CN112067125B - Dual-channel hyperspectral detection system based on underwater robot - Google Patents
Dual-channel hyperspectral detection system based on underwater robot Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
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- G01J3/2823—Imaging spectrometer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
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- G01J3/0294—Multi-channel spectroscopy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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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 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 spectrum camera, and a camera which is not provided with the imaging spectrometer is defined as a video camera.
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 acquire finer and richer detection information, but the propagation distance is smaller, and the limit distance is in the order of hundred meters. In cases where a high signal-to-noise ratio is required, the optical detection distance will be greatly compromised. Thus, the oceans still have a large amount 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 dual-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 debouncing method is to eliminate shake caused by marine environment images in an underwater optical detection process, and specifically includes defining a digital image signal of a video camera as Img1 (t), wherein t represents a signal acquisition time, a digital structure of the acquired digital image signal is a two-dimensional matrix at a specific moment, and in a hyperspectral scanning process, the digital image signal acquired by the video camera shakes, selecting two images Img1 (t 1) and Img1 (t 2) at adjacent moments, using a feature point extraction algorithm on the two images to acquire corresponding feature point pairs, wherein position coordinates of the feature point pairs 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 the Img1 (t 1) and the Img1 (t 2), a difference value of the feature point pairs corresponds to a shaking amplitude of the images, and a difference value of the feature point pairs is defined as a numerical value (dx, dy), wherein dx = x1-x2, dy = x1-x2, and dy = y-y = 1-y2.
The hyperspectral image data is three-dimensional image data containing two-dimensional space image information and spectral information, is defined as Scube, the dimensionality of the corresponding hyperspectral image data is P multiplied by L multiplied by Spec, a binocular camera synchronously acquires a spectral image signal and a digital image signal in the motion scanning process of the underwater robot, the t1 moment is defined as the starting time of scanning, the spectral image signal is defined as imgS (t 1) at the t1 moment, the digital image signal is defined as imgD (t 1), the other moments in the scanning process are defined as t2 moments, the spectral image signal is defined as imgS (t 2), the digital image signal is defined as imgD (t 2), the digital structures of the spectral image signal and the digital image signal are two-dimensional matrixes, and the dimensionality is M multiplied by N, wherein L > N, interpolating a middle row of data ImgD (t 1) [ M/2, 1N ] of the digital image signal at time t1 into a first row of Scube (1, r, spectral image data ImgS (t 2) at time t2 is interpolated into Scube in a manner defined as Scube (1 + dx2, r + dy2.
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, the dual-channel hyperspectral detection system is driven to realize large-scale motion scanning underwater, image jitter information is removed by combining digital image signals in the scanning process, the spectral image information after the jitter is removed is combined into a hyperspectral image, and the spectral information of an underwater observed object can be analyzed on the basis of the hyperspectral image, so that the spectral 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 public more clearly understand the technical spirit, beneficial effects and main thought of the patent of the invention, the applicant shall make the following detailed description by way of example, but the description of the example is not a limitation to the patent scheme of the invention, and any equivalent changes made according to the patent concept of the invention, which are only formal and insubstantial, shall be considered as the scope of the patent scheme of the invention.
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, an imaging spectrometer is arranged at the front end of the camera and is defined as a spectrum camera 5, and a camera which is not provided with the imaging spectrometer is defined as a video camera 6.
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 greater than zero), central lines of the two photosensitive chips are mutually parallel, the distance is also A millimeter, an imaging spectrometer is installed at the front end of one lens, and a graphic 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 debouncing is to eliminate the shake caused by a marine environment image in an underwater optical detection process, and a specific method is to define 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, the digital image signal acquired by the video camera shakes in a hyperspectral scanning process, two pairs of images Img1 (t 1) and Img1 (t 2) at adjacent moments are selected, a feature point extraction algorithm is used for the two images to acquire corresponding feature point pairs, the position coordinates of the feature point pairs 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 (t 1) and Img1 (t 2), the difference value of the feature point pairs corresponds to the shake amplitude of the images, and the difference value of the feature point pairs is defined as a numerical value (dx, dy), wherein dx = x1-x2, dy = y1-y2, and dy y1-y2.
The hyperspectral image data is three-dimensional image data containing two-dimensional space image information and spectral information, is defined as Scube, the dimensionality of the corresponding hyperspectral image data is P multiplied by L multiplied by Spec, a binocular camera synchronously acquires a spectral image signal and a digital image signal in the motion scanning process of the underwater robot, the t1 moment is defined as the starting time of scanning, the spectral image signal is defined as imgS (t 1) at the t1 moment, the digital image signal is defined as imgD (t 1), the other moments in the scanning process are defined as t2 moments, the spectral image signal is defined as imgS (t 2), the digital image signal is defined as imgD (t 2), the digital structures of the spectral image signal and the digital image signal are two-dimensional matrixes, and the dimensionality is M multiplied by N, wherein L > N, interpolating a middle row of data ImgD (t 1) [ M/2, 1N ] of the digital image signal at time t1 into a first row of Scube (1, r, spectral image data ImgS (t 2) at time t2 is interpolated into Scube in a manner defined as Scube (1 + dx2, r + dy2.
