CN113534183A - Underwater three-dimensional scanning device based on cross line scanning - Google Patents
Underwater three-dimensional scanning device based on cross line scanning Download PDFInfo
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- CN113534183A CN113534183A CN202110742564.2A CN202110742564A CN113534183A CN 113534183 A CN113534183 A CN 113534183A CN 202110742564 A CN202110742564 A CN 202110742564A CN 113534183 A CN113534183 A CN 113534183A
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- 230000007246 mechanism Effects 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000002310 reflectometry Methods 0.000 claims description 10
- 238000012876 topography Methods 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 12
- 238000005259 measurement Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
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- 238000012423 maintenance Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
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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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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
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- Computer Networks & Wireless Communication (AREA)
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- Computer Vision & Pattern Recognition (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application discloses an underwater three-dimensional scanning device based on cross line scanning, which comprises a laser scanning device, a cross line laser focus adjusting mechanism and a circuit control device; the laser scanning device comprises a cross line laser and a laser receiver, the cross line laser emits cross line laser pulses, the cross line laser pulses are modulated, the modulated cross line laser pulses are transmitted through a water body and then reach an underwater area to be detected, the underwater area to be detected is scanned, and three-dimensional coordinates of surface points of the underwater area to be detected are obtained; the laser receiver is used for receiving echo laser reflected by the underwater area to be detected and transmitted and returned by the same water body; the cross line laser focus adjusting mechanism is used for adjusting the focal length of the cross line laser according to different underwater environments; the circuit control device is used for extracting a modulation signal from the echo laser, performing microwave signal processing on the modulation signal to obtain target distance information, and performing three-dimensional reconstruction according to the three-dimensional coordinate by using a three-dimensional model.
Description
Technical Field
The invention mainly relates to the field of underwater three-dimensional scanning, in particular to an underwater three-dimensional scanning device based on cross line scanning.
Background
The underwater three-dimensional scanning technology is indispensable in civil fields of underwater engineering installation and maintenance, seabed sunken ship, airplane residual load search, marine ecological observation and the like, and military fields of underwater mine detection, submarine detection, anti-submarine and the like.
The traditional laser scanning mapping utilizes a time difference method or a trigonometry method to measure the distance, three-dimensional measurement is realized by scanning along the horizontal direction or the vertical direction by means of line-structured laser, and the rapid measurement is difficult to realize due to the limitation of scanning precision and speed. Meanwhile, the underwater three-dimensional scanning technology can not break through the problems of large error of scanning results, short action time and low scanning speed all the time due to factors such as attenuation of laser during underwater transmission, scattering and diffusion of light in the transmission process, low sensitivity of laser receiving equipment and the like.
The underwater three-dimensional scanning device based on cross line scanning is provided aiming at the problems existing in the existing underwater three-dimensional scanning, and the device is simple in installation structure and high in measurement speed.
Disclosure of Invention
The embodiment of the application provides an underwater three-dimensional scanning device based on cross line scanning to solve the technical problems of low laser scanning speed and low scanning precision in the prior art.
In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows: an underwater three-dimensional scanning device based on cross line scanning comprises a laser scanning device, a cross line laser focus adjusting mechanism and a circuit control device;
the laser scanning device comprises a cross line laser and a laser receiver, the cross line laser emits cross line laser pulses, the cross line laser pulses are modulated, the modulated cross line laser pulses are transmitted through a water body and then reach an underwater area to be detected, the underwater area to be detected is scanned, and three-dimensional coordinates of surface points of the underwater area to be detected are obtained; the laser receiver is used for receiving echo laser reflected by an underwater area to be detected and transmitted and returned by the same water body;
the cross line laser focus adjusting mechanism is used for adjusting the focal length of the cross line laser according to different underwater environments;
the circuit control device is used for extracting a modulation signal from the echo laser, performing microwave signal processing on the modulation signal to obtain target distance information, and performing three-dimensional reconstruction according to the three-dimensional coordinate by using a three-dimensional model.
Further, the modulation adopts cosine modulation or pulse modulation.
Further, the echo laser comprises water area reflection laser to be detected and water back scattering laser.
Further, the modulation comprises the adjustment of three parameters of pulse width, modulation frequency and modulation depth.
Furthermore, the circuit control device comprises a DSP processor, a storage module, an external power supply, a double-port RAM module and an LCD display screen,
the double-port RAM module is respectively and electrically connected with the laser receiver and the DSP processor and is used for acquiring echo laser received by the laser receiver and transmitting the echo laser to the DSP processor;
the peripheral power supply supplies power to the whole circuit control device;
the storage module is electrically connected with the DSP processor and used for three-dimensional coordinates;
the DSP processor is also electrically connected with the cross laser and the cross laser focus adjusting mechanism respectively and used for controlling the cross laser and the cross laser focus adjusting mechanism;
the LCD display screen is electrically connected with the DSP processor and is used for displaying scanning results, and the scanning results comprise three-dimensional reconstruction results, target distance information and three-dimensional coordinates of surface points.
