CN114200463A - Underwater laser scanning equipment - Google Patents
Underwater laser scanning equipment Download PDFInfo
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- CN114200463A CN114200463A CN202111500817.1A CN202111500817A CN114200463A CN 114200463 A CN114200463 A CN 114200463A CN 202111500817 A CN202111500817 A CN 202111500817A CN 114200463 A CN114200463 A CN 114200463A
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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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The invention provides an underwater laser scanning device, which comprises: the docking cabin is internally provided with an industrial personal computer; the laser cabin is connected with the connection cabin, and a first distance measuring laser and a line laser are installed in the laser cabin; the camera shooting cabin is connected with the connection cabin, and a second distance measuring laser and a camera are installed in the camera shooting cabin; the industrial personal computer calculates the cabin deflection angle of the laser cabin and the inter-cabin distance of the laser cabin and the camera cabin according to the laser ranging data of the first ranging laser and the second ranging laser based on an auxiliary board and the distance between the laser points of the first ranging laser and the second ranging laser on the auxiliary board, and completes the self calibration of the mechanical parameters of the underwater laser scanning equipment according to the cabin deflection angle and the inter-cabin distance. The invention solves the problems that the existing underwater laser scanning equipment has poor mechanical compatibility and can not switch working modes.
Description
Technical Field
The invention belongs to the technical field of underwater detection, and particularly relates to underwater laser scanning equipment which is suitable for underwater multiple platforms and can perform static and dynamic switching.
Background
The existing underwater laser scanning equipment uses a plurality of scenes aiming at a single platform, such as AUV and ROV, or a mobile seabed crawling vehicle, and cannot be simultaneously suitable for different types of mobile platforms, and has the defects that the size of the equipment is fixed and the equipment is inconvenient to install; in addition, the conventional underwater laser scanning apparatus has only a single operation mode, that is, a scanning mode in a static environment (the apparatus is fixed at a fixed position, and performs a 0-360 ° rotation scanning around the fixed position as an axis), and cannot be mounted on a moving underwater platform to perform a dynamic environment scanning and a static-dynamic combined scanning.
Disclosure of Invention
The embodiment of the application provides an underwater laser scanning device, and aims to at least solve the problems that the existing underwater laser scanning device is poor in mechanical compatibility and cannot switch working modes.
The embodiment of the application provides an underwater laser scanning device, includes: the docking cabin is internally provided with an industrial personal computer; the laser cabin is connected with the connection cabin, and a first distance measuring laser and a line laser are installed in the laser cabin; the camera shooting cabin is connected with the connection cabin, and a second distance measuring laser and a camera are installed in the camera shooting cabin; the industrial personal computer calculates the cabin deflection angle of the laser cabin and the inter-cabin distance of the laser cabin and the camera cabin according to the laser ranging data of the first ranging laser and the second ranging laser based on an auxiliary board and the distance between the laser points of the first ranging laser and the second ranging laser on the auxiliary board, and completes the self calibration of the mechanical parameters of the underwater laser scanning equipment according to the cabin deflection angle and the inter-cabin distance.
In some embodiments, the auxiliary board is a calibration board, which is completely placed in the field of view of the camera and is placed in a direction perpendicular to the central axis of the camera chamber.
In some of these embodiments, the calibration plate is placed such that the laser points of the first and second ranging lasers are located at the corner points of the calibration plate.
In some embodiments, an image of the calibration plate is acquired by the camera, image corner identification is performed on the image of the calibration plate, a first color is marked on a corner on the image, and the position of the acquired laser point in the image is further calculated.
In some embodiments, the first color is one of red, green, and blue in an RGB color mode; and filtering color channels of the image, setting all data lower than a threshold value in the image channel corresponding to the first color to zero, reserving non-zero pixel data, scanning the rest data line by line, calculating the positions of two pixels with the maximum image channel value, and further calculating and acquiring the position of the laser point in the image.
In some embodiments, the coordinates of all corner points are compared with the pixel coordinates of the two laser points, and the distance between the two laser points in reality is calculated according to the size and the interval of the corner points in reality; and then according to the laser ranging data of the first ranging laser and the second ranging laser, obtaining the distance between the cabins and the included angle between the laser cabin and the horizontal plane through a space trigonometric algorithm, and finishing the self calibration of the mechanical parameters.
In some embodiments, the line laser is started, the pixel position of the line laser emitted by the line laser is further obtained, the attitude data of the underwater laser scanning device after the mechanical parameter self-calibration is completed is obtained, and the industrial personal computer controls the underwater laser scanning device to switch the scanning mode according to the pixel position of the line laser and the attitude data of the underwater laser scanning device.
