CN114353689A - An underwater three-dimensional imaging system based on binocular single detector - Google Patents

Abstract

The present invention provides an underwater three-dimensional imaging system, comprising: a control module, an illumination module and an imaging module; the control module is connected to the illumination module and the imaging module, and the control module is used to control the opening or closing of the illumination module and the imaging module, and record the imaging The image formed by the module; the illumination module includes an illumination light source and a uniform light component, and the uniform light component is used to make the illumination light emitted by the illumination light source uniform to complete the illumination of the target; the imaging module includes a lens assembly and a detector, and the lens assembly is used to guide the target. The reflected light signal reaches the detector for imaging. The underwater three-dimensional imaging system combines a single detector with an optical element, and uses the optical element to image two images that were originally spatially separated on the same detector, specifically, the space is separated on the same detector, or the temporal Separated on the same detector, an underwater three-dimensional imaging system with high resolution, long imaging distance and fast imaging speed is constructed.

Description

An underwater three-dimensional imaging system based on binocular single detector

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 technique

In the underwater 3D imaging technology, the general underwater binocular stereo vision system adopts the combination of active illumination light source, dual optical system and dual detector. On the one hand, the price of the typical area array photosensitive chip is no longer the main factor affecting the cost of the 3D imaging system. On the other hand, the use of dual detectors can simplify the optical system design, and the software calibration and image processing of the dual detectors are also becoming more and more simplified. . Therefore, the typical underwater binocular stereo vision system adopts the design of double detectors.

However, due to the strong absorption and scattering of electromagnetic waves by the water environment, 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 that the imaging distance is short, and the distance resolution is greatly affected by the water environment. To improve the 3D optical imaging distance, new illumination sources and photodetectors are being extensively tested and researched. The representative technologies include: 3D imaging technology based on streak tube, point scanning underwater 3D imaging technology, and technology of reconstructing underwater 3D images using range-gated imaging.

In contrast, laser distance gating technology has the characteristics of high precision and long imaging distance. However, the 3D image obtained by laser range-gated imaging requires high-precision excitation pulse synchronization control, often reaching picosecond-level synchronization accuracy, which increases the complexity of the system and is difficult to achieve. If two sets of detectors and optical systems are used to form a traditional binocular stereo vision imaging system, not only the complexity of the control system will increase, but also the cost will increase dramatically.

The current underwater 3D imaging technology mainly adopts two methods: underwater laser range-gated 3D imaging and underwater binocular stereo vision imaging.

The basic principle of underwater laser range-gated imaging technology is that the pulsed illumination laser working in the blue-green light band actively illuminates the target, and the high-precision control system controls the time when the detector receives the signal, so that only the reflected light of the target at a specific distance can be detected. The detector collects and images. In addition to obtaining the two-dimensional grayscale image of the target, the underwater laser range-gated imaging technology can also obtain depth data and calculate the three-dimensional information of the target by imaging targets at different distances through gating slices. However, in order to obtain high-precision three-dimensional information, the gated slice needs to be very thin, that is, the pulse width of the laser pulse and the gate width of the gated detector need to reach the nanosecond or even picosecond level. The electronic system of the overall system is relatively complex and precise. High cost requirements. In addition, it takes a long time to acquire and process two-dimensional images to obtain high-precision three-dimensional images, and it is difficult to guarantee the real-time performance of three-dimensional images.

The basic principle of underwater binocular stereo vision imaging technology is based on the principle of parallax. Different images of the target are obtained through two sets of imaging systems at different positions, and depth information is obtained by calculating the position deviation of the corresponding points of the two images, and then the underwater object is obtained. three-dimensional information. Because of the rapid attenuation of electromagnetic waves underwater (red light within 10m, yellow-orange light 10-30m, green light about 100m, blue light up to 500m), it is difficult for deeper underwater targets to obtain ambient light illumination, so the underwater binocular Vision systems need to be accompanied by active lighting. The use of active lighting will result in a low signal-to-noise ratio and poor imaging cooling. Because the comprehensive color information of the target needs to be obtained, the imaging distance is limited by the transmission distance of red light. The detection distance of a typical underwater binocular vision system is only a few meters, and the imaging distance is too short.

