CN114353689A - Underwater three-dimensional imaging system based on binocular single detector - Google Patents
Underwater three-dimensional imaging system based on binocular single detector Download PDFInfo
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Abstract
The invention provides an underwater three-dimensional imaging system, which comprises: a control module, an illumination module and an imaging module; the control module is connected with the illumination module and the imaging module and is used for controlling the illumination module and the imaging module to be turned on or off and recording images formed by the imaging module; the illumination module comprises an illumination light source and a light homogenizing assembly, and the light homogenizing assembly is used for homogenizing illumination light emitted by the illumination light source to finish illumination on a target; the imaging module comprises a lens assembly and a detector, wherein the lens assembly is used for guiding the optical signal reflected by the target to reach the detector for imaging. The underwater three-dimensional imaging system combines a single detector with an optical element, and two originally spatially separated images are imaged on the same detector by using the optical element, specifically, the two originally spatially separated images are spatially separated on the same detector or temporally separated on the same detector, so that the underwater three-dimensional imaging system with high resolution, long imaging distance and high imaging speed is constructed.
Description
Technical Field
The invention relates to the technical field of three-dimensional imaging, in particular to an underwater three-dimensional imaging system based on a binocular single detector.
Background
In the underwater three-dimensional imaging technology, a general underwater binocular stereo vision system adopts the combination of an active illumination light source, a double optical system and a double detector. On one hand, the price of a typical area array type photosensitive chip is no longer the main reason for influencing the cost of the three-dimensional imaging system, on the other hand, the design of the optical system can be simplified by adopting the double detectors, and the software calibration and the image processing of the double detectors are increasingly simplified. Therefore, the typical underwater binocular stereo vision system adopts a dual-detector design.
However, because the water environment has strong absorption and scattering to electromagnetic waves, the existing underwater optical imaging technology has the problems of poor imaging quality and short imaging distance. Therefore, the typical underwater binocular stereo vision system also has the defects of short imaging distance and large distance resolution influenced by the water body environment. In order to increase the three-dimensional optical imaging distance, new illumination sources and photosensitive detectors are being widely tested and researched. Representative techniques are: the method comprises a three-dimensional imaging technology based on the streak tube, a point scanning underwater three-dimensional imaging technology, a technology for reconstructing an underwater three-dimensional image by using range gating imaging and the like.
In contrast, the laser range gating technique has the characteristics of high precision, long imaging distance and the like. However, the three-dimensional image obtained by laser range gate imaging needs high-precision excitation pulse synchronous control, often reaches picosecond-level synchronous precision, increases the complexity of the system, and is difficult to realize. If a traditional binocular stereoscopic vision imaging system is formed by two detectors and an optical system, the complexity of the control system is increased, and the cost is increased rapidly.
The current underwater three-dimensional imaging technology mainly adopts two methods: and underwater laser distance gating three-dimensional imaging and underwater binocular stereoscopic vision imaging.
The basic principle of the underwater laser range-gated imaging technology is that pulse illumination laser working in a blue-green light wave band actively irradiates a target, and a high-precision control system controls the time of a detector for receiving signals, so that only target reflected light at a specific distance can be collected and imaged by the detector. The underwater laser range gating imaging technology can obtain a two-dimensional gray scale image of a target, and can also image the target at different distances through gating slicing to obtain depth data and calculate to obtain three-dimensional information of the target. However, in order to obtain high-precision three-dimensional information, the gating slice needs to be very thin, namely the pulse width of the laser pulse and the gate width of the gating detector need to reach nanosecond or even picosecond, an electronic system of the whole system is complex and precise, and the requirement on cost is high. And a long time is needed for acquiring and processing a two-dimensional image to obtain a high-precision three-dimensional image, and the real-time property of the three-dimensional image is difficult to guarantee.