Claims (5)
1. A dual-channel hyperspectral detection system based on an underwater robot is characterized by comprising three parts, namely 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, and a camera which is not provided with the imaging spectrometer is defined as a video camera;
the hyperspectral image data is three-dimensional image data containing two-dimensional space image information and spectral information, is defined as Scube, the dimensionality of the corresponding hyperspectral image data is PxL xSpec, a binocular camera synchronously acquires a spectral image signal and a digital image signal in the motion scanning process of the underwater robot, the t1 moment is defined as the starting time of scanning, the spectral image signal is defined as ImgS (t 1) at the t1 moment, the digital image signal is defined as ImgD (t 1), the spectral image signal is defined as ImgS (t 2) at other moments in the scanning process, the digital image signal is defined as ImgD (t 2), and the digital structures of the spectral image signal and the digital image signal are two-dimensional matrixes, the dimension is M × N, where L > N, the middle row data ImgD (t 1) [ M/2,1, r + dy2: r + N + dy2-1, 1), where r + N + dy2-1 is constructed as l, the spectral image signal ImgS (t 2) at time t2 is interpolated into Scube in a manner defined as Scube (1 + dx2, r + dy 2.
2. The system of claim 1, wherein the binocular camera comprises two lenses and two photosensitive chips, the two photosensitive chips are located on the same plane, optical axes of the two lenses are respectively vertically aligned with centers of the two photosensitive chips, the distance between the two photosensitive chips is A mm, A is a real number greater than zero, center lines of the two photosensitive chips 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 system of claim 2, wherein the imaging spectrometer is a diffractive spectroscopic optical device, and includes a spectral lens, a slit, a cemented lens, and a grating, the spectral lens is used to collect a spatial optical signal and focus on the slit, the light passing through the slit passes through the cemented lens and then enters the grating, the grating realizes diffractive spectroscopic, the light further reaches the lens of the spectral camera, and after passing through the lens of the spectral camera, the spatial optical signal is converted into a spectral image signal by a corresponding photosensitive chip, and the video camera beside the spectral camera is respectively composed of the lens and the photosensitive chip to obtain a digital image signal.
4. The system of claim 3, wherein the slit is a rectangular opening in a metal sheet, the length of the rectangular opening is greater in the major axis direction than in the minor axis direction, and the major axis direction is parallel to the line connecting the midpoints of the two cameras.
5. The system of claim 1, wherein the image de-jittering is for removing the jittering caused by the marine environment image during the underwater optical detection, and is implemented by defining a digital image signal of the video camera as Img1 (t), where t represents the time of signal acquisition, and at a specific time, the digital structure of the acquired digital image signal is a two-dimensional matrix, and during the hyperspectral scanning, the digital image signal acquired by the video camera is jittered, selecting two images Img1 (t 1) and Img1 (t 2) at adjacent times, and using a feature point extraction algorithm to obtain corresponding pairs of feature points, whose position coordinates are defined as (x 1, y 1) and (x 2, y 2), and whose two coordinate positions respectively correspond to the position coordinates of the same jittering feature point in Img1 (t 1) and Img1 (t 2), and whose difference corresponds to the amplitude of the image, and whose difference is defined as the jittering value (dx = dy), where dy = dx-dy 1-dy 2, dy-1-dy 2.
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| JP2011089895A (en) * | 2009-10-22 | 2011-05-06 | Arata Satori | Device and method of hyperspectral imaging |
| CN207528346U (en) * | 2017-11-27 | 2018-06-22 | 核工业北京地质研究院 | A kind of ground imaging spectrum scanning system |
| CN207816460U (en) * | 2017-11-14 | 2018-09-04 | 蔡夫鸿 | Multi information dimension hand-held imaging spectrometer |
| CN109462746A (en) * | 2018-10-26 | 2019-03-12 | 北京双髻鲨科技有限公司 | A kind of method and device of image debounce |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2011089895A (en) * | 2009-10-22 | 2011-05-06 | Arata Satori | Device and method of hyperspectral imaging |
| CN207816460U (en) * | 2017-11-14 | 2018-09-04 | 蔡夫鸿 | Multi information dimension hand-held imaging spectrometer |
| CN207528346U (en) * | 2017-11-27 | 2018-06-22 | 核工业北京地质研究院 | A kind of ground imaging spectrum scanning system |
| CN109462746A (en) * | 2018-10-26 | 2019-03-12 | 北京双髻鲨科技有限公司 | A kind of method and device of image debounce |
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