To sum up, the existing underwater three-dimensional imaging technologies all have shortcomings that make them unable to meet the needs of practical applications.

SUMMARY OF THE INVENTION

In view of this, in order to overcome the above-mentioned defects of the prior art, the present invention proposes an underwater three-dimensional imaging system based on a binocular single detector.

The underwater three-dimensional imaging system includes: a control module, an illumination module and an imaging module;

The control module is connected to the lighting module and the imaging module, and the control module is used to control the lighting module and the imaging module to be turned on or off, and to record the image formed by the imaging module;

The illumination module includes an illumination light source and a uniform light assembly, and the uniform light assembly is used to make the illumination light emitted by the illumination light source uniform to complete the illumination of the target;

The imaging module includes a lens assembly and a detector, and the lens assembly is used to guide the light signal reflected by the target to reach the detector for imaging.

Specifically, the underwater three-dimensional imaging system further includes a watertight device;

The homogenizing assembly is arranged on the watertight device, and the homogenizing assembly includes a first optical window, a second optical window and a third optical window, and the first optical window and the second optical window are arranged at the same place. On both sides of the third optical window, the illumination light source is arranged in the watertight device;

The illumination light emitted by the illumination 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 in the watertight device, the lens assembly includes a first reflector, a second reflector, a third reflector and a lens, the first reflector and the first reflector Two mirrors are arranged on both sides of the third mirror;

The first reflecting mirror is arranged corresponding to the first optical window, the first reflecting mirror is used to reflect the light signal entering the watertight device from the first optical window, and the second reflecting mirror corresponds to the first reflecting mirror. Two optical windows are provided, the second reflector is used to reflect the light signal entering the watertight device from the second optical window, the light signal reflected by the first reflector and the light reflected by the second reflector The signal is reflected by the third mirror into the lens, and the optical signal passes through the lens to the detector.

The light signal reflected by the first reflecting mirror and the light signal reflected by the second reflecting mirror pass through the third reflecting mirror and simultaneously reach the detector for imaging. The binocular stereo vision system spaced apart by a certain distance in space is realized by optical elements, and images are simultaneously imaged on the left and right sides of a single detector, which has the advantages of reducing system complexity and cost compared with the prior art. The two optical paths formed by imaging can image the target image on the symmetrical left and right sides of the detector, which is convenient for subsequent image processing.

In some embodiments, the imaging module is disposed in the watertight device, and the lens assembly includes a first lens, a second lens, a first reflector, a second reflector and a third reflector, and the third reflector rotatably disposed between the first reflector and the second reflector;

The first lens and the first reflection mirror are arranged corresponding to the first optical window, and the light signal entering the watertight device from the first optical window is emitted to the first reflection through the first lens The second lens and the second reflecting mirror are arranged corresponding to the second optical window, and the light signal entering the watertight device from the second optical window passes through the second lens and is directed to the first two mirrors;

The third reflector is used to block the light signal reflected by the first reflector, and reflect the light signal reflected by the second reflector to reach the detector, or the third reflector is used to block all the light signals. The light signal reflected by the second mirror is reflected, and the light signal reflected by the first mirror is reflected to reach the detector.

The watertight device is also provided with a driving member, the driving member is connected to the third reflecting mirror, and the driving member is used to drive the third reflecting mirror to rotate.

The third reflecting mirror blocks the light signal reflected by the first reflecting mirror, reflects the light signal reflected by the second reflecting mirror and reaches the detector for imaging, and then the driving member drives the third reflecting mirror to rotate , the third reflector blocks the light signal reflected by the second reflector, and reflects the light signal reflected by the first reflector to reach the detector for imaging;

Or, the third reflector blocks the light signal reflected by the second reflector, reflects the light signal reflected by the first reflector and enters the detector for imaging, and then the driving member drives the third reflector When the mirror rotates, the third mirror blocks the light signal reflected by the first mirror, and reflects the light signal reflected by the second mirror to enter the detector for imaging. The binocular stereo vision system with a certain distance in time is realized by optical elements, and images are alternately imaged in the frames before and after the photosensitive element of the single detector, which 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 in the watertight device, and the lens assembly includes a first lens, a second lens, a first aperture, a second aperture, a first reflector, and a second reflector and a third reflection mirror, the third reflection mirror is arranged between the first reflection mirror and the second reflection mirror, and the first diaphragm is arranged between the first reflection mirror and the third reflection mirror , the second diaphragm is arranged between the second reflection mirror and the third reflection mirror;