The basic principle of the underwater binocular stereoscopic vision imaging technology is based on the parallax principle, different images of a target are obtained through two sets of imaging systems at different positions, depth information is obtained through calculating the position deviation of the corresponding points of the two images, and then three-dimensional information of an underwater object is obtained. Because the electromagnetic wave is rapidly attenuated underwater (within 10m of red light, 10-30m of yellow orange light, about 100m of green light and the deepest blue light to 500m), the illumination of ambient light is difficult to obtain for deeper underwater targets, and an underwater binocular vision system needs additional active illumination light. However, the adoption of active illumination can result in low signal-to-noise ratio and poor imaging refrigeration. Because the comprehensive color information of the target needs to be acquired, the imaging distance is limited by the red light transmission distance, the detection distance of a typical underwater binocular vision system is only a few meters, and the imaging distance is too short.
In conclusion, the existing underwater three-dimensional imaging technology has the defect that the actual application requirements cannot be met.
Disclosure of Invention
In view of the above, in order to overcome the defects of the prior art, the invention provides an underwater three-dimensional imaging system based on a binocular single detector.
The underwater three-dimensional imaging system comprises: a control module, an illumination module and an imaging module;
the control module is connected with the illuminating module and the imaging module and is used for controlling the opening or closing of the illuminating module and the imaging module and recording images formed by the imaging module;
the illumination module comprises an illumination light source and a light homogenizing assembly, and the light homogenizing assembly is used for homogenizing illumination light emitted by the illumination light source to finish illumination on a target;
the imaging module comprises a lens assembly and a detector, and the lens assembly is used for guiding the optical signal reflected by the target to reach the detector for imaging.
In particular, the underwater three-dimensional imaging system further comprises a watertight device;
the light homogenizing assembly is arranged on the watertight device and comprises a first optical window, a second optical window and a third optical window, the first optical window and the second optical window are arranged on two sides of the third optical window, and the illumination light source is arranged in the watertight device;
the illuminating light emitted by the illuminating light source enters the water body through the third optical window, and the light signal reflected by the target enters the watertight device through the first optical window and the second optical window.
In some embodiments, the imaging module is disposed within the watertight device, the lens assembly includes a first mirror, a second mirror, a third mirror, and a lens, the first mirror and the second mirror disposed on either side of the third mirror;
the first reflector is arranged corresponding to the first optical window, the first reflector is used for reflecting an optical signal entering the watertight device from the first optical window, the second reflector is arranged corresponding to the second optical window, the second reflector is used for reflecting an optical signal entering the watertight device from the second optical window, the optical signal reflected by the first reflector and the optical signal reflected by the second reflector are reflected by the third reflector to enter the lens, and the optical signal reaches the detector through the lens.
The optical signal reflected by the first reflector and the optical signal reflected by the second reflector simultaneously reach the detector through the third reflector for imaging. The binocular stereo vision system with a distance in space is realized through the optical element, images are simultaneously formed on the left side and the right side of the single detector, and compared with the prior art, the binocular stereo vision system has the advantages of reducing the complexity of the system and reducing the cost. Two optical paths formed by imaging can image the target image on the left side and the right side of the detector, so that the subsequent image processing is facilitated.
In some embodiments, the imaging module is disposed within the watertight fitting, the lens assembly including a first lens, a second lens, a first mirror, a second mirror, and a third mirror rotatably disposed between the first mirror and the second mirror;
the first lens and the first reflector are arranged corresponding to the first optical window, a light signal entering the watertight device from the first optical window is emitted to the first reflector through the first lens, the second lens and the second reflector are arranged corresponding to the second optical window, and a light signal entering the watertight device from the second optical window is emitted to the second reflector through the second lens;
the third reflector is used for blocking the optical signal reflected by the first reflector and reflecting the optical signal reflected by the second reflector to the detector, or the third reflector is used for blocking the optical signal reflected by the second reflector and reflecting the optical signal reflected by the first reflector to the detector.
Still be provided with the driving piece in the watertight device, the driving piece is connected the third speculum, the driving piece is used for the drive the third speculum rotates.
The third reflector blocks the optical signal reflected by the first reflector, reflects the optical signal reflected by the second reflector to the detector for imaging, then the driving member drives the third reflector to rotate, the third reflector blocks the optical signal reflected by the second reflector, and reflects the optical signal reflected by the first reflector to the detector for imaging;
or the third reflector blocks the optical signal reflected by the second reflector, reflects the optical signal reflected by the first reflector to enter the detector for imaging, then the driving member drives the third reflector to rotate, the third reflector blocks the optical signal reflected by the first reflector, and reflects the optical signal reflected by the second reflector to enter the detector for imaging. The binocular stereoscopic vision system with a distance in time interval is realized through the optical element, and the front frame and the rear frame of the photosensitive element of the single detector are imaged in turn, so that the binocular stereoscopic vision system has the advantages of reducing the complexity of the system and reducing the cost compared with the prior art.
