CN112067125A - Dual-channel hyperspectral detection system based on underwater robot - Google Patents
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
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Abstract
The invention discloses a dual-channel hyperspectral detection system based on an underwater robot, which comprises an imaging hardware system, the underwater robot and an image debouncing algorithm, wherein a sensing module of the imaging hardware system consists of a binocular camera, an imaging spectrometer is arranged at the front end of one camera and is defined as a spectrum camera, the other camera which is not provided with the imaging spectrometer is defined as a video camera, the two cameras simultaneously output graphic data and are respectively defined as a spectrum image signal and a digital image signal in the detection process, the imaging hardware system is carried on the underwater robot, the underwater robot is carried with a high-brightness light source to provide underwater illumination, the underwater robot approaches an underwater detection object along with the movement of the underwater robot, short-distance underwater optical signal detection is implemented, and the image debouncing is realized after the digital image algorithm, and acquiring hyperspectral image data with large range, high stability and high signal-to-noise ratio.
Description
Technical Field
The invention belongs to the technical field of optical detection, and particularly relates to a dual-channel hyperspectral detection system based on an underwater robot.
Background
In the field of ocean detection, optical detection and ultrasonic detection occupy important positions, but have advantages and disadvantages respectively. Ultrasonic testing has a large testing range, but the amount of information is relatively small. The optical detection can obtain finer and richer detection information, but the propagation distance is smaller, and the limit distance is in the order of hundreds of meters. In cases where a high signal-to-noise ratio is required, the optical detection distance will be greatly compromised. Thus, the ocean still has a great deal of information that cannot be accurately obtained.
According to the defects of various current research methods, the invention provides a dual-channel hyperspectral detection system based on an underwater robot. A miniaturized dual-channel hyperspectral detection system is constructed and is carried on an underwater robot. And optical detection in a large range is realized through the motion of the underwater robot. Meanwhile, through a double-channel detection method and combined with digital image processing, high-stability signal acquisition can be realized.
Disclosure of Invention
The invention aims to provide a two-channel hyperspectral detection system based on an underwater robot, aiming at the defects of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention relates to an underwater imaging system, which comprises an imaging hardware system, an underwater robot and an image debouncing algorithm, wherein a sensing module of the imaging hardware system consists of a binocular camera, an imaging spectrometer is arranged at the front end of one camera and is defined as a spectrum camera, the other camera without the imaging spectrometer is defined as a video camera, in the detection process, the two cameras simultaneously output image data which are respectively defined as a spectrum image signal and a digital image signal, the imaging hardware system is carried on the underwater robot, the underwater robot carries a high-brightness light source to provide underwater illumination, the underwater robot approaches an underwater detection object along with the movement of the underwater robot, near-distance underwater optical signal detection is implemented, and after the digital image algorithm is adopted, image debouncing is realized, and the hyperspectral image data with large range, high stability and high signal-to-noise ratio are obtained.
The binocular camera comprises two lenses and two photosensitive chips, wherein the two photosensitive chips are located on the same plane, optical axes of the two lenses respectively vertically align to the centers of the two photosensitive chips, the mutual distance is A millimeter (A is a real number larger than zero), the central lines of the two photosensitive chips are mutually parallel, the distance is also A millimeter, and an imaging spectrometer is installed at the front end of one of the lenses.
The imaging spectrometer is an optical device for diffraction light splitting, and comprises a spectrum lens, a slit, a cemented lens and a grating, wherein the spectrum lens is used for collecting space optical signals and focusing on the slit position, light passing through the slit is incident to the grating after passing through the cemented lens, the light further reaches the lens of the spectrum camera after the grating realizes diffraction light splitting, the light passes through the lens of the spectrum camera, the corresponding photosensitive chip converts the light signals into spectrum image signals, and a video camera beside the spectrum camera is respectively composed of a lens and a photosensitive chip to obtain digital image signals.
The slit is a rectangular opening on one metal sheet, the length of the slit in the long axis direction is far longer than that in the short axis direction, and the long axis direction is parallel to the connecting line of the midpoints of the two cameras.
The image de-jittering method aims at eliminating jittering caused by marine environment images in an underwater optical detection process, and specifically comprises the steps of defining a digital image signal of a video camera as Img1 (t), wherein t represents the signal acquisition time, the digital structure of the acquired digital image signal is a two-dimensional matrix at a specific moment, jittering occurs to the digital image signal acquired by the video camera in a hyperspectral scanning process, selecting two images Img1 (t1) and Img1 (t2) at adjacent moments, using a feature point extraction algorithm to the two images to acquire corresponding feature point pairs, defining the position coordinates of the feature point pairs as (x 1, y 1) and (x 2, y 2), wherein the two points respectively correspond to the position coordinates of the same jittering feature point in Img1 (t1) and Img1 (t2), and the difference value of the feature point pairs corresponds to the amplitude of the images, the difference of the characteristic point pair is defined as the jitter value (dx, dy), where dx = x1-x2, dy = y1-y 2.