The first lens and the first reflector are arranged corresponding to the first optical window, and the 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, and the light signal entering the watertight device from the second optical window enters the second reflector through the second lens The optical signal reflected by the first reflecting mirror passes through the first aperture and is reflected by the third reflecting mirror to reach the detector, and the optical signal reflected by the second reflecting mirror passes through the second light After the diaphragm, it is reflected by the third mirror to reach the detector.

The watertight device is provided with a watertight joint, and the control module is connected to the watertight joint through a watertight cable and a watertight network cable. The watertight device is arranged so that the underwater three-dimensional imaging system can enter the water body for imaging, and the watertight joint can realize stable connection between the device entering the water body and the control module.

The underwater three-dimensional imaging system further includes a pulse controller, an input end of the pulse controller is connected to the control module, and an output end of the pulse controller is connected to the illumination light source and the detector.

To sum up, the underwater three-dimensional imaging system based on binocular single detector of the present invention has the following beneficial effects: combining the underwater binocular vision system with a single detector, and using optical elements to separate the two images that were originally spatially separated The images are imaged on the same detector, specifically spatially separated on the same detector, or temporally separated on the same detector. The binocular vision system is realized with a single detector and optical element, which makes the extraction of the three-dimensional information of the underwater target simple and feasible, and can also reduce the cost.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a schematic structural diagram of an underwater three-dimensional imaging system according to Embodiment 1 of the present invention;

Fig. 2 is the application schematic diagram of Zhang Zhengyou's calibration method in cavity and water body;

Fig. 3 is the extraction schematic diagram of gating image to depth information;

4 is a schematic structural diagram of an underwater three-dimensional imaging system according to Embodiment 2 of the present invention;

FIG. 5 is a schematic structural diagram of an underwater three-dimensional imaging system according to Embodiment 3 of the present invention.

Reference number:

1-control module; 2-illumination light source; 31-first optical window; 32-second optical window; 33-third optical window; 41-first reflector; 42-second reflector; 43-third reflector Mirror; 44-Driver; 5-Lens; 51-First Lens; 52-Second Lens; 6-Detector; 7-Watertight Device; 71-Watertight Connector; 72-Watertight Cable and Watertight Network Cable; 8-Pulse Control 91-first aperture; 92-second aperture.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts 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. One detector is used to capture images formed by two optical paths, and the three-dimensional information of the target is obtained by calculating the two obtained images.

The underwater three-dimensional imaging system of the present invention specifically includes: a control module, an illumination module and an imaging module.

The control module is connected to the lighting module and the imaging module, and the control module is used to control the lighting module and the imaging module to be turned on or off, and to record the image formed by the imaging module. The illuminating module includes an illuminating light source and a uniform light component, and the uniform light component is used to make the illuminating light emitted by the illuminating light source uniform so as to complete the illumination of the target. The imaging module includes a lens assembly and a detector, and the lens assembly is used to guide the light signal reflected by the target to reach the detector for imaging.

Example 1

This embodiment provides a specific structure of an underwater three-dimensional imaging system based on a binocular single detector. Referring to FIG. 1 of the description, the control module 1 of the underwater three-dimensional imaging system based on the binocular single detector 6 in this embodiment includes a host computer, the illumination light source 2 is an illumination laser, and the uniform light assembly includes a first optical window 31, a second The optical window 32 and the third optical window 33, the lens assembly includes a first reflector 41, a second reflector 42, a third reflector 43 and a lens 5, and the first reflector 41 and the second reflector 42 are arranged in the third reflector On both sides of the mirror 43, the detector 6 is a gating camera. A watertight device 7 is provided for accommodating the lighting module and the imaging module. Specifically, the uniform light assembly is arranged on the watertight device 7 , and the illumination light source 2 and the imaging module are arranged inside the watertight device 7 . The host computer is located on the water surface, the watertight device 7 is located in the water body, the watertight device 7 is provided with a watertight joint 71, the host computer is connected to the watertight joint 71 through a watertight cable and a watertight network cable 72, and the lead wire in the watertight joint 71 is connected to the lighting inside the watertight device 7 Components of the light source 2 and the imaging module.

