CN110411777A - A kind of visualization box sampler underwater and its control method - Google Patents
A kind of visualization box sampler underwater and its control method Download PDFInfo
- Publication number
- CN110411777A CN110411777A CN201910726306.8A CN201910726306A CN110411777A CN 110411777 A CN110411777 A CN 110411777A CN 201910726306 A CN201910726306 A CN 201910726306A CN 110411777 A CN110411777 A CN 110411777A
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- Prior art keywords
- underwater
- sampler
- receiver
- instrument
- under water
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
-
- 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
- H04N23/51—Housings
-
- 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
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention discloses a kind of visualization box sampler underwater and its control methods, including box sampler, binocular imaging subsystem, receiving end optical transmitter and receiver, host computer；Institute's binocular imaging subsystem includes the identical Underwater Imaging instrument of two parameters, and the two is symmetrically mounted on the left and right ends of box sampler, synchronous acquisition underwater object image sequence；LED light source, depth under water measuring instrument and control unit are mounted on by every Underwater Imaging instrument；Underwater Imaging instrument, underwater LED light source and depth under water measuring instrument are connected with control unit；All control units are connected with receiving end optical transmitter and receiver, and receiving end optical transmitter and receiver is connected with host computer.Structure of the invention is reasonable, easy to operate, can be realized the acquisition of targets in ocean sample, video data collection and real-time monitoring.
Description
Technical field
The present invention designs a kind of box sampler underwater, especially a kind of box sampler for observing in real time under water and
Its control method.
Background technique
Box sampler is sampling pipe or sampling cylinder is square or the sediment sampling device of rectangular box corer shape.By
The compositions such as pipe support, sampling box, weight, closure shovel.When sampler reaches seabed, sampling cylinder is set to be inserted into seabed by the gravity of weight
In deposit, closure shovel rotation cuts basic sediment and enters in sampling cylinder.Box sampler sample when sediment disturbance it is smaller or
Person does not disturb substantially, suitable for taking original state sample, is therefore widely used in ocean scientific investigation, is that the common Marine Geology of one kind is adopted
The tool of sample.
As ocean scientific investigation works iterative method, raising to Mineral Resource surveying accuracy demand is simple according to sampling
The data that device obtains are assessed the demand of being unable to satisfy to its stock number, thus video method is introduced stock number assessment in recent years
In.Especially in the assessment of a wide range of stock number, since in situ sampling range is small, time-consuming, video method is quick with its, big model
The characteristic enclosed gradually is paid attention to.For the problem for reducing video method measurement accuracy deficiency, proposed at present by situ with certain point
Sampled data is corrected its video measurement data.However, the box sampler on current market does not have sampling and obtains
Take the function of video information.Therefore, visualization box sampler underwater has great market possibility and technological innovation.
Summary of the invention
It is an object of the invention in view of the shortcomings of the prior art and insufficient, a kind of visualization box sampler underwater is provided
And its control method, which obtains immersed body image using two Underwater Imaging instrument are synchronous, and is based on Binocular Vision Principle
The three dimensional space coordinate of object is calculated, to obtain the space length on object between each point and imager；According to synchronization
The depth under water measuring instrument of measurement measures height and pitch angle of the sampler apart from seabed；It can be real by being connect with host computer
The real-time visible and video data storage of existing sampling process.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions: a kind of underwater case of visualization
Formula sampler, including box sampler, binocular imaging subsystem, receiving end optical transmitter and receiver, host computer；Institute's binocular imaging subsystem packet
The identical Underwater Imaging instrument of two parameters is included, the two is symmetrically mounted on the left and right ends of box sampler, synchronous acquisition water
Lower object image sequence；LED light source, depth under water measuring instrument and control unit are mounted on by every Underwater Imaging instrument；Under water
Imager, underwater LED light source and depth under water measuring instrument are connected with control unit；All control units with receiving end light end
Machine is connected, and receiving end optical transmitter and receiver is connected with host computer.
Further, the Underwater Imaging instrument includes imager sealed compartment and the imaging that is mounted in imager sealed compartment
Camera lens, liquid crystal tunable optical filter, low-light camera, focusing control circuit and hub；The imaging lens, liquid crystal tunable filter
Mating plate and low-light camera are sequentially arranged in same optical axis；Low-light camera, liquid crystal tunable optical filter and focusing control circuit are equal
By hub and control unit, control circuit of focusing control imaging lens are focused.
Further, the imaging lens use electromotive focusing camera lens.
