver received is time series echo-signal, and the echo-signal of different distance is received in chronological order.It needs
The target imaging of which distance then will be corresponded to by the data of time and be extracted in each sample sequence, form compressed sensing
Sampled value vector.The vector, which is substituted into restructing algorithm, can calculate the image of respective distance.Therefore pass through Polaroid mistake
Journey is just realized to the target imaging at different distance, target easy to operate, not easy to lose.
Compared to underground distance gated imaging method (i.e. ICCD camera distances gated imaging method), image-forming range of the invention
1 times can be improved；Compared to underwater laser scanning imaging technology, number of samples of the invention is 60%~90%, is greatly reduced
The cost and difficulty of system hardware have many advantages, such as flexible imaging, simple system, small of low cost and systematic error.
Claims (10)
1. a kind of underwater remote imaging system based on compressive sensing theory, it is characterised in that：It is resistance to including being arranged on watertightness
Compressed sensing imaging system, pulse laser and microcomputer in pressure shell body, the microcomputer and compressed sensing into
As system is connected；
The compressed sensing imaging system includes Digital Micromirror Device, imaging unit, sampling unit and delustring unit, sampling unit
It is symmetrical in the both sides of imaging unit with delustring unit；
Imageable target picture signal is carried out compressed sensing measurement by the Digital Micromirror Device, is then reflected into flashlight and is adopted
Stray light is reflected into delustring unit by sample unit.
2. the underwater remote imaging system according to claim 1 based on compressive sensing theory, it is characterised in that：It is described
Imaging unit includes being imaged into light source shielding cylinder, optical imagery lens barrel, first along what the direction of propagation of imaging beam was set gradually
Object lens, diaphragm, the second image-forming objective lens, spacer ring and third image-forming objective lens.
3. the underwater remote imaging system according to claim 2 based on compressive sensing theory, it is characterised in that：It is described
Sampling unit includes the first optical concentration mirror that the signal optical propagation direction that reflect along Digital Micromirror Device sets gradually, first electric
Magnetic shielding cylinder and photomultiplier；
The delustring unit includes the second optical concentration set gradually along the spuious optical propagation direction that Digital Micromirror Device reflects
Mirror, the second electromagnetic shielding cylinder and darkroom.
4. according to the underwater remote imaging system based on compressive sensing theory any in claim 1-3, feature
It is：The watertightness pressure hull is cylinder shell structure, housing both ends using end-face seal ring or axial sealing ring into
Row hydrostatic seal.
5. the underwater remote imaging system according to claim 4 based on compressive sensing theory, it is characterised in that：It is described
Be provided with axial partition board in watertightness pressure hull, the axial direction partition board will be divided into inside watertightness pressure hull upper chamber and
Lower chambers；The compressed sensing imaging system and microcomputer are located in upper chamber, and the pulse laser is located at lower chambers
It is interior.
6. the underwater remote imaging system according to claim 5 based on compressive sensing theory, it is characterised in that：It is described
Compressed sensing imaging system and microcomputer are fixed on the upper surface of axial partition board, the pulse laser be fixed on it is axial every
The lower surface of plate.
7. the underwater remote imaging system according to claim 6 based on compressive sensing theory, it is characterised in that：It is described
Reflection mirror array is provided in Digital Micromirror Device, speculum can carry out the overturning of ± 12 ° of angles around fixing axle.
8. the underwater remote imaging system according to claim 7 based on compressive sensing theory, it is characterised in that：It is described
Digital Micromirror Device is fixed in multiple free degree micro regulation mounting base.
9. the underwater remote imaging system according to claim 8 based on compressive sensing theory, it is characterised in that：It is described
The output port setting optical lens of pulse laser.
10. the underwater remote imaging system according to claim 9 based on compressive sensing theory, it is characterised in that：Institute
It states and light path light splitting seat is provided in the light path of Digital Micromirror Device.
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| CN201711462265.3A CN108169763A (en) | 2017-12-28 | 2017-12-28 | Underwater remote imaging system based on compressed sensing theory |
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Cited By (2)
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| CN110456376A (en) * | 2019-07-25 | 2019-11-15 | 深圳奥锐达科技有限公司 | TOF measurement method and apparatus |
| CN113784065A (en) * | 2021-08-27 | 2021-12-10 | 同济大学 | High-speed imaging system for water and underwater photography |
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