The illumination light source 2 is arranged below the detector 6 , the illumination light emitted by the illumination light source 2 enters the water body through the third optical window 33 , and the light signal reflected by the target enters the watertight device 7 through the first optical window 31 and the second optical window 32 . The first reflecting mirror 41 is disposed corresponding to the first optical window 31 , and the first reflecting mirror 41 reflects the light signal entering the watertight device 7 from the first optical window 31 . The second reflecting mirror 42 is disposed corresponding to the second optical window 32 , and the second reflecting mirror 42 reflects the light signal entering the watertight device 7 from the second optical window 32 . The light signal reflected by the first reflecting mirror 41 and the light signal reflected by the second reflecting mirror 42 are reflected by the third reflecting mirror 43 and enter the lens 5 , and the light signal passes through the lens 5 to reach the detector 6 . The light signal reflected by the first reflecting mirror 41 and the light signal reflected by the second reflecting mirror 42 can simultaneously reach the detector 6 through the third reflecting mirror 43 for imaging.

Further, the watertight device 7 is also provided with a pulse controller 8 , the input end of the pulse controller 8 is connected to the control module 1 , and the output end of the pulse controller 8 is connected to the illumination light source 2 and the detector 6 . The pulse controller 8 is used to receive the instruction of the host computer to control the illumination light source 2 to emit illumination light, and the light signal reflected by the first reflector 41 and the light signal reflected by the second reflector 42 are reflected by the third reflector 43 to reach the detection When the detector 6 is activated, the detector 6 is controlled to open the electronic shutter.

When the underwater three-dimensional imaging system based on the binocular single detector 6 provided in this embodiment is used for underwater three-dimensional imaging, the imaging process includes: the upper computer sends an instruction to put the gating camera and the illuminating laser in a standby state, and the pulse control After receiving the instruction from the host computer, the device 8 sends an excitation pulse to the illumination laser, so that the illumination laser emits a pulsed laser, and the pulsed laser enters the water body through the third optical window 33 and illuminates the underwater target. The optical signal reflected by the target enters the watertight device 7 through the first optical window 31 and the second optical window 32. There are two optical paths in the underwater three-dimensional imaging system, one of which passes through the first optical window 31, the first reflection mirror 41, and the third optical path. The three reflecting mirrors 43 and the lens 5 reach the gating camera, and the other optical path reaches the gating camera through the second optical window 32 , the second reflecting mirror 42 , the third reflecting mirror 43 and the lens 5 . When the target images acquired by the two optical paths reach the gated camera, the excitation pulse sent by the pulse controller 8 controls the gated camera to open the electronic shutter, so that the images acquired by the two optical paths each cover half of the photosensitive element of the gated camera. After gating the camera, the image is output, and the output image enters the upper computer through the watertight cable and the watertight network cable 72, and is recorded by the program.

The depth information of the target, that is, the three-dimensional information, can be obtained by processing the image output to the host computer. In the image processing process, the image output by the underwater three-dimensional imaging system of this embodiment is divided into two parts, which can be used to calculate the depth information of the target. As shown in Figures 2 and 3, the internal and external parameters of the underwater 3D imaging system were calibrated in air and water bodies with different conditions by Zhang Zhengyou's calibration method. After the images from the underwater 3D imaging system are obtained through the calibrated underwater 3D imaging system and the gating camera, the corresponding points in the two images are found through the feature points, and the depth information of the target is obtained with the help of the calibrated camera parameters. .

In this embodiment, the third reflecting mirror 43 is a right-angle prism reflecting mirror, which can simultaneously reflect the optical signals in the two optical paths in the underwater three-dimensional imaging system.

The underwater three-dimensional imaging system of this embodiment realizes a binocular stereo vision system spaced apart by a certain distance through optical elements, and simultaneously images the left and right sides of the single detector 6, which reduces the system complexity compared with the prior art , the advantages of reducing costs. The two optical paths formed by imaging can image the target image on the symmetrical left and right sides of the detector 6, which is convenient for subsequent image processing.