Further, the scanning result further comprises the texture and the reflectivity of the underwater area to be detected.
Further, the underwater area to be detected is scanned, and the surface texture and the reflectivity information of the underwater area to be detected are obtained.
Further, the peak value of the microwave signal processing result corresponds to target distance information.
Further, the laser receiver is a high-speed acquisition digital image sensor, preferably a CDD or CMOS lamp photoelectric image sensor as a receiving device of laser signals.
Furthermore, the cross line laser can generate laser of a cross line pattern, the cross line pattern can divide the area to be measured into four quadrants, point cloud data of the whole surface appearance of the scanned underwater area to be measured can be obtained only by rotating the incident cross line laser by 90 degrees, and the three-dimensional appearance feeling of the measured object is realized.
According to the technical scheme, the underwater three-dimensional scanning device based on the cross line scanning has the following beneficial effects:
the invention adopts a method of modulating laser ranging to finish sampling the surface of the water area to be measured. The modulated cross line laser pulse has modulation information after being reflected by an underwater region to be scanned, and can effectively distinguish a backscattering signal and an underwater target echo signal, so that underwater backscattering is inhibited, the signal to noise ratio of the signal and the contrast of the signal are greatly improved, the underwater target echo signal detector is applicable to various complicated underwater environments, and the underwater measurement precision is high. The system can accurately provide the DSP processor with the coordinate, texture and refractive index information of a large number of points collected in an underwater area to be scanned. The method performs cosine modulation on the cross line laser pulse and can adjust parameters such as pulse width, modulation frequency, modulation depth and the like. And proper parameters are selected according to the actual underwater condition, so that the application range is wide.
The invention adopts the cross line laser as a measuring light source, utilizes a photoelectric image sensing device such as a CCD or a CMOS as a laser signal receiving device, realizes the laser ranging function by utilizing the modulation laser ranging principle, obtains the distance of the laser light source, divides the object to be measured into four quadrants by the cross line laser, can obtain the point cloud data of the whole surface topography of the scanned object by only rotating the incident cross line light source by 90 degrees, and realizes the three-dimensional topography sensing of the area to be measured. The device has the characteristics of simple structure, flexible application, low cost, high speed and the like, and can be used for submarine, underwater inspection robot, underwater engineering installation and maintenance, underwater environment sensing and measurement.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of an underwater three-dimensional scanning device based on cross line scanning according to an embodiment of the present invention.
Fig. 2 is a flowchart of a specific implementation method of an underwater three-dimensional scanning device based on cross line scanning according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of modulated laser ranging in an underwater three-dimensional scanning device based on cross line scanning according to an embodiment of the present invention.
Fig. 4 is a block diagram of a circuit control device in an underwater three-dimensional scanning device based on cross line scanning according to an embodiment of the present invention.
The attached labels in the figure are: the device comprises a laser receiving device 1, a cross laser 2, a cross laser focus adjusting mechanism 3, a circuit control device 4 and an underwater area to be measured 5.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, an embodiment of the present invention provides an underwater three-dimensional scanning device based on cross line scanning, including a laser scanning device, a cross line laser focus adjusting mechanism 3, and a circuit control device 4; the laser scanning device comprises a laser receiver 1 and a cross laser 2, the cross laser 2 can emit cross laser pulses, the cross laser pulses are modulated, the modulated cross laser pulses are transmitted by a water body and then reach an underwater area 5 to be detected, the underwater area 5 to be detected is scanned, and three-dimensional coordinates of surface points of the underwater area 5 to be detected are obtained; the laser receiver is used for receiving echo laser reflected by the underwater area 5 to be detected and transmitted and returned by the same water body; the cross line laser focus adjusting mechanism 3 is used for adjusting the focal length of the cross line laser 2 according to different underwater environments; the circuit control device 4 is used for extracting a modulation signal from the echo laser, and performing microwave signal processing on the modulation signal to obtain target distance information; and performing three-dimensional reconstruction according to the three-dimensional coordinates by using a three-dimensional model.