The hyperspectral image data is three-dimensional image data containing two-dimensional space image information and spectrum information, is defined as Scube, the corresponding dimension of the hyperspectral image data is P × L × Spec, a binocular camera synchronously acquires a spectrum image signal and a digital image signal in the motion scanning process of the underwater robot, the time t1 is defined as the starting time of scanning, the time t1 is defined as ImgS (t1), the digital image signal is defined as ImgD (t1), the time t2 is defined as ImgS (t2), the digital image signal is defined as ImgD (t2), the digital structures of the spectrum image signal and the digital image signal are two-dimensional matrixes, the dimension is M × N, wherein L > N, the middle line of data ImgD (t1) of the digital image signal at the time t1 is M/2,1: N ] into the first row Scube (1, r: r + N-1,1) in Scube, where r is a natural number and r + N-1< L, the spectral image data ImgS (t1) at time t1 is interpolated into Scube in such a manner that Scube (1, r: r + N-1, ss) = ImgS (t1) [ ss,1: N ], where ss is an integer having a value ranging from 1 to M, represents the ss row of the spectral image data ImgS (t1), for the data at time t2, dither values (dx 2, dy 2) are obtained by image dithering, the middle row data ImgD (t2) dym/2, 1: N) of the digital image signal at time t2 is interpolated into the 1+ dx 3 row Scube (1+ dx2, r + N + 1, 84, t2, t 851 + t 38, t 82737, the spectral image data ImgS (1, r: r + N) at time t1 is interpolated into the 1+ dx 633, the interpolation method is defined as Scube (1+ dx2, r + dy2: r + N + dy2-1, ss) = imgS (t2) [ ss,1: N ], where ss is an integer with a value ranging from 1 to M, and represents the ith row of the spectral image data imgS (t 2).
The invention has the beneficial effects that:
according to the method, a dual-channel hyperspectral detection system based on the underwater robot is used, the maneuverability of the underwater robot is utilized to drive the dual-channel hyperspectral detection system to realize large-range motion scanning underwater, image jitter information is removed by combining digital image signals in the scanning process, the spectrum image information after the jitter is removed is combined into a hyperspectral image, and the spectrum information of an underwater observed object can be analyzed on the basis of the hyperspectral image, so that the spectrum information can be analyzed from the molecular level.
Drawings
FIG. 1 shows a two-channel hyperspectral detection system based on an underwater robot.
FIG. 2 is a schematic diagram of the main components of a dual-channel hyperspectral detection system.
FIG. 3 is a block diagram of components of a dual channel hyperspectral detection system.
Detailed Description
In order to make the technical spirit and advantages of the present invention more clearly understood by examiners of the patent office and especially by the public, the applicant shall hereinafter describe in detail by way of example, but the description of the example is not intended to limit the scope of the present patent, and any equivalent changes made according to the present patent idea, which are merely formal and insubstantial, shall be considered as being within the scope of the present patent.
Example 1
The invention is further described with reference to fig. 1, fig. 2, fig. 3 and example 1.
As shown in figure 1, the invention comprises an imaging hardware system, an underwater robot and an image debouncing algorithm, wherein the underwater robot 1 carries a high-brightness light source 2 and a high-brightness light source 3 to provide underwater illumination, a sensing module of the imaging hardware system consists of a binocular camera 4, in which the front end of the camera is equipped with an imaging spectrometer, defined as a spectral camera 5, and the other camera without an imaging spectrometer is defined as a video camera 6, in the detection process, the two cameras simultaneously output graphic data which are respectively defined as a spectral image signal and a digital image signal, an imaging hardware system is carried on the underwater robot and approaches an underwater detection object along with the movement of the underwater robot to perform close-range underwater optical signal detection, and after the image is subjected to digital image algorithm, image shaking is removed, and hyperspectral image data with large range, high stability and high signal-to-noise ratio is acquired.
The binocular camera comprises two lenses and two photosensitive chips, wherein the two photosensitive chips are located on the same plane, optical axes of the two lenses respectively vertically align to the centers of the two photosensitive chips, the mutual distance is A millimeter (A is a real number larger than zero), the central lines of the two photosensitive chips are parallel to each other, the distance is also A millimeter, an imaging spectrometer is installed at the front end of one lens, and a graph storage and transmission module is respectively connected behind the two photosensitive chips and used for storing and transmitting spectral image signals and digital image signals.