In some embodiments, the imaging module is disposed within the watertight device, the lens assembly includes a first lens, a second lens, a first diaphragm, a second diaphragm, a first mirror, a second mirror, and a third mirror, the third mirror disposed between the first mirror and the second mirror, the first diaphragm disposed between the first mirror and the third mirror, the second diaphragm disposed between the second mirror and the third mirror;
the first lens and the first reflector are arranged corresponding to the first optical window, a light signal entering the watertight device from the first optical window enters the first reflector through the first lens, the second lens and the second reflector are arranged corresponding to the second optical window, a light signal entering the watertight device from the second optical window enters the second reflector through the second lens, a light signal reflected by the first reflector passes through the first diaphragm and then is reflected by the third reflector to reach the detector, and a light signal reflected by the second reflector passes through the second diaphragm and then is reflected by the third reflector to reach the detector.
The watertight device is provided with a watertight connector, and the control module is connected with the watertight connector through a watertight cable and a watertight network cable. The watertight connector is arranged to enable the device entering the water body to be stably connected with the control module.
The underwater three-dimensional imaging system further comprises a pulse controller, wherein the input end of the pulse controller is connected with the control module, and the output end of the pulse controller is connected with the illumination light source and the detector.
In conclusion, the underwater three-dimensional imaging system based on the binocular single detector has the following beneficial effects: the underwater binocular vision system is combined with a single detector, and two images which are originally separated in space are imaged on the same detector by using an optical element, specifically, the two images are separated in space on the same detector, or are separated in time on the same detector. A binocular vision system is realized by using a single detector and an optical element, so that the imaging system can simply and practically extract the three-dimensional information of the underwater target, and the cost can be reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural view of an underwater three-dimensional imaging system according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of the application of Zhangyingyou calibration method in cavities and in water bodies;
FIG. 3 is a schematic diagram of gated image-to-depth information extraction;
fig. 4 is a schematic structural diagram of an underwater three-dimensional imaging system according to embodiment 2 of the invention;
fig. 5 is a schematic structural diagram of an underwater three-dimensional imaging system according to embodiment 3 of the present invention.
Reference numerals:
1-a control module; 2-an illumination light source; 31-a first optical window; 32-a second optical window; 33-a third optical window; 41-a first mirror; 42-a second mirror; 43-a third mirror; 44-a drive member; 5-lens; 51-a first lens; 52-second lens; 6-a detector; 7-watertight fittings; 71-watertight joints; 72-watertight cables and cables; 8-a pulse controller; 91-a first diaphragm; 92-second diaphragm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an underwater three-dimensional imaging system based on a binocular single detector, which utilizes one detector to capture images formed by two light paths, and calculates three-dimensional information of a target through the two obtained images.
The underwater three-dimensional imaging system specifically comprises: a control module, an illumination module and an imaging module.
The control module is connected with the illuminating module and the imaging module and is used for controlling the opening or closing of the illuminating module and the imaging module and recording images formed by the imaging module. The illumination module comprises an illumination light source and a light homogenizing assembly, wherein the light homogenizing assembly is used for homogenizing illumination light emitted by the illumination light source so as to finish illumination on a target. The imaging module comprises a lens assembly and a detector, wherein the lens assembly is used for guiding the optical signal reflected by the target to reach the detector for imaging.