In some embodiments, a scanning image containing the line laser is acquired by a camera, a grayscale binarization process is performed on the scanning image, and the pixel position of the line laser is acquired according to the processed scanning image.
In some of these embodiments, the scanning mode includes any one of a single static rotational scanning mode, a single dynamic scanning mode, and a simultaneous dynamic and static scanning mode.
In some embodiments, connectors are mounted on the laser cabin and the camera cabin, and the laser cabin and the camera cabin are connected to the docking cabin through the connectors.
Compared with the prior art, the underwater laser scanning equipment which is suitable for underwater multiple platforms and can perform static and dynamic switching has flexible installation and assembly modes by adopting the special split type structural design between the laser and the camera system, and the equipment can perform self calibration of mechanical parameters after flexible assembly, so that the matching assembly of the scanning equipment and underwater carrying platforms of various types is greatly facilitated. The method comprises the steps that a scanning mode switching module is designed, static and dynamic data are processed by adopting a multithreading image data processing method, one thread continuously updates and releases underwater dynamic attitude data, and the other thread processes image data combined with the underwater attitude data. The method is different from the conventional static/dynamic image processing method which can perform single thread as much as possible, can ensure the flexibility of image data processing, namely can perform switching between dynamic and static data processing, performs static data processing under the condition that no underwater posture data is input from the outside, and continues to process dynamic data when external underwater posture data is input.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a laser capsule body of the present invention;
FIG. 3 is a schematic view of a camera pod of the present invention;
FIG. 4 is a schematic view of the connector of the present invention;
FIG. 5 is a schematic view of a calibration plate of the present invention;
FIG. 6 is a schematic view of a calibration plate application of the present invention;
in the above figures:
1. a docking bay; 11. an industrial personal computer; 111. a mechanical calibration module; 112. a scanning mode switching module; 2. a laser capsule; 21. a first ranging laser; 22. a line laser; 23. a connector assembly; 3. a camera shooting cabin; 31. a second ranging laser; 32. a camera; 4. an underwater motor; 5. and (5) calibrating the board.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Embodiments of the invention are described in detail below with reference to the accompanying drawings:
as shown in fig. 1 to 4, an underwater laser scanning apparatus provided in an embodiment of the present application includes: the device comprises a docking cabin 1, a laser cabin 2, a camera cabin 3 and an underwater motor 4.
The underwater connection cabin 1 is a central center connected among all the underwater cabin bodies, and data of the laser system, the camera system and the underwater motor 4 are transmitted to the cabin bodies, and corresponding work such as self equipment mechanical mechanism structure calculation, image preprocessing, configuration information uploading and the like is carried out in the cabin bodies. An industrial personal computer 11 is installed in the docking bay 1, and specifically, the industrial personal computer 11 has a mechanical calibration module 111 and a scanning mode switching module 112. In a specific implementation, the mechanical calibration module 111 may perform mechanical parameter calibration after the device itself is installed: namely, when the equipment is assembled with the underwater carrying platform, a user does not need to install the equipment according to a specific mechanical size (namely, the space and the angle between the cabin body 2 of the laser cabin and the cabin body 3 of the camera cabin do not need to accord with a specific space and angle), and only needs to install the laser cabin 2 and the camera cabin 3 on the same water line and measure the deflection angle of one cabin body. After the installation and deployment are completed, corresponding operation software is started, and a calibration algorithm built in the industrial personal computer 11 automatically calibrates the mechanical structure of the whole equipment, so that scientific and stable configuration parameters are provided for the underwater laser scanning system. In specific implementation, the scan mode switching module 112 may enable the device to have two working modes, namely a static working mode and a dynamic working mode, where the dynamic working mode may be a scanning working mode when the device is in a moving state, and the two working modes may be controlled by the module to be switched or performed synchronously, which greatly expands the use scenarios of the underwater laser scanning instrument. The underwater motor 4 provides mechanical rotation in a static environment for the underwater laser scanning system, so that the device can perform 360-degree rotary scanning at a fixed position.
The laser cabin 2 is electrically connected to the industrial personal computer 11 of the docking cabin 1, and exchanges data with a mechanical calibration module 111 and a scanning mode switching module 112 in the industrial personal computer 11; a first distance measuring laser 21 and a line laser 22 are arranged in the laser cabin 2; the camera shooting cabin 3 is electrically connected to the industrial personal computer 11 of the docking cabin 1 and exchanges data with a mechanical calibration module 111 and a scanning mode switching module 112 in the industrial personal computer 11; the camera pod 3 has mounted therein a second ranging laser 31 and a camera 32. Specifically, the laser cabin 2 and the camera cabin 3 are installed on the same horizontal line.