Further, described control unit includes control unit sealed compartment and the hair that is mounted in control unit sealed compartment
Sending end optical transmitter and receiver, power management module and microcomputer；Power management module is Underwater Imaging instrument, underwater LED light source, underwater
Depth calibrator provides voltage；Underwater Imaging instrument, depth under water measuring instrument, depth under water measuring instrument and transmitting terminal optical transmitter and receiver are equal
It is connected with microcomputer；The transmitting terminal optical transmitter and receiver and receiving end optical transmitter and receiver are mutually communicated by optical fiber.
Further, the identical Underwater Imaging instrument of two parameters is symmetrically mounted on box sampler by bracket
Left and right ends, and imaging surface is respectively positioned on the lower end surface of bracket.
Further, two LED light sources are symmetrically mounted on the left and right ends of box sampler by bracket, and are respectively positioned on branch
The lower end surface of frame.
Further, two depth under water measuring instruments are symmetrically mounted on the left and right ends of box sampler by bracket, and
Test surface is respectively positioned on the lower end surface of bracket.
It is a further object of the present invention to provide a kind of control methods for visualizing box sampler underwater, including walk as follows
It is rapid:
(1) box sampler is connect by towrope with scientific investigation ship, the transmitting terminal optical transmitter and receiver in control unit is passed through
Underwater electrical connector and cable are connected with host computer, and check the communication between host computer and sampler；
(2) after host computer sends sign on, underwater LED light source provides illumination；Control unit receives low-light camera 11
Realtime graphic, and host computer is sent to by transmitting terminal optical transmitter and receiver；
(3) control unit acquires the data of depth under water measuring instrument in real time, be obtained by calculation sampler center the bottom of from
The pitch angle of distance and sampler, and host computer is sent to by transmitting terminal optical transmitter and receiver；
D=0.5* (D1+D2)
θ=arctan ((D2-D1)/L)
Wherein D is sampler the bottom of from a distance from, and θ is sampler pitch angle, and D1 is the reading of first depth under water measuring instrument,
D2 is the reading of second depth under water measuring instrument, and L is first depth under water measuring instrument and second depth under water measuring instrument
The distance between；
(4) according to the realtime graphic obtained in step (2), one of Underwater Imaging instrument is selected to establish camera coordinates system,
The corresponding actual size of image is determined using technique of binocular stereoscopic vision；
(5) image acquired in two Underwater Imaging instrument of real-time display in host computer, and will acquire away from bottom distance, bow
The elevation angle and actual size mark are on the image；
(6) when box sampler reaches seabed, basic sediment is entered in sampling cylinder by own mechanical structure, it can be upper
Sampling situations are observed on the machine of position in real time, the bottom of from a distance from, the data such as acquired image actual size.
Compared with the existing technology, beneficial effects of the present invention are as follows:
The present invention is connect using host computer with underwater imaging system, is directly acquired sampling real-time video, can be observed and adopt in real time
Collection process grasps sample and acquires whole process；
The present invention uses two Underwater Imaging instrument, realizes underwater binocular vision imaging, and it is corresponding real to directly acquire taken the photograph video
Border size；Measurement obtains two groups of image sequences every time, is calculated based on Binocular Vision Principle and obtains the three of each pixel of object
Dimension space information；
Underwater Imaging instrument of the invention, as imaging sensor, greatly improves Underwater Imaging quality using low-light camera；
Using electromotive focusing camera lens, imaging definition ensure that.
Detailed description of the invention
Fig. 1 is overall structure main view of the invention；
Fig. 2 is overall structure side view of the invention；
Fig. 3 is the internal structure external structure schematic diagram of Underwater Imaging instrument of the invention；
Fig. 4 is the schematic diagram of internal structure of control unit of the invention；
In figure, box sampler 1, receiving end optical transmitter and receiver 2, host computer 3, Underwater Imaging instrument 4, LED light source 5, depth under water
Measuring instrument 6, control unit 7, imager sealed compartment 8, imaging lens 9, liquid crystal tunable optical filter 10, low-light camera 11, focusing
Control circuit 12, hub 13, control unit sealed compartment 14, transmitting terminal optical transmitter and receiver 15, power management module 16, microcomputer
17, bracket 18.
Specific embodiment
The embodiment of the present invention is described in further detail below with reference to attached drawing.