Example 2

This embodiment provides a specific structure of an underwater three-dimensional imaging system based on a binocular single detector 6 . Referring to FIG. 4 in the description, the control module 1 of the underwater three-dimensional imaging system based on the binocular single detector 6 in this embodiment includes a host computer, the illumination light source 2 is an illumination laser, and the uniform light assembly includes a first optical window 31, a second The optical window 32 and the 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, and the third reflector 43 is rotatably arranged Between the first mirror 41 and the second mirror 42, the detector 6 is a gated camera. A watertight device 7 is provided for accommodating the lighting module and the imaging module. Specifically, the uniform light assembly is arranged on the watertight device 7 , and the illumination light source 2 and the imaging module are arranged inside the watertight device 7 . The host computer is located on the water surface, the watertight device 7 is located in the water body, the watertight device 7 is provided with a watertight joint 71, the host computer is connected to the watertight joint 71 through a watertight cable and a watertight network cable 72, and the lead wire in the watertight joint 71 is connected to the lighting inside the watertight device 7 Components of the light source 2 and the imaging module.

The illumination light source 2 is arranged below the detector 6 , the illumination light emitted by the illumination light source 2 enters the water body through the third optical window 33 , and the light signal reflected by the target enters the watertight device 7 through the first optical window 31 and the second optical window 32 . The first lens 51 and the first reflecting mirror 41 are disposed corresponding to the first optical window 31 , and the optical signal entering the watertight device 7 from the first optical window 31 is emitted to the first reflecting mirror 41 through the first lens 51 . The second lens 52 and the second reflecting mirror 42 are disposed correspondingly to the second optical window 32 , and the optical signal entering the watertight device 7 from the second optical window 32 is emitted to the second reflecting mirror 42 through the second lens 52 . The third reflector 43 can block the light signal reflected by the first reflector 41 and reflect the light signal reflected by the second reflector 42 to reach the detector 6, or block the light signal reflected by the second reflector 42 and reflect the first reflector 42. The light signal reflected by the mirror 41 reaches the detector 6 . By controlling the orientation of the third mirror 43 , the two optical signals of the underwater three-dimensional imaging system can be imaged in time-division, and two consecutive images enter the processing system of the control module 1 to calculate the depth information.

Further, the watertight device 7 is also provided with a pulse controller 8 and a driving member 44 . The input end of the pulse controller 8 is connected to the control module 1 , and the output end of the pulse controller 8 is connected to the illumination light source 2 and the detector 6 . The pulse controller 8 is used to receive the instruction of the host computer to control the illumination light source 2 to emit illumination light, and the light signal reflected by the first reflector 41 and the light signal reflected by the second reflector 42 are reflected by the third reflector 43 to reach the detection When the detector 6 is activated, the detector 6 is controlled to open the electronic shutter. The input end of the driving member 44 is connected to the control module 1 , and 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 member 44 .

When the underwater three-dimensional imaging system based on the binocular single detector 6 provided in this embodiment is used for underwater three-dimensional imaging, the imaging process includes: the upper computer sends an instruction to put the gating camera and the illuminating laser in a standby state, and the pulse control After receiving the instruction from the host computer, the device 8 sends an excitation pulse to the illumination laser, so that the illumination laser emits a pulsed laser, and the pulsed laser enters the water body through the third optical window 33 and illuminates the underwater target. The optical signal reflected by the target enters the watertight device 7 through the first optical window 31 and the second optical window 32. There are two optical paths capable of imaging in the underwater three-dimensional imaging system, one of which passes through the first optical window 31 and the first lens 51. , the first reflecting mirror 41 and the third reflecting mirror 43 reach the gating camera, and another optical path reaches the gating camera through the second optical window 32 , the second lens 52 , the second reflecting mirror 42 and the third reflecting mirror 43 .