According to the technical scheme, the embodiment of the invention adopts a method for measuring the distance by modulating the laser, as shown in fig. 2, specifically, a cross laser 2 emits cross laser pulses, cosine modulation or pulse modulation (parameters such as adjustable pulse width, modulation frequency and modulation depth) is carried out on the cross laser pulses, and appropriate parameters are selected according to the actual underwater condition to be detected; the modulated cross line laser pulse reaches a target after passing through a transmission medium, the modulated cross line laser pulse is reflected by the target and returns through the same medium, an echo signal is received by a high-speed detector, the modulated signal is extracted for microwave signal processing, and the peak value of the microwave signal processing result corresponds to target distance information. The specific implementation method of the modulated laser ranging is shown in fig. 3, and the echo laser includes a water area reflection laser to be measured and a water back scattering laser.
Compared with other laser ranging methods, the laser modulation method used in the embodiment has the following advantages: the modulated cross line laser pulse has modulation information after being reflected by an underwater region to be scanned, and can effectively distinguish a backscattering signal and an underwater target echo signal, so that underwater backscattering is inhibited, the signal to noise ratio of the signal and the contrast of the signal are greatly improved, the underwater target echo signal detector is applicable to various complicated underwater environments, and the underwater measurement precision is high. The system can accurately provide the DSP processor with the coordinate, texture and refractive index information of a large number of points collected in an underwater area to be scanned. When the method is used for cosine modulation of the cross line laser pulse, parameters such as pulse width, modulation frequency and modulation depth can be adjusted according to the actual detected underwater condition, and the application range is wide.
In the present embodiment, the laser scanning device is a high-speed acquisition digital image sensor. Preferably, a CDD or CMOS light electro-optic image sensor is used as the laser signal receiving device.
As shown in fig. 4, in the present embodiment, the circuit control device includes a DSP processor, a memory module, a peripheral power supply, a dual-port RAM module, and an LCD display screen. The double-port RAM module is respectively and electrically connected with the laser receiver and the DSP processor and is used for acquiring echo laser received by the laser receiver and transmitting the echo laser to the DSP processor; the peripheral power supply supplies power to the whole circuit control device; the DSP processor is also electrically connected with the cross laser 2 and the cross laser focus adjusting mechanism respectively and used for controlling the cross laser 2 and the cross laser focus adjusting mechanism; the LCD display screen is electrically connected with the DSP processor and is used for displaying scanning results, and the scanning results comprise three-dimensional reconstruction results, target distance information and three-dimensional coordinates of surface points.
In the embodiment, the circuit control device can realize laser ranging and reconstruction of an underwater three-dimensional environment. The peripheral power supply supplies power to the circuit control device, and the storage module can be used for storing three-dimensional coordinates, textures and reflectivity information of a large number of points acquired by the laser scanning device on the surface of an underwater area. Under the condition that the target distance and the underwater environment are fixed, the reflectivity of the underwater area to be detected is in direct proportion to the average size of data obtained by the laser receiver, and the texture and the reflectivity of the underwater area to be detected are in one-to-one correspondence. The LCD display screen can display the scanning result of the underwater scanning device based on the cross line scanning in real time, wherein the scanning result comprises a three-dimensional reconstruction result of a region to be scanned, the real-time distance from the cross line laser 2 to the surface of the region to be scanned, and the three-dimensional coordinates, textures and reflectivity of a large number of points on the surface of the region to be scanned.
Compared with the existing underwater three-dimensional scanning device, the invention adopts the cross-shaped laser 2 as a measuring light source, utilizes a photoelectric image sensing device such as a CCD or a CMOS as a laser signal receiving device, realizes the laser ranging function by utilizing the modulation laser ranging principle, obtains the distance of the laser light source, divides the object to be measured into four quadrants by the cross-shaped laser 2, can obtain point cloud data of the whole surface topography of the scanned object by only rotating the incident cross-shaped light source by 90 degrees, and realizes the three-dimensional topography sensing of the area to be measured. The device has the characteristics of simple structure, flexible application, low cost, high speed and the like, and can be widely used for submarine, underwater inspection robot, underwater engineering installation and maintenance, underwater environment sensing and measurement.
In this embodiment, the three-dimensional model is a cuboid including the three-dimensional coordinates, and the length, width, and height of the cuboid model are respectively parallel to an x-axis, a y-axis, and a z-axis of a spatial rectangular coordinate system (where the x and y-axes of the spatial rectangular coordinate system are parallel to the underwater region to be measured, and the z-axis is perpendicular to the underwater region to be measured) established with the cross laser as an origin.