As shown in Figs 1-4, the present invention provides a kind of visualization box sampler underwater, including box sampler 1, binocular at
As subsystem, receiving end optical transmitter and receiver 2, host computer 3；Institute's binocular imaging subsystem includes two identical Underwater Imagings of parameter
Instrument 4, the two are symmetrically mounted on the left and right ends of box sampler 1, synchronous acquisition underwater object image sequence；Every Underwater Imaging
LED light source 5, depth under water measuring instrument 6 and control unit 7 are mounted on by instrument 4；Underwater Imaging instrument 4, underwater LED light source 5 and water
Lower depth calibrator 6 is connected with control unit 7；All control units 7 are connected with receiving end optical transmitter and receiver 2, receiving end light end
Machine 2 is connected with host computer 3.
The Underwater Imaging instrument 4 include imager sealed compartment 8 and be mounted in imager sealed compartment 8 imaging lens 9,
Liquid crystal tunable optical filter 10, low-light camera 11, focusing control circuit 12 and hub 13；It is guaranteed by imager sealed compartment 8
It works normally under water, the imaging lens 9, liquid crystal tunable optical filter 10 and low-light camera 11 are sequentially arranged in same optical axis
On.The imager sealed compartment 8 is cylindrical shape, is made of metallic cylinder, drive end bearing bracket, rear end cap, O-ring, underwater electrical connector etc.,
Drive end bearing bracket setting optical glass window allows extraneous light to enter imaging lens 9；The liquid crystal tunable optical filter 10 is located at
It between low-light camera 11 and imaging lens 9, filters to the light by imaging lens 9, exports the light of corresponding specific band
Spectrum；The focusing control circuit 12 drives the focusing motor movement inside imaging lens 9, and the spectrum of specific band is made to focus on institute
On the imaging plane for stating low-light camera 11, the drawbacks of can not being focused after the completion of imager encapsulates is not only avoided, moreover it is possible to logical
Cross that control circuit auto-focusing obtains compared with relatively sharp image of manually focusing；The low-light camera 11 amount with higher
Sub- response efficiency can effectively weaken the limitation of water body decaying, suitable for acquisition underwater picture；The low-light camera 11, liquid
Brilliant Tunable filters 10, focusing control circuit 12 are connected by hub 13 with microcomputer 17, control circuit of focusing
12 control imaging lens 9 are focused；The imaging lens 9 use electromotive focusing camera lens.
Described control unit 7 includes control unit sealed compartment 14 and the transmitting terminal being mounted in control unit sealed compartment 14
Optical transmitter and receiver 15, power management module 16 and microcomputer 17；Power management module 16 is Underwater Imaging instrument 4, underwater LED light source
5, depth under water measuring instrument 6 provides voltage；Underwater LED light source 5 provides under dark or low light environment auxiliary for Underwater Imaging under water
Help illumination；Underwater Imaging instrument 4, depth under water measuring instrument 6, depth under water measuring instrument 6 and transmitting terminal optical transmitter and receiver 15 with it is miniature
Industrial personal computer 17 is connected；Described control unit sealed compartment 14 is made of metallic cylinder, drive end bearing bracket, rear end cap etc., is realized by O-ring
Static seal, is uniformly distributed the multiple underwater electrical connectors of installation on front and rear cover, the underwater electrical connector for inside sealed compartment with it is outer
Realize signal transmission or power transmission in portion；The transmitting terminal optical transmitter and receiver 15 and receiving end optical transmitter and receiver 2 pass through underwater electrical connector and water
Lower optoelectronic composite cable forms fiber channel, and the host computer 3 carries out optical-fibre communications with microcomputer 17, to microcomputer 17
Data acquisition, transmission and device control instruction are sent, and carries out data receiver, data storage and processing.
The identical Underwater Imaging instrument 4 of two parameters is symmetrically mounted on a left side for box sampler 1 by bracket 18
Right both ends, and imaging surface is respectively positioned on the lower end surface of bracket 18, i.e., it is in the same plane, meet binocular vision imaging requirement.Two
A LED light source 5 is symmetrically mounted on the left and right ends of box sampler 1 by bracket 18, and is respectively positioned on the lower end surface of bracket 18.Two
A depth under water measuring instrument 6 is symmetrically mounted on the left and right ends of box sampler 1 by bracket 18, and test surface is respectively positioned on bracket
18 lower end surface, i.e. front end face are in the same plane, for measuring depth locating for box sampler 1 and pitch angle.
Box sampler 1 can use the product of the BX-640 model of Ocean Instruments company in the present embodiment,
But not limited to this；Underwater LED light source 5 can use the product of 6500 model of Deepsea company SLS, but not limited to this；Under water
Depth calibrator 6 can use the product of Tritech company PA500 model, but not limited to this；Low-light camera 11 can use
The product of 888 EMCCD model of Andor company iXon Ultra, but not limited to this；Liquid crystal tunable optical filter 10 can use
The product of CRi company VIS-10 VariSpec Filter model, but not limited to this；Control circuit 12 of focusing can be using announcement
Number be CN1080408A focusing circuit, but not limited to this；Microcomputer 17 can use COMMELL company LP-175 model
Product, but not limited to this.