In this embodiment, the third reflecting mirror 43 is a rotating mirror, so that the two optical signals in the underwater three-dimensional imaging system can be imaged by time division. Specifically, when the third reflecting mirror 43 is set in the state shown in FIG. 4 , the optical signal collected by the first lens 51 and the first reflecting mirror 41 is blocked, and the optical signal reflected by the second reflecting mirror 42 can be The three mirrors 43 reflect to reach the gated camera for imaging. After the gating camera outputs the image, the driving member 44 drives the third reflecting mirror 43 to rotate. At this time, the optical signal collected by the second lens 52 and the second reflecting mirror 42 is blocked, and the optical signal reflected by the first reflecting mirror 41 can be reflected by the first reflecting mirror 41. The three mirrors 43 reflect to reach the gated camera for imaging. Preferably, the driving member 44 drives the third mirror 43 to rotate at an angle of 180° each time, so as to facilitate the processing of the image reaching the detector 6 to be imaged later.

In the imaging process of the underwater three-dimensional imaging system of this embodiment, as long as the two optical signals are time-sharing imaging, the specific imaging sequence can be: the third reflecting mirror 43 blocks the optical signal reflected by the first reflecting mirror 41, and reflects the second The optical signal reflected by the mirror 42 reaches the detector 6 for imaging, the driving member 44 drives the third mirror 43 to rotate, the third mirror 43 blocks the light signal reflected by the second mirror 42, and the first mirror 41 is reversed. The reflected light signal reaches the detector 6 for imaging. Or, the third reflecting mirror 43 blocks the light signal reflected by the second reflecting mirror 42, reflects the light signal reflected by the first reflecting mirror 41 and enters the detector 6 for imaging, and then the driving member 44 drives the third reflecting mirror 43 to rotate, and the third reflecting mirror 43 rotates. The mirror 43 blocks the light signal reflected by the first mirror 41 , and reflects the light signal reflected by the second mirror 42 into the detector 6 for imaging.

The image formed after the optical path reaches the detector 6 is output to the host computer for recording, and the depth information of the target, that is, three-dimensional information, can be obtained by processing the image output to the host computer. In the image processing process, the two images continuously output by the underwater three-dimensional imaging system of this embodiment can be used to calculate the depth information of the target. As shown in Figures 2 and 3, the internal and external parameters of the underwater 3D imaging system were calibrated in air and water bodies with different conditions by Zhang Zhengyou's calibration method. After the images from the underwater 3D imaging system are obtained through the calibrated underwater 3D imaging system and the gating camera, the corresponding points in the two images are found through the feature points, and the depth information of the target is obtained with the help of the calibrated camera parameters. .

The underwater three-dimensional imaging system of this embodiment realizes a binocular stereo vision system separated by a certain distance in time through optical elements, and takes turns to image the frames before and after the photosensitive element of the single detector 6, which reduces the system complexity compared with the prior art , the advantages of reducing costs.

Example 3

Referring to FIG. 5 of the description, the control module 1 of the underwater three-dimensional imaging system based on the binocular single detector 6 of this embodiment includes a host computer, the illumination light source 2 is an illumination laser, and the uniform light assembly includes a first optical window 31, a second The optical window 32 and the third optical window 33, the lens assembly includes a first lens 51, a second lens 52, a first aperture 91, a second aperture 92, a first mirror 41, a second mirror 42 and a third reflection Mirror 43, the third mirror 43 is arranged between the first mirror 41 and the second mirror 42, the first aperture 91 is arranged between the first mirror 41 and the third mirror 43, the second aperture 92 Disposed between the second mirror 42 and the third mirror 43, the detector 6 is a gating camera. A watertight device 7 is provided for accommodating the lighting module and the imaging module. Specifically, the uniform light assembly is arranged on the watertight device 7 , and the illumination light source 2 and the imaging module are arranged inside the watertight device 7 . The host computer is located on the water surface, the watertight device 7 is located in the water body, the watertight device 7 is provided with a watertight joint 71, the host computer is connected to the watertight joint 71 through a watertight cable and a watertight network cable 72, and the lead wire in the watertight joint 71 is connected to the lighting inside the watertight device 7 Components of the light source 2 and the imaging module.