Example 1
The embodiment provides a specific structure of an underwater three-dimensional imaging system based on a binocular single detector. Referring to the attached drawing 1 of the specification, the control module 1 of the underwater three-dimensional imaging system based on the binocular single detector 6 of the embodiment includes an upper computer, the illumination light source 2 is illumination laser, the dodging assembly includes a first optical window 31, a second optical window 32 and a third optical window 33, the lens assembly includes a first reflector 41, a second reflector 42, a third reflector 43 and a lens 5, the first reflector 41 and the second reflector 42 are arranged on two sides of the third reflector 43, and the detector 6 is a gated camera. A watertight device 7 is provided for accommodating the illumination module and the imaging module, and specifically, the dodging assembly is provided on the watertight device 7, and the illumination light source 2 and the imaging module are provided inside the watertight device 7. The upper computer is located on the water surface, the watertight device 7 is located in the water body, the watertight connector 71 is arranged on the watertight device 7, the upper computer is connected with the watertight connector 71 through a watertight cable and a watertight network wire 72, and a wire is led out of the watertight connector 71 to be connected with the lighting source 2 inside the watertight device 7 and devices of the imaging module.
The illumination light source 2 is arranged below the detector 6, illumination light emitted by the illumination light source 2 enters the water body through the third optical window 33, and light signals reflected by the target enter the watertight device 7 through the first optical window 31 and the second optical window 32. A first mirror 41 is arranged in correspondence of the first optical window 31, the first mirror 41 reflecting the light signal entering the watertight device 7 from said first optical window 31. The second mirror 42 is arranged in correspondence with the second optical window 32, the second mirror 42 reflecting the light signal entering the watertight device 7 from the second optical window 32. The optical signal reflected by the first mirror 41 and the optical signal reflected by the second mirror 42 are reflected by the third mirror 43 to enter the lens 5, and the optical signal reaches the detector 6 through the lens 5. The optical signal reflected by the first mirror 41 and the optical signal reflected by the second mirror 42 can reach the detector 6 for imaging simultaneously through the third mirror 43.
Further, a pulse controller 8 is further arranged in the watertight device 7, the input end of the pulse controller 8 is connected with the control module 1, and the output end of the pulse controller 8 is connected with the illumination light source 2 and the detector 6. The pulse controller 8 is used for receiving an instruction of the upper computer to control the illumination light source 2 to emit illumination light, and controlling the detector 6 to open the electronic shutter when the optical signal reflected by the first reflecting mirror 41 and the optical signal reflected by the second reflecting mirror 42 reach the detector 6 through the third reflecting mirror 43.
When the underwater three-dimensional imaging system based on the binocular single detector 6 provided by the embodiment is used for underwater three-dimensional imaging, the imaging process comprises the following steps: the upper computer sends out an instruction to enable the gating camera and the illumination laser to be in a standby state, the pulse controller 8 sends out excitation pulses to the illumination laser after receiving the instruction of the upper computer, the illumination laser sends out pulse laser, and the pulse laser enters the water body through the third optical window 33 and illuminates underwater targets. The optical signal reflected by the target enters the watertight device 7 through the first optical window 31 and the second optical window 32, two optical paths exist in the underwater three-dimensional imaging system, one of the two optical paths reaches the gated camera through the first optical window 31, the first reflector 41, the third reflector 43 and the lens 5, and the other optical path reaches the gated camera through the second optical window 32, the second reflector 42, the third reflector 43 and the lens 5. When the target images acquired by the two optical paths reach the gating camera, the excitation pulse sent by the pulse controller 8 controls the gating camera to open the electronic shutter, so that the images acquired by the two optical paths respectively cover half of the area of the photosensitive element of the gating camera. And outputting an image after imaging by the gating camera, and entering the upper computer by the output image through the watertight cable and the watertight network wire 72 to be recorded by a program.
The depth information of the target, namely the three-dimensional information, can be obtained by processing the image output to the upper computer. In the image processing process, the image output by the underwater three-dimensional imaging system of the embodiment is divided into two parts, which can be used for calculating the depth information of the target. As shown in fig. 2 and 3, the internal and external parameters of the underwater three-dimensional imaging system are calibrated in the air and in water bodies under different conditions by a Zhang-Yongyou calibration method. After the images from the underwater three-dimensional imaging system are acquired through the calibrated underwater three-dimensional imaging system and the gating camera, corresponding points in the two images are found through the characteristic points, and the depth information of the target is acquired by means of the calibrated camera parameters.
In the present embodiment, the third reflector 43 is a rectangular prism reflector, and can reflect the optical signals in the two optical paths in the underwater three-dimensional imaging system at the same time.