The course of work of the invention is as follows:
(1) box sampler 1 is connect by towrope with scientific investigation ship, by the transmitting terminal optical transmitter and receiver 15 in control unit 7
It is connected by underwater electrical connector and cable with host computer 3, and checks the communication between host computer 3 and sampler；
(2) after host computer 3 sends sign on, sign on is transferred to transmitting terminal optical transmitter and receiver 15 by receiving end optical transmitter and receiver 2,
Control unit 7 controls each group device and starts to work；Power management module 16 is surveyed to Underwater Imaging instrument 4, LED light source 5, depth under water
Instrument 6 is measured to power；Underwater LED light source 5 provides illumination；Control unit 7 receives the realtime graphic of low-light camera 11, while to acquisition
The clarity of realtime graphic is judged, if judging gained clarity is not up to setting value, control focusing control circuit 12 is carried out
Focusing until reaching setting definition values, and is sent to host computer 3 by transmitting terminal optical transmitter and receiver 15；
(3) after control unit 7 receives the sign on that host computer 3 is sent, start to acquire depth under water measuring instrument 6 in real time
The data of measurement, and pass through transmitting terminal optical transmitter and receiver 15 together with realtime graphic and be sent to host computer 3；Visualization on host computer 3
Software calculates the data that depth under water measuring instrument 6 measures obtained by control unit 7, can be obtained sampler the bottom of from a distance from and
Pitch angle.
D=0.5* (D1+D2)
θ=arctan ((D2-D1)/L)
Wherein D is sampler the bottom of from a distance from, and θ is sampler pitch angle, and D1 is the reading of first depth under water measuring instrument 6
Number, D2 are the reading of second depth under water measuring instrument 6, and L is that first depth under water measuring instrument 6 and second depth under water are surveyed
Measure the distance between instrument 6；
(4) it according to the realtime graphic obtained in step (2), selects first Underwater Imaging instrument 4 to establish camera coordinates system, makes
The space coordinate that a target in image is determined with technique of binocular stereoscopic vision, may further obtain the corresponding reality of taken the photograph image
Area, target object actual size；
(5) pass through visual software for image acquired in two Underwater Imaging instrument 4 of real-time display, sampling in host computer 3
The practical posture (pitch angle) of device, away from bottom distance, the corresponding actual size of image；It can must further be identified and be adopted by algorithm
Sample device will carry out the physical location of in situ sampling；
(6) when box sampler 1 reaches seabed, basic sediment is entered in sampling cylinder by own mechanical structure, it can be
Sampling situations are observed in real time on host computer 3；
(7) after the completion of observing sampling in host computer 3, caused water body muddiness to be sampled disappears, and will be adopted by towrope
Sample device is recycled, at the same time can influence of the observed samples to sediment in real time, and observe that sampler is practical and adopt
Sample depth and sampling area；
(8) after the completion of process to be sampled, host computer 3, which is sent, terminates order, and power management module 16 stops to Underwater Imaging
Instrument 4, LED light source 5, depth under water measuring instrument 6 are powered, and control unit 7 is no longer sent to host computer by transmitting terminal optical transmitter and receiver 15
3。
The foregoing is only a preferred embodiment of the present invention, those skilled in the art think, with skill
The development of art can realize basic conception of the invention in a number of different ways, and therefore, the present invention and embodiment are unlimited
In example discussed above.Anyone skilled in the art within the technical scope of the present disclosure, can be easily
The change or replacement expected should be all included within the scope of the present invention, and protection scope of the present invention should be with right
Subject to the protection scope of claim.
Claims (8)
1. a kind of visualization box sampler underwater, which is characterized in that including box sampler, binocular imaging subsystem, receive
Hold optical transmitter and receiver, host computer etc.；Institute's binocular imaging subsystem includes the identical Underwater Imaging instrument of two parameters, and the two is symmetrically pacified
Mounted in the left and right ends of box sampler, synchronous acquisition underwater object image sequence；LED is mounted on by every Underwater Imaging instrument
Light source, depth under water measuring instrument and control unit；Underwater Imaging instrument, underwater LED light source and depth under water measuring instrument with control
Unit is connected；All control units are connected with receiving end optical transmitter and receiver, and receiving end optical transmitter and receiver is connected with host computer.