The imaging spectrometer is an optical device for diffraction and light splitting, as shown in fig. 3, and comprises a spectral lens 1, a slit 2, a cemented lens 3 and a grating 4, wherein the spectral lens 1 is used for collecting spatial optical signals and focusing on the slit 2, light passing through the slit 2 passes through the cemented lens 3 and then enters the grating 4, the grating 4 realizes diffraction and light splitting, the light further reaches a lens 5 of the spectral camera, after passing through the lens 5 of the spectral camera, the corresponding photosensitive chip 6 converts the light signals into spectral image signals, and a video camera beside the spectral camera is respectively composed of a lens 7 and a photosensitive chip 8 to obtain digital image signals.
The slit 2 is a rectangular opening formed in one metal sheet, the length of the slit in the major axis direction is much longer than that in the minor axis direction, and the major axis direction is parallel to the connecting line of the midpoints of the two cameras.
The image de-jittering method aims at eliminating jittering caused by marine environment images in an underwater optical detection process, and specifically comprises the steps of defining a digital image signal of a video camera as Img1 (t), wherein t represents the signal acquisition time, the digital structure of the acquired digital image signal is a two-dimensional matrix at a specific moment, jittering occurs to the digital image signal acquired by the video camera in a hyperspectral scanning process, selecting two images Img1 (t1) and Img1 (t2) at adjacent moments, using a feature point extraction algorithm to the two images to acquire corresponding feature point pairs, defining the position coordinates of the feature point pairs as (x 1, y 1) and (x 2, y 2), wherein the two points respectively correspond to the position coordinates of the same jittering feature point in Img1 (t1) and Img1 (t2), and the difference value of the feature point pairs corresponds to the amplitude of the images, the difference of the characteristic point pair is defined as the jitter value (dx, dy), where dx = x1-x2, dy = y1-y 2.
The hyperspectral image data is three-dimensional image data containing two-dimensional space image information and spectrum information, is defined as Scube, the corresponding dimension of the hyperspectral image data is P × L × Spec, a binocular camera synchronously acquires a spectrum image signal and a digital image signal in the motion scanning process of the underwater robot, the time t1 is defined as the starting time of scanning, the time t1 is defined as ImgS (t1), the digital image signal is defined as ImgD (t1), the time t2 is defined as ImgS (t2), the digital image signal is defined as ImgD (t2), the digital structures of the spectrum image signal and the digital image signal are two-dimensional matrixes, the dimension is M × N, wherein L > N, the middle line of data ImgD (t1) of the digital image signal at the time t1 is M/2,1: N ] into the first row Scube (1, r: r + N-1,1) in Scube, where r is a natural number and r + N-1< L, the spectral image data ImgS (t1) at time t1 is interpolated into Scube in such a manner that Scube (1, r: r + N-1, ss) = ImgS (t1) [ ss,1: N ], where ss is an integer having a value ranging from 1 to M, represents the ss row of the spectral image data ImgS (t1), for the data at time t2, dither values (dx 2, dy 2) are obtained by image dithering, the middle row data ImgD (t2) dym/2, 1: N) of the digital image signal at time t2 is interpolated into the 1+ dx 3 row Scube (1+ dx2, r + N + 1, 84, t2, t 851 + t 38, t 82737, the spectral image data ImgS (1, r: r + N) at time t1 is interpolated into the 1+ dx 633, the interpolation method is defined as Scube (1+ dx2, r + dy2: r + N + dy2-1, ss) = imgS (t2) [ ss,1: N ], where ss is an integer with a value ranging from 1 to M, and represents the ith row of the spectral image data imgS (t 2).
Claims (6)
1. A dual-channel hyperspectral detection system based on an underwater robot is characterized by comprising an imaging hardware system, the underwater robot and an image shake removal algorithm, wherein a sensing module of the imaging hardware system consists of a binocular camera, an imaging spectrometer is arranged at the front end of one camera and is defined as a spectral camera, the other camera without the imaging spectrometer is defined as a video camera, the two cameras simultaneously output graphic data and are respectively defined as a spectral image signal and a digital image signal in the detection process, the imaging hardware system is carried on the underwater robot, the underwater robot is carried with a high-brightness light source to provide underwater illumination, the underwater robot moves along with the underwater robot to approach an underwater detection object, short-distance underwater optical signal detection is implemented, image shake removal is realized after the digital image algorithm is carried out, and a large-range high-stability hyperspectral image is obtained, High spectral image data with high signal-to-noise ratio.