The underwater three-dimensional imaging system of the embodiment realizes a binocular stereoscopic vision system spaced at a distance through optical elements, and images are simultaneously formed on the left side and the right side of the single detector 6, so that compared with the prior art, the underwater three-dimensional imaging system has the advantages of reducing the complexity of the system and reducing the cost. The two optical paths formed by imaging can image the target image on the left side and the right side of the detector 6, so that the subsequent image processing is facilitated.
Example 2
The embodiment provides a specific structure of an underwater three-dimensional imaging system based on a binocular single detector 6. Referring to the attached fig. 4 of the specification, the control module 1 of the underwater three-dimensional imaging system based on the binocular single detector 6 of the present embodiment includes an upper computer, the illumination light source 2 is illumination laser, the light uniformizing assembly includes a first optical window 31, a second optical window 32 and a third optical window 33, the lens assembly includes a first lens 51, a second lens 52, a first reflector 41, a second reflector 42 and a third reflector 43, the third reflector 43 is rotatably disposed between the first reflector 41 and the second reflector 42, and the detector 6 is a gated camera. A watertight device 7 is provided for accommodating the illumination module and the imaging module, and specifically, the dodging assembly is provided on the watertight device 7, and the illumination light source 2 and the imaging module are provided inside the watertight device 7. The upper computer is located on the water surface, the watertight device 7 is located in the water body, the watertight connector 71 is arranged on the watertight device 7, the upper computer is connected with the watertight connector 71 through a watertight cable and a watertight network wire 72, and a wire is led out of the watertight connector 71 to be connected with the lighting source 2 inside the watertight device 7 and devices of the imaging module.
The illumination light source 2 is arranged below the detector 6, illumination light emitted by the illumination light source 2 enters the water body through the third optical window 33, and light signals reflected by the target enter the watertight device 7 through the first optical window 31 and the second optical window 32. The first lens 51 and the first reflector 41 are disposed corresponding to the first optical window 31, and the light signal entering the watertight device 7 from the first optical window 31 is emitted to the first reflector 41 through the first lens 51. The second lens 52 and the second reflector 42 are disposed in correspondence with the second optical window 32, and the light signal entering the watertight device 7 from the second optical window 32 is directed to the second reflector 42 through the second lens 52. The third mirror 43 can block the optical signal reflected by the first mirror 41 and reflect the optical signal reflected by the second mirror 42 to the detector 6, or block the optical signal reflected by the second mirror 42 and reflect the optical signal reflected by the first mirror 41 to the detector 6. Two paths of optical signals of the underwater three-dimensional imaging system can be imaged in a time-sharing mode by controlling the orientation of the third reflector 43, and two continuous images enter a processing system of the control module 1 to calculate depth information.
Further, a pulse controller 8 and a driving member 44 are provided in the watertight device 7. The input end of the pulse controller 8 is connected with the control module 1, and the output end of the pulse controller 8 is connected with the illumination light source 2 and the detector 6. The pulse controller 8 is used for receiving an instruction of the upper computer to control the illumination light source 2 to emit illumination light, and controlling the detector 6 to open the electronic shutter when the optical signal reflected by the first reflecting mirror 41 and the optical signal reflected by the second reflecting mirror 42 reach the detector 6 through the third reflecting mirror 43. The input end of the driving member 44 is connected to the control module 1, the output end is connected to the third reflecting mirror 43, and the driving member 44 is used for driving the third reflecting mirror 43 to rotate. In some embodiments, a motor is provided as the drive 44.
When the underwater three-dimensional imaging system based on the binocular single detector 6 provided by the embodiment is used for underwater three-dimensional imaging, the imaging process comprises the following steps: the upper computer sends out an instruction to enable the gating camera and the illumination laser to be in a standby state, the pulse controller 8 sends out excitation pulses to the illumination laser after receiving the instruction of the upper computer, the illumination laser sends out pulse laser, and the pulse laser enters the water body through the third optical window 33 and illuminates underwater targets. The light signal reflected by the target enters the watertight device 7 through the first optical window 31 and the second optical window 32, two imaging optical paths exist in the underwater three-dimensional imaging system, one optical path reaches the gated camera through the first optical window 31, the first lens 51, the first reflector 41 and the third reflector 43, and the other optical path reaches the gated camera through the second optical window 32, the second lens 52, the second reflector 42 and the third reflector 43.