The illumination light source 2 is arranged below the detector 6 , the illumination light emitted by the illumination light source 2 enters the water body through the third optical window 33 , and the light signal reflected by the target enters the watertight device 7 through the first optical window 31 and the second optical window 32 . The first lens 51 and the first reflecting mirror 41 are arranged corresponding to the first optical window 31, and the optical signal entering the watertight device 7 from the first optical window 31 enters the first reflecting mirror 41 through the first lens 51, the second lens 52 and the first reflecting mirror 41. The two reflecting mirrors 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 reflecting mirror 42 through the second lens 52, and the optical signal reflected by the first reflecting mirror 41 passes through the first reflecting mirror 41. The diaphragm 91 is reflected by the third mirror 43 to reach the detector 6 , and the light signal reflected by the second mirror 42 passes through the second diaphragm 92 and is reflected by the third mirror 43 to reach the detector 6 .

When the underwater three-dimensional imaging system based on the binocular single detector 6 provided in this embodiment is used for underwater three-dimensional imaging, the light signal reflected by the target enters the watertight device 7 through the first optical window 31 and the second optical window 32, and the water There are two optical paths in the lower three-dimensional imaging system, one optical path reaches the gating camera through the first optical window 31, the first lens 51, the first reflecting mirror 41, the first aperture 91, and the third reflecting mirror 43, and the other optical path reaches the gating camera. The gated camera is reached through the second optical window 32 , the second lens 52 , the second mirror 42 , the second diaphragm 92 , and the third mirror 43 . When the target images acquired by the two optical paths reach the gated camera, the excitation pulse sent by the pulse controller 8 controls the gated camera to open the electronic shutter, so that the images acquired by the two optical paths each cover half of the photosensitive element of the gated camera. After gating the camera, the image is output, and the output image enters the upper computer through the watertight cable and the watertight network cable 72, and is recorded by the program.

Compared with the solution described in Embodiment 1, the underwater three-dimensional imaging system of this embodiment can allow the two optical paths to have a larger field of view.

Other contents that are the same as those in Embodiment 1 will not be repeated here.

Optionally, the first reflecting mirror 41 and the second reflecting mirror 42 may be plane reflecting mirrors or concave reflecting mirrors. In contrast, concave mirrors used for the first mirror 41 and the second mirror 42 can expand the imaging field of view, but the parameter calibration of the binocular optical system will be more complicated, and it is more difficult to obtain three-dimensional information from the imaging detector 6 .

The present invention can also be applied to other imaging systems that require three-dimensional measurement but the detector 6 is expensive, such as infrared cameras in specific wavelength bands, solar-blind ultraviolet cameras, and the like.

To sum up, the underwater three-dimensional imaging system based on binocular single detector provided by the present invention combines the underwater binocular vision system with a single detector, and uses optical elements to image the two images that were originally spatially separated into the same one. On one detector, specifically, the space is separated on the same detector, or the time is separated on the same detector. The binocular vision system is realized with a single detector and optical element, which makes the extraction of the three-dimensional information of the underwater target simple and feasible, and can also reduce the cost.

The invention constructs an underwater three-dimensional imaging system with high resolution, long imaging distance and fast imaging speed through a set of detectors and an optical system. The image formed by the underwater three-dimensional imaging system of the present invention can obtain the three-dimensional information of the target from a single image, and can realize the real-time display of the two-dimensional grayscale image and the three-dimensional depth information.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. In addition to the above embodiments, different modifications are also possible. The technical features of the above embodiments can be combined with each other. Within the scope of the present invention, any modifications, equivalent replacements, improvements, etc. made should be included within the protection scope of the present invention.

Claims (10)