2. The binocular camera according to claim 1, comprising two lenses and two photo sensors, wherein the two photo sensors are located on the same plane, the optical axes of the two lenses are respectively aligned with the centers of the two photo sensors vertically, the distance between the optical axes is a mm (a is a real number greater than zero), the central lines of the two photo sensors are parallel to each other, the distance is a mm, and an imaging spectrometer is installed at the front end of one of the lenses.
3. The imaging spectrometer of claim 1, which is a diffractive spectroscopic optical device, comprising a spectral lens, a slit, a cemented lens 1, and a grating, wherein the spectral lens is used for collecting spatial optical signals and focusing on the slit, the light passing through the slit is incident on the grating after passing through the cemented lens 1, the light further reaches the lens of the spectral camera after the grating realizes diffractive spectroscopic, the light passes through the lens of the spectral camera, the corresponding photosensitive chip converts the light signals into spectral image signals, and the video camera beside the spectral camera is respectively composed of a lens and a photosensitive chip to obtain digital image signals.
4. The slit of claim 3, which is a rectangular opening in a metal sheet, and has a length in a major axis direction that is substantially longer than a length in a minor axis direction, and a major axis direction that is parallel to a line connecting midpoints of the two cameras.
5. Image de-jittering according to claim 1, wherein the image de-jittering is caused by the image of the marine environment during underwater optical inspection, and is achieved by defining the signal as Img1 (t), wherein t represents the time of signal acquisition, the digital structure of the acquired digital image signal is a two-dimensional matrix at a specific time, the digital image signal acquired by the video camera is jittered during hyperspectral scanning, selecting two images Img1 (t1) and Img1 (t2) at adjacent times, using a feature point extraction algorithm on the two images to obtain corresponding pairs of feature points, the position coordinates of the pairs of feature points are defined as (x 1, y 1) and (x 2, y 2), the two points respectively correspond to the position coordinates of the same feature point in Img1 (t1) and Img1 (t2), and the difference values of the pairs of feature points correspond to the jitter amplitude of the images, the difference of the characteristic point pair is defined as the jitter value (dx, dy), where dx = x1-x2, dy = y1-y 2.
6. The hyperspectral image data according to claim 1, which is three-dimensional image data containing two-dimensional spatial image information and spectral information, defined as Scube, and the corresponding dimension of the hyperspectral image data is P x L x Spec, during the moving scan of the underwater robot, the binocular camera acquires the spectral image signal and the digital image signal simultaneously, the time t1 is defined as the start time of the scan, the spectral image signal is defined as ImgS (t1) at the time t1, the digital image signal is defined as ImgD (t1), the spectral image signal is defined as ImgS (t2) at the other time during the scan at the time t2, the digital image signal is defined as ImgD (t2), the digital structure of the spectral image signal and the digital image signal is a two-dimensional matrix with a dimension of M x N, wherein L > N, the middle line of the digital image signal at the time t1 is defined as ImgD (t1) [ M/2,1: N ] into the first row Scube (1, r: r + N-1,1) in Scube, where r is a natural number and r + N-1< L, the spectral image data ImgS (t1) at time t1 is interpolated into Scube in such a manner that Scube (1, r: r + N-1, ss) = ImgS (t1) [ ss,1: N ], where ss is an integer having a value ranging from 1 to M, represents the ss row of the spectral image data ImgS (t1), for the data at time t2, dither values (dx 2, dy 2) are obtained by image dithering, the middle row data ImgD (t2) dym/2, 1: N) of the digital image signal at time t2 is interpolated into the 1+ dx 3 row Scube (1+ dx2, r + N + 1, 84, t2, t 851 + t 38, t 82737, the spectral image data ImgS (1, r: r + N) at time t1 is interpolated into the 1+ dx 633, the interpolation method is defined as Scube (1+ dx2, r + dy2: r + N + dy2-1, ss) = imgS (t2) [ ss,1: N ], where ss is an integer with a value ranging from 1 to M, and represents the ith row of the spectral image data imgS (t 2).
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| CN112880829A (en) * | 2021-01-13 | 2021-06-01 | 中国海洋大学 | Self-scanning hyperspectral imaging system adaptive to various underwater observation platforms and use method |
| CN115598075A (en) * | 2022-12-14 | 2023-01-13 | 自然资源部第二海洋研究所（Cn） | Deep sea hyperspectral imaging detection system and method based on two-channel coaxial light path |
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