In the present embodiment, the third reflecting mirror 43 is a rotating mirror, so that two optical signals in the underwater three-dimensional imaging system can be imaged in a time-sharing manner. Specifically, when the third reflecting mirror 43 is disposed in the state shown in fig. 4, the light signal collected by the first lens 51 and the first reflecting mirror 41 is blocked, and the light signal reflected by the second reflecting mirror 42 can be reflected by the third reflecting mirror 43 to reach the gate camera for imaging. After the gating camera outputs an image, the driving member 44 drives the third reflector 43 to rotate, at this time, the optical signals collected by the second lens 52 and the second reflector 42 are blocked, and the optical signals reflected by the first reflector 41 can be reflected by the third reflector 43 to reach the gating camera for imaging. Preferably, the driving member 44 drives the third mirror 43 to rotate 180 ° each time, so as to process the image which reaches the detector 6 and is imaged.
In the imaging process of the underwater three-dimensional imaging system of the embodiment, only two paths of optical signals are time-sharing imaging, and the specific imaging sequence can be as follows: the third reflector 43 blocks the optical signal reflected by the first reflector 41, reflects the optical signal reflected by the second reflector 42 to the detector 6 for imaging, the driving member 44 drives the third reflector 43 to rotate, the third reflector 43 blocks the optical signal reflected by the second reflector 42, and reflects the optical signal reflected by the first reflector 41 to the detector 6 for imaging. Or, the third mirror 43 blocks the optical signal reflected by the second mirror 42, reflects the optical signal reflected by the first mirror 41 to enter the detector 6 for imaging, and then the driving member 44 drives the third mirror 43 to rotate, the third mirror 43 blocks the optical signal reflected by the first mirror 41, and reflects the optical signal reflected by the second mirror 42 to enter the detector 6 for imaging.
The image formed after the light path reaches the detector 6 is output to an upper computer for recording, and the image output to the upper computer is processed to obtain depth information, namely three-dimensional information, of the target. In the image processing process, two images continuously output by the underwater three-dimensional imaging system of the present embodiment can be used to calculate depth information of the target. As shown in fig. 2 and 3, the internal and external parameters of the underwater three-dimensional imaging system are calibrated in the air and in water bodies under different conditions by a Zhang-Yongyou calibration method. After the images from the underwater three-dimensional imaging system are acquired through the calibrated underwater three-dimensional imaging system and the gating camera, corresponding points in the two images are found through the characteristic points, and the depth information of the target is acquired by means of the calibrated camera parameters.
The underwater three-dimensional imaging system of the embodiment realizes a binocular stereoscopic vision system with a certain distance in time through the optical element, and images are alternately formed on the front frame and the rear frame of the photosensitive element of the single detector 6, so that compared with the prior art, the underwater three-dimensional imaging system has the advantages of reducing the complexity of the system and reducing the cost.
Example 3
Referring to the description of the drawings, fig. 5, the control module 1 of the underwater three-dimensional imaging system based on the binocular single detector 6 of the embodiment includes an upper computer, the illumination light source 2 is illumination laser, the light uniformizing assembly includes a first optical window 31, a second optical window 32 and a third optical window 33, the lens assembly includes a first lens 51, a second lens 52, a first diaphragm 91, a second diaphragm 92, a first reflector 41, a second reflector 42 and a third reflector 43, the third reflector 43 is arranged between the first reflector 41 and the second reflector 42, the first diaphragm 91 is arranged between the first reflector 41 and the third reflector 43, the second diaphragm 92 is arranged between the second reflector 42 and the third reflector 43, and the detector 6 is a gating camera. A watertight device 7 is provided for accommodating the illumination module and the imaging module, and specifically, the dodging assembly is provided on the watertight device 7, and the illumination light source 2 and the imaging module are provided inside the watertight device 7. The upper computer is located on the water surface, the watertight device 7 is located in the water body, the watertight connector 71 is arranged on the watertight device 7, the upper computer is connected with the watertight connector 71 through a watertight cable and a watertight network wire 72, and a wire is led out of the watertight connector 71 to be connected with the lighting source 2 inside the watertight device 7 and devices of the imaging module.