In a specific implementation, the laser ranging data acquired by the first ranging laser 21 and the second ranging laser 31 are transmitted to the mechanical calibration module 111 for mechanical structure calibration of the underwater laser scanning device. And the laser ranging data obtained by the first ranging laser 21 and the second ranging laser 31, the line laser data obtained by the line laser 22 and the image data obtained by the camera 32 are transmitted to the scanning mode switching module 112, so as to switch the static and dynamic scanning modes of the underwater laser scanning device.
The laser cabin 2 and the camera cabin 3 are provided with connectors 23, and are arranged on the underwater laser scanning equipment through the connectors 23.
In specific implementation, the obtained laser ranging data and the artificially measured cabin deflection angle are transmitted to the industrial personal computer 11 in the docking cabin 1, in the mechanical calibration module 111 of the industrial personal computer 11, a trigonometric function calculation of space is performed to obtain the inter-cabin distance between the laser cabin 2 and the camera cabin 3, then the parameters are transmitted to the water computer through the docking cabin 1, the parameters are set as processing prepositive parameters of underwater scanning images, and the self calibration of the underwater mechanical mechanism of the whole system is completed.
In a specific implementation, a calibration plate 5 of a specific size, as shown in fig. 5, is placed in the field of view of the camera 32 and in front of it, perpendicular to the central axis of the camera pod 3, as shown in fig. 6. The whole calibration plate 5 needs to be completely embodied in the picture of the camera 32, and the whole calibration plate is not covered. Alternatively, the calibration plate 5 consists of 20 × 30 black and white boxes with dimensions of 7 × 7 mm.
The image of the calibration plate 5 is obtained by the camera 32, the image corner point of the image of the calibration plate 5 is identified, the corner point on the image is marked with the first color, and the position of the laser point in the image is further calculated and obtained. The first color is one of red, green and blue under an RGB color mode; and filtering color channels of the image, setting all data lower than a threshold value in the image channel corresponding to the first color to zero, reserving non-zero pixel data, scanning the rest data line by line, calculating the positions of two pixels with the maximum image channel value, and further calculating and acquiring the position of the laser point in the image. And comparing the coordinates of all the corner points with the pixel coordinates of the two laser points, matching the coordinates of the corresponding corner points with the laser points, and calculating the distance between the two laser points in the real situation according to the positions of the corner points corresponding to the two laser points and the size and the interval of the corner points in the real situation. And then according to the measured data of the camera cabin 3 and the laser cabin 2, the actual distance between the two cabin bodies and the included angle between the laser cabin 2 and the horizontal plane are obtained through a space trigonometric algorithm, and the self calibration of the mechanical dimension is completed.
In a specific implementation, the mechanical calibration module 111 displays the extracted key points on the original drawing in green color according to the calculation result of the corner point detection. Then, identifying the image laser point: the camera 32 obtains that the image is colored, the ranging laser point is green, the background calibration plate 5 is black and white, when the image is processed, firstly, the image is filtered by a color channel, all data in an image G channel (green) which is lower than a threshold value of 200 are set to zero, the remaining non-zero pixel data are small parts of green image pixels, then, the remaining data are scanned line by line, and the positions of two pixels with the maximum channel number value are calculated, namely the positions of the ranging laser point in the image.
Comparing the coordinates of all the corner points with the pixel coordinates of the two laser points, matching the coordinates of the corresponding corner points with the laser points, and calculating to obtain the distance D between the two laser points under the actual condition according to the positions of the corner points corresponding to the two laser points and the size and the interval of the corner points in the actual conditions. Then according to the measured data D of the camera cabin body and the laser cabin 21And D2And obtaining the actual distance D between the two cabin bodies and the included angle beta between the laser cabin 2 and the horizontal plane through a space trigonometric algorithm, thereby completing the self calibration of the mechanical dimension. The formula is as follows:
after the complete mechanical dimension is self-calibrated, the scan mode switching module 112 of the present application can switch between a static mode and a dynamic mode during the scan operation, where the static mode is to fix the instrument at a fixed position, and perform a 0-360 ° rotation scan with the position as the axis, and the dynamic mode is to perform the scan operation when the instrument is in a moving state.