2. a kind of visualization box sampler underwater according to claim 1, which is characterized in that the Underwater Imaging instrument packet
The imaging lens, liquid crystal tunable optical filter, low-light camera, right for including imager sealed compartment and being mounted in imager sealed compartment
Burnt control circuit and hub；The imaging lens, liquid crystal tunable optical filter and low-light camera are sequentially arranged in same optical axis
On；Low-light camera, liquid crystal tunable optical filter and focusing control circuit pass through hub and control unit, control circuit of focusing
Control imaging lens are focused.
3. a kind of visualization box sampler underwater according to claim 2, which is characterized in that the imaging lens use
Electromotive focusing camera lens.
4. a kind of visualization box sampler underwater according to claim 2, which is characterized in that described control unit includes
Control unit sealed compartment and the transmitting terminal optical transmitter and receiver being mounted in control unit sealed compartment, power management module and miniature industry control
Machine；Power management module is Underwater Imaging instrument, underwater LED light source, depth under water measuring instrument provide voltage；Underwater Imaging instrument, water
Lower depth calibrator, depth under water measuring instrument and transmitting terminal optical transmitter and receiver are connected with microcomputer；Transmitting terminal light end
Machine and receiving end optical transmitter and receiver are mutually communicated by optical fiber.
5. a kind of visualization box sampler underwater according to claim 1, which is characterized in that two parameters are complete
Identical Underwater Imaging instrument is symmetrically mounted on the left and right ends of box sampler by bracket, and imaging surface is respectively positioned under bracket
End face.
6. a kind of visualization box sampler underwater according to claim 1, which is characterized in that two LED light sources pass through
Bracket is symmetrically mounted on the left and right ends of box sampler, and is respectively positioned on the lower end surface of bracket.
7. a kind of visualization box sampler underwater according to claim 1, which is characterized in that two depth under water measurements
Instrument is symmetrically mounted on the left and right ends of box sampler by bracket, and test surface is respectively positioned on the lower end surface of bracket.
8. a kind of control method for visualizing box sampler underwater according to claim 4, which is characterized in that including such as
Lower step:
(1) box sampler is connect by towrope with scientific investigation ship, the transmitting terminal optical transmitter and receiver in control unit is passed through into watertight
Connector and cable are connected with host computer, and check the communication between host computer and sampler；
(2) after host computer sends sign on, underwater LED light source provides illumination；Control unit receives the real-time of low-light camera 11
Image, and host computer is sent to by transmitting terminal optical transmitter and receiver；
(3) control unit acquires the data of depth under water measuring instrument in real time, be obtained by calculation sampler center the bottom of from a distance from
With the pitch angle of sampler, and host computer is sent to by transmitting terminal optical transmitter and receiver；
D=0.5* (D1+D2)
θ=arctan ((D2-D1)/L)
Wherein D is sampler the bottom of from a distance from, and θ is sampler pitch angle, and D1 is the reading of first depth under water measuring instrument, and D2 is
The reading of second depth under water measuring instrument, L is between first depth under water measuring instrument and second depth under water measuring instrument
Distance；
(4) according to the realtime graphic obtained in step (2), one of Underwater Imaging instrument is selected to establish camera coordinates system, used
Technique of binocular stereoscopic vision determines the corresponding actual size of image；
(5) image acquired in two Underwater Imaging instrument of real-time display in host computer, and will acquire away from bottom distance, pitch angle
On the image with actual size mark；
(6) when box sampler reaches seabed, basic sediment is entered in sampling cylinder by own mechanical structure, it can be in host computer
On observe sampling situations in real time, the bottom of from a distance from, the data such as acquired image actual size.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910726306.8A CN110411777A (en) | 2019-08-07 | 2019-08-07 | A kind of visualization box sampler underwater and its control method |
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| CN110944153A (en) * | 2019-12-03 | 2020-03-31 | 杭州电子科技大学 | Underwater four-eye stereoscopic vision imaging system and imaging method |
| CN111337293A (en) * | 2020-01-03 | 2020-06-26 | 中国海洋大学 | Visual propelling sampler and sampling method for hard sediment on seabed surface layer |
| CN111541886A (en) * | 2020-05-15 | 2020-08-14 | 珠海罗博飞海洋科技有限公司 | Vision enhancement system applied to muddy underwater |
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| CN111541886A (en) * | 2020-05-15 | 2020-08-14 | 珠海罗博飞海洋科技有限公司 | Vision enhancement system applied to muddy underwater |
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