The illumination light source 2 is arranged below the detector 6, illumination light emitted by the illumination light source 2 enters the water body through the third optical window 33, and light signals reflected by the target enter the watertight device 7 through the first optical window 31 and the second optical window 32. The first lens 51 and the first reflector 41 are arranged corresponding to the first optical window 31, the optical signal entering the watertight device 7 from the first optical window 31 enters the first reflector 41 through the first lens 51, the second lens 52 and the second reflector 42 are arranged corresponding to the second optical window 32, the optical signal entering the watertight device 7 from the second optical window 32 enters the second reflector 42 through the second lens 52, the optical signal reflected by the first reflector 41 passes through the first diaphragm 91 and then is reflected by the third reflector 43 to reach the detector 6, and the optical signal reflected by the second reflector 42 passes through the second diaphragm 92 and then is reflected by the third reflector 43 to reach the detector 6.
When the underwater three-dimensional imaging system based on the binocular single detector 6 provided by the embodiment is used for underwater three-dimensional imaging, an optical signal reflected by a target enters the watertight device 7 through the first optical window 31 and the second optical window 32, two optical paths exist in the underwater three-dimensional imaging system, one of the two optical paths reaches the gating camera through the first optical window 31, the first lens 51, the first reflector 41, the first diaphragm 91 and the third reflector 43, and the other optical path reaches the gating camera through the second optical window 32, the second lens 52, the second reflector 42, the second diaphragm 92 and the third reflector 43. When the target images acquired by the two optical paths reach the gating camera, the excitation pulse sent by the pulse controller 8 controls the gating camera to open the electronic shutter, so that the images acquired by the two optical paths respectively cover half of the area of the photosensitive element of the gating camera. And outputting an image after imaging by the gating camera, and entering the upper computer by the output image through the watertight cable and the watertight network wire 72 to be recorded by a program.
Compared with the scheme of the embodiment 1, the underwater three-dimensional imaging system of the embodiment can enable two light paths to have larger visual fields.
Other parts that are the same as those in embodiment 1 will not be described herein again.
Alternatively, the first mirror 41 and the second mirror 42 may be flat mirrors or concave mirrors. In contrast, the first mirror 41 and the second mirror 42 can expand the imaging field of view by using concave mirrors, but the parameter calibration of the binocular optical system is more complicated, and it is more difficult to acquire three-dimensional information from the imaging detector 6.
The invention can also be applied to other imaging systems which need three-dimensional measurement but have expensive detectors 6, such as infrared cameras with specific wave bands, solar blind ultraviolet cameras, and the like.
In summary, the underwater binocular vision system based on the binocular single detector provided by the invention combines the underwater binocular vision system with the single detector, and two images which are originally separated in space are imaged on the same detector by using the optical element, specifically, the two images are separated in space on the same detector, or are separated in time on the same detector. A binocular vision system is realized by using a single detector and an optical element, so that the imaging system can simply and practically extract the three-dimensional information of the underwater target, and the cost can be reduced.
The underwater three-dimensional imaging system is high in resolution, long in imaging distance and high in imaging speed through a set of detectors and an optical system. The image formed by the underwater three-dimensional imaging system can acquire the three-dimensional information of the target from a single image, and can realize the real-time display of a two-dimensional gray scale image and three-dimensional depth information.
The above-mentioned embodiments are only preferred embodiments of the present invention, and not intended to limit the present invention, and various modifications other than the above-mentioned embodiments may be made, and the technical features of the above-mentioned embodiments may be combined with each other, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An underwater three-dimensional imaging system, comprising: a control module, an illumination module and an imaging module;
the control module is connected with the illuminating module and the imaging module and is used for controlling the opening or closing of the illuminating module and the imaging module and recording images formed by the imaging module;
the illumination module comprises an illumination light source and a light homogenizing assembly, and the light homogenizing assembly is used for homogenizing illumination light emitted by the illumination light source to finish illumination on a target;
the imaging module comprises a lens assembly and a detector, and the lens assembly is used for guiding the optical signal reflected by the target to reach the detector for imaging.