In this embodiment, the cross laser 2 can generate laser in a cross line pattern, the cross line pattern can divide the area to be measured into four quadrants, and the point cloud data of the whole surface topography of the scanned environment can be obtained only by rotating the incident cross laser 2 by 90 degrees, so that the three-dimensional topography of the measured object is realized. The invention adopts a method based on modulated laser ranging to collect information such as three-dimensional coordinates, textures, reflectivity and the like of a large number of points on the surface of an underwater environment to be scanned, a DSP processor utilizes a three-dimensional model to carry out reconstruction according to a large number of collected data, underwater three-dimensional scanning is realized, and a scanning result of an underwater scanning device based on cross line scanning is displayed when LCD is displayed, wherein the scanning result comprises the three-dimensional reconstruction result of an area to be scanned, the real-time distance from a cross line laser to the surface of the area to be scanned, and the three-dimensional coordinates, textures and reflectivity of a large number of points on the surface of the area to be scanned.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An underwater three-dimensional scanning device based on cross line scanning is characterized by comprising a laser scanning device, a cross line laser focus adjusting mechanism and a circuit control device;
the laser scanning device comprises a cross line laser and a laser receiver, the cross line laser emits cross line laser pulses, the cross line laser pulses are modulated, the modulated cross line laser pulses are transmitted through a water body and then reach an underwater area to be detected, the underwater area to be detected is scanned, and three-dimensional coordinates of surface points of the underwater area to be detected are obtained; the laser receiver is used for receiving echo laser reflected by an underwater area to be detected and transmitted and returned by the same water body;
the cross line laser focus adjusting mechanism is used for adjusting the focal length of the cross line laser according to different underwater environments;
the circuit control device is used for extracting a modulation signal from the echo laser, performing microwave signal processing on the modulation signal to obtain target distance information, and performing three-dimensional reconstruction according to the three-dimensional coordinate by using a three-dimensional model.
2. The underwater three-dimensional scanning device based on the reticle scanning is characterized in that the modulation is cosine modulation or pulse modulation.
3. The underwater three-dimensional scanning device based on the cross line scanning is characterized in that the echo laser comprises a water body reflection laser to be detected and a water body back scattering laser.
4. The underwater three-dimensional scanning device based on the reticle scanning is characterized in that the modulation comprises the adjustment of parameters of pulse width, modulation frequency and modulation depth.
5. The underwater three-dimensional scanning device based on the reticle scanning is characterized in that the circuit control device comprises a DSP processor, a storage module, an external power supply, a double-port RAM module and an LCD display screen,
the double-port RAM module is respectively and electrically connected with the laser receiver and the DSP processor and is used for acquiring echo laser received by the laser receiver and transmitting the echo laser to the DSP processor;
the peripheral power supply supplies power to the whole circuit control device;
the storage module is electrically connected with the DSP processor and used for three-dimensional coordinates;
the DSP processor is also electrically connected with the cross laser and the cross laser focus adjusting mechanism respectively and used for controlling the cross laser and the cross laser focus adjusting mechanism;
the LCD display screen is electrically connected with the DSP processor and is used for displaying scanning results, and the scanning results comprise three-dimensional reconstruction results, target distance information and three-dimensional coordinates of surface points.
6. The underwater three-dimensional scanning device based on the cross line scanning as claimed in claim 5, wherein the scanning result further comprises the texture and reflectivity of the underwater region to be measured.
7. The underwater three-dimensional scanning device based on the cross line scanning as claimed in claim 1, wherein the underwater region to be measured is scanned, and the surface texture and reflectivity information of the underwater region to be measured are also obtained.
8. The underwater three-dimensional scanning device based on the reticle scanning as claimed in claim 1, wherein the peak value of the microwave signal processing result corresponds to the target distance information.
9. The underwater three-dimensional scanning device based on the reticle scanning as claimed in claim 1, wherein the laser receiver is a high-speed acquisition digital image sensor, preferably a CDD or CMOS lamp photoelectric image sensor, as a receiving device of laser signals.
10. The underwater three-dimensional scanning device based on the cross line scanning as claimed in claim 1, wherein the cross line laser can generate laser in a cross line pattern, the cross line pattern can divide the area to be detected into four quadrants, and only the incident cross line laser needs to be rotated by 90 degrees to obtain point cloud data of the whole surface topography of the scanned underwater area to be detected, so that the three-dimensional topography of the object to be detected is sensed.
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| CN202110742564.2A CN113534183A (en) | 2021-07-01 | 2021-07-01 | Underwater three-dimensional scanning device based on cross line scanning |
| NL2031493A NL2031493B1 (en) | 2021-07-01 | 2022-04-04 | Underwater three-dimensional scanning device based on crosshair scanning |
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| CN202110742564.2A CN113534183A (en) | 2021-07-01 | 2021-07-01 | Underwater three-dimensional scanning device based on cross line scanning |
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| NL2031493B1 (en) | 2023-11-06 |
| NL2031493A (en) | 2023-01-09 |
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