In a specific implementation, the scan mode switching module 112 of the present application adopts a dual-thread design, in this embodiment, a static processing thread is referred to as an a thread for short, and a dynamic thread is referred to as a B thread for short. Firstly, the total data input of the whole algorithm is an underwater scanning image and self-calibration mechanical parameters, wherein the underwater scanning image data is firstly subjected to gray level binarization processing of a line laser scanning image, the image is subjected to distinguishing of a laser line and a background picture, then the position information of laser pixels in the image is extracted, and data parameters are provided for later-stage further processing. On the other hand, attitude data is imported by self-calibration mechanical parameters of the equipment, is fused with the position information of the line laser pixels, and is transmitted to the next step of the algorithm for detection, if no input of the attitude data is detected, the static data processing of the thread A is carried out, if the input of the attitude data is detected, whether the two threads are synchronous or not is immediately carried out, if the synchronous is needed, the thread A and the thread B are simultaneously started, and the synchronous processing of the static and dynamic data is carried out; and if the synchronization is not needed, only starting the dynamic thread to process the dynamic data, and finally outputting the corresponding underwater target space three-dimensional data information.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An underwater laser scanning apparatus, comprising:
the system comprises a docking cabin, a control computer and a control system, wherein the docking cabin is internally provided with the industrial personal computer;
the laser cabin is connected with the connection cabin, and a first distance measuring laser and a line laser are installed in the laser cabin;
the camera shooting cabin is connected with the connection cabin, and a second distance measuring laser and a camera are installed in the camera shooting cabin;
the industrial personal computer calculates and obtains the cabin deflection angle of the laser cabin and the cabin distance between the laser cabin and the camera cabin according to the laser ranging data of the first ranging laser and the second ranging laser based on an auxiliary board and the distance between the laser points of the first ranging laser and the second ranging laser on the auxiliary board, and completes the self calibration of the mechanical parameters of the underwater laser scanning equipment according to the cabin deflection angle and the cabin distance.
2. The underwater laser scanning apparatus of claim 1, wherein the auxiliary board is a calibration board that is placed entirely in the field of view of the camera and is placed in a perpendicular direction to the central axis of the camera pod.
3. An underwater laser scanning apparatus as claimed in claim 2, wherein the calibration plate is positioned such that the laser points of the first and second ranging lasers are located at angular points of the calibration plate.
4. The underwater laser scanning device of claim 3, wherein the camera is used to acquire an image of the calibration plate, the image of the calibration plate is subjected to image corner point identification, the corner points are marked with a first color on the image, and the position of the laser point in the image is further calculated and acquired.
5. The underwater laser scanning apparatus of claim 4, wherein the first color is one of red, green, and blue in an RGB color mode; and filtering color channels of the image, setting all data which are lower than a threshold value in the image channel corresponding to the first color to zero, reserving non-zero pixel data, scanning the rest data line by line, calculating the positions of two pixels with the maximum image channel value, and further calculating and obtaining the position of the laser point in the image.
6. The underwater laser scanning device of claim 5, wherein coordinates of all the corner points are compared with pixel coordinates of the two laser points, and a distance between the two laser points in a real situation is calculated according to a size and an interval of the corner points in the real situation; and then according to the laser ranging data of the first ranging laser and the second ranging laser, obtaining the distance between the cabins and the included angle between the laser cabin and the horizontal plane through a space trigonometric algorithm, and finishing the self calibration of the mechanical parameters.
7. The underwater laser scanning device according to any one of claims 1 to 6, wherein the line laser is started, a pixel position of a line laser emitted by the line laser is further acquired, and attitude data of the underwater laser scanning device after the mechanical parameter self-calibration is completed is acquired, and the industrial personal computer controls the underwater laser scanning device to switch scanning modes according to the pixel position of the line laser and the attitude data of the underwater laser scanning device.
8. The underwater laser scanning apparatus according to claim 7, wherein a scan image including the line laser light is acquired by the camera, a grayscale binarization process is performed on the scan image, and a pixel position of the line laser light is acquired from the processed scan image.
9. The underwater laser scanning device of claim 7, wherein the scanning mode comprises any one of a single static rotary scanning mode, a single dynamic scanning mode, and a simultaneous dynamic and static scanning mode.
10. The underwater laser scanning apparatus of claim 1, wherein connectors are mounted on both the laser capsule and the camera capsule, and the laser capsule and the camera capsule are connected to the docking capsule through the connectors.
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| CN114200463B (en) | 2023-05-23 |
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