2. The underwater three-dimensional imaging system of claim 1, further comprising a watertight device;
the light homogenizing assembly is arranged on the watertight device and comprises a first optical window, a second optical window and a third optical window, the first optical window and the second optical window are arranged on two sides of the third optical window, and the illumination light source is arranged in the watertight device;
the illuminating light emitted by the illuminating light source enters the water body through the third optical window, and the light signal reflected by the target enters the watertight device through the first optical window and the second optical window.
3. The underwater three-dimensional imaging system of claim 2, wherein the imaging module is disposed within the watertight fitting, the lens assembly includes a first mirror, a second mirror, a third mirror, and a lens, the first mirror and the second mirror being disposed on either side of the third mirror;
the first reflector is arranged corresponding to the first optical window, the first reflector is used for reflecting an optical signal entering the watertight device from the first optical window, the second reflector is arranged corresponding to the second optical window, the second reflector is used for reflecting an optical signal entering the watertight device from the second optical window, the optical signal reflected by the first reflector and the optical signal reflected by the second reflector are reflected by the third reflector to enter the lens, and the optical signal reaches the detector through the lens.
4. The underwater three-dimensional imaging system of claim 3, wherein the light signal reflected by the first mirror and the light signal reflected by the second mirror simultaneously reach the detector via the third mirror for imaging.
5. The underwater three-dimensional imaging system of claim 2, wherein the imaging module is disposed within the watertight fitting, the lens assembly including a first lens, a second lens, a first mirror, a second mirror, and a third mirror rotatably disposed between the first mirror and the second mirror;
the first lens and the first reflector are arranged corresponding to the first optical window, a light signal entering the watertight device from the first optical window is emitted to the first reflector through the first lens, the second lens and the second reflector are arranged corresponding to the second optical window, and a light signal entering the watertight device from the second optical window is emitted to the second reflector through the second lens;
the third reflector is used for blocking the optical signal reflected by the first reflector and reflecting the optical signal reflected by the second reflector to the detector, or the third reflector is used for blocking the optical signal reflected by the second reflector and reflecting the optical signal reflected by the first reflector to the detector.
6. The underwater three-dimensional imaging system of claim 5, wherein a driving member is further disposed in the watertight device, the driving member is connected to the third reflector, and the driving member is used for driving the third reflector to rotate.
7. The underwater three-dimensional imaging system of claim 6, wherein the third mirror blocks the light signal reflected by the first mirror, reflects the light signal reflected by the second mirror to the detector for imaging, and then the driving member drives the third mirror to rotate, and the third mirror blocks the light signal reflected by the second mirror, and reflects the light signal reflected by the first mirror to the detector for imaging;
or the third reflector blocks the optical signal reflected by the second reflector, reflects the optical signal reflected by the first reflector to enter the detector for imaging, then the driving member drives the third reflector to rotate, the third reflector blocks the optical signal reflected by the first reflector, and reflects the optical signal reflected by the second reflector to enter the detector for imaging.
8. The underwater three-dimensional imaging system of claim 2, wherein the imaging module is disposed within the watertight device, the lens assembly includes a first lens, a second lens, a first stop, a second stop, a first mirror, a second mirror, and a third mirror, the third mirror is disposed between the first mirror and the second mirror, the first stop is disposed between the first mirror and the third mirror, and the second stop is disposed between the second mirror and the third mirror;
the first lens and the first reflector are arranged corresponding to the first optical window, a light signal entering the watertight device from the first optical window enters the first reflector through the first lens, the second lens and the second reflector are arranged corresponding to the second optical window, a light signal entering the watertight device from the second optical window enters the second reflector through the second lens, a light signal reflected by the first reflector passes through the first diaphragm and then is reflected by the third reflector to reach the detector, and a light signal reflected by the second reflector passes through the second diaphragm and then is reflected by the third reflector to reach the detector.
9. The underwater three-dimensional imaging system of claim 2, wherein the watertight device is provided with a watertight joint, and the control module is connected to the watertight joint by a watertight cable and a watertight network line.
10. The underwater three-dimensional imaging system of claim 1, further comprising a pulse controller, wherein an input end of the pulse controller is connected with the control module, and an output end of the pulse controller is connected with the illumination light source and the detector.
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