1. An underwater three-dimensional imaging system is characterized in that, comprising: a control module, an illumination module and an imaging module; The control module is connected to the lighting module and the imaging module, and the control module is used to control the lighting module and the imaging module to be turned on or off, and to record the image formed by the imaging module; The illumination module includes an illumination light source and a uniform light assembly, and the uniform light assembly is used to make the illumination light emitted by the illumination light source uniform to complete the illumination of the target; The imaging module includes a lens assembly and a detector, and the lens assembly is used to guide the light signal reflected by the target to reach the detector for imaging. 2. The underwater three-dimensional imaging system according to claim 1, further comprising a watertight device; The homogenizing assembly is arranged on the watertight device, and the homogenizing assembly includes a first optical window, a second optical window and a third optical window, and the first optical window and the second optical window are arranged at the same place. On both sides of the third optical window, the illumination light source is arranged in the watertight device; The illumination light emitted by the illumination 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 according to claim 2 , wherein the imaging module is arranged in the watertight device, and the lens assembly comprises a first reflection mirror, a second reflection mirror, and a third reflection mirror. 4 . and a lens, the first reflecting mirror and the second reflecting mirror are arranged on both sides of the third reflecting mirror; The first reflecting mirror is arranged corresponding to the first optical window, the first reflecting mirror is used to reflect the light signal entering the watertight device from the first optical window, and the second reflecting mirror corresponds to the first reflecting mirror. Two optical windows are provided, the second reflector is used to reflect the light signal entering the watertight device from the second optical window, the light signal reflected by the first reflector and the light reflected by the second reflector The signal is reflected by the third mirror into the lens, and the optical signal passes through the lens to the detector. 4. The underwater three-dimensional imaging system according to claim 3, wherein the light signal reflected by the first mirror and the light signal reflected by the second mirror reach the the detector for imaging. 5. The underwater three-dimensional imaging system according to claim 2, wherein the imaging module is arranged in the watertight device, and the lens assembly comprises a first lens, a second lens, a first reflector, a first two reflectors and a third reflector, the third reflector is rotatably arranged between the first reflector and the second reflector; The first lens and the first reflection mirror are arranged corresponding to the first optical window, and the light signal entering the watertight device from the first optical window is emitted to the first reflection through the first lens The second lens and the second reflecting mirror are arranged corresponding to the second optical window, and the light signal entering the watertight device from the second optical window passes through the second lens and is directed to the first two mirrors; The third reflector is used to block the light signal reflected by the first reflector, and reflect the light signal reflected by the second reflector to reach the detector, or the third reflector is used to block all the light signals. The light signal reflected by the second mirror is reflected, and the light signal reflected by the first mirror is reflected to reach the detector. 6 . The underwater three-dimensional imaging system according to claim 5 , wherein a driving member is further provided in the watertight device, the driving member is connected to the third reflecting mirror, and the driving member is used to drive the The third mirror rotates. 7 . The underwater three-dimensional imaging system according to claim 6 , wherein the third reflecting mirror blocks the light signal reflected by the first reflecting mirror, and the light signal reflected by reflecting the second reflecting mirror reaches the The detector performs imaging, and then the driving member drives the third mirror to rotate, the third mirror blocks the light signal reflected by the second mirror, and reflects the light signal reflected by the first mirror to reach the detector performs imaging; Or, the third reflector blocks the light signal reflected by the second reflector, reflects the light signal reflected by the first reflector and enters the detector for imaging, and then the driving member drives the third reflector When the mirror rotates, the third mirror blocks the light signal reflected by the first mirror, and reflects the light signal reflected by the second mirror to enter the detector for imaging. 8 . The underwater three-dimensional imaging system according to claim 2 , wherein the imaging module is arranged in the watertight device, and the lens assembly comprises a first lens, a second lens, a first diaphragm, a first lens, a second lens, and a second lens. Two apertures, a first reflection mirror, a second reflection mirror and a third reflection mirror, the third reflection mirror is arranged between the first reflection mirror and the second reflection mirror, and the first aperture is arranged at the between the first reflection mirror and the third reflection mirror, and the second diaphragm is arranged between the second reflection mirror and the third reflection mirror; The first lens and the first reflector are arranged corresponding to the first optical window, and the 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, and the light signal entering the watertight device from the second optical window enters the second reflector through the second lens The optical signal reflected by the first reflecting mirror passes through the first aperture and is reflected by the third reflecting mirror to reach the detector, and the optical signal reflected by the second reflecting mirror passes through the second light After the diaphragm, it is reflected by the third mirror to reach the detector. 9 . The underwater three-dimensional imaging system according to claim 2 , wherein the watertight device is provided with a watertight joint, and the control module is connected to the watertight joint through a watertight cable and a watertight network cable. 10 . 10 . The underwater three-dimensional imaging system according to claim 1 , further comprising a pulse controller, an input end of the pulse controller is connected to the control module, and an output end of the pulse controller is connected to the control module. 11 . an illumination light source and the detector.

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