CN114900601A - Deep sea optical image acquisition system - Google Patents
Deep sea optical image acquisition system Download PDFInfo
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- CN114900601A CN114900601A CN202210633833.6A CN202210633833A CN114900601A CN 114900601 A CN114900601 A CN 114900601A CN 202210633833 A CN202210633833 A CN 202210633833A CN 114900601 A CN114900601 A CN 114900601A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 91
- 239000011521 glass Substances 0.000 claims abstract description 74
- 230000011514 reflex Effects 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims description 7
- 239000002775 capsule Substances 0.000 claims description 6
- 239000000565 sealant Substances 0.000 claims description 6
- 229910052734 helium Inorganic materials 0.000 claims description 3
- 239000001307 helium Substances 0.000 claims description 3
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000010146 3D printing Methods 0.000 claims description 2
- 239000004677 Nylon Substances 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 229920001778 nylon Polymers 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 108010066057 cabin-1 Proteins 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000013464 silicone adhesive Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- Studio Devices (AREA)
Abstract
The invention provides a deep sea optical image acquisition system, which comprises a glass optical instrument cabin, an external supporting and positioning module, an image acquisition module and an internal supporting and positioning module, wherein the glass optical instrument cabin is provided with a light source; the glass optical instrument cabin comprises a watertight connector, an upper glass sphere hemisphere and a lower glass sphere hemisphere; the external supporting and positioning module comprises an upper cover, a connecting rod, a soft rubber pad and an external supporting base; the image acquisition module comprises an IMU, a main controller, a flash lamp power supply, a flash lamp and a single lens reflex; the internal supporting and positioning module comprises a supporting plate, an internal mounting flange and a step positioning block. The invention can be used for collecting full-sea-depth optical images with angle information, has high repeated installation precision, and can be widely applied to manned submersible vehicles, unmanned underwater vehicles, deep-sea landers and other equipment.
Description
Technical Field
The invention relates to the field of deep sea equipment, in particular to a deep sea optical image acquisition system.
Background
The deep sea has abundant biological and mineral resources, but the ten thousand meters deep sea has hydrostatic pressure up to 1100 atmospheric pressure, and electronic components of deep sea equipment need to be equipped with a pressure-resistant shell. The existing high-definition single-lens reflex camera is often large in size, and needs a larger inner diameter when a cylindrical metal electronic cabin is designed, so that the wall thickness is increased, and the system quality is further increased.
The spherical glass optical instrument cabin has the advantages of good light transmission, strong pressure resistance, light weight and the like, and the existing high-definition image acquisition system for deep sea has the following defects when the spherical glass optical instrument cabin is used:
1. in the traditional method, only the instrument cabin is compressed and fixed, and because no mechanical installation interface is arranged, the installation precision of the single lens reflex and the whole system is difficult to ensure;
2. the traditional method cannot cover the angle information of the single lens reflex, and when the image acquired by the optical acquisition system is used in the fields of image processing and the like, the accurate angle information of the single lens reflex is required besides the information of the image;
3. the traditional method needs to calibrate the single lens reflex after each installation, so that the use steps are complicated, and the single lens reflex cannot be temporarily disassembled and assembled for use in some occasions without calibration conditions;
4. the existing deep sea optical acquisition system generally uses a normally bright light source or an external flash lamp (connecting wires are exposed in seawater), and the light source configuration mode has low energy utilization rate, low reliability and large volume when optical acquisition is carried out.
Disclosure of Invention
The invention aims to solve the problem that the traditional optical image acquisition system taking a spherical glass optical instrument cabin as a pressure-resistant cabin is installed only in a pressing and fixing mode due to no mechanical installation interface, so that the problem of low installation precision can occur. It is difficult to obtain accurate image angle information while acquiring image information. If the system is calibrated after installation, the problem of recalibration after repeated installation also exists. In addition, the existing deep sea optical acquisition system generally uses a normally bright light source or an external flash lamp (connecting wires are exposed in seawater), and the light source configuration mode has low energy utilization rate, low reliability and large volume when optical acquisition is carried out.
Aiming at the defects of the prior art, the invention provides a deep sea optical image acquisition system, which synchronously positions an internal support structure, a glass hemisphere and an external support structure in the assembling process and ensures the installation precision of the internal support structure, the glass hemisphere and the external support structure. Meanwhile, an IMU module is added in the system to detect the attitude angle of the system in real time, and accurate image angle information is obtained when the image is acquired under the condition of double management.
In order to achieve the above purpose, the present invention provides a deep sea optical image acquisition system, which comprises a glass optical instrument cabin, an external supporting and positioning module, an image acquisition module and an internal supporting and positioning module;
the glass optical instrument cabin is fixed in the external supporting and positioning module in a compression mode, and the external supporting module is used for ensuring the repeated positioning precision of the deep sea optical image acquisition system; the internal supporting and positioning module is fixedly provided with an image acquisition module in a bolt connection mode and is connected with the external supporting and positioning module in a mechanical limiting mode;
the glass optical instrument cabin is used as a pressure-resistant shell of the whole optical image acquisition system and comprises a glass sphere upper hemisphere and a glass sphere lower hemisphere; the upper glass sphere hemisphere and the lower glass sphere hemisphere are matched with each other to form a pressure-resistant shell, and the pressure-resistant shell is sealed in a vacuumizing mode;
the external supporting and positioning module comprises an upper cover, a connecting rod, a soft rubber pad and an external supporting base, the optical instrument cabin is arranged on the external supporting base, and the soft rubber pad is arranged between the optical instrument cabin and the external supporting base to play a role in protection; the upper cover is connected with the connecting rod through threads, the connecting rod is fixed on the external support base, and a soft rubber cushion is arranged between the upper cover and the upper hemisphere of the optical instrument cabin for protection; mechanical mounting interfaces are reserved on the upper cover and the external support base, and the mechanical mounting interfaces can be connected to other equipment through bolts and ensure the positioning accuracy of the external support positioning module;
the image acquisition module comprises an IMU, a main controller, a flash lamp power supply, a flash lamp and a single lens reflex, wherein the main controller is used for starting the flash lamp power supply, controlling the focal length of the single lens reflex, triggering the single lens reflex to acquire an image, storing the acquired image and synchronously acquiring IMU posture angle data; the flash lamp power supply is used for supplying power to the flash lamp; the flash lamp is connected with the single lens reflex through a flash leading wire;
the internal supporting and positioning module comprises a supporting plate, an internal mounting flange and a stepped positioning block, wherein the internal mounting flange is arranged on the inner surface of the optical instrument cabin; the supporting plate is arranged on the internal mounting flange and used for fixing the image acquisition module; the ladder positioning block is used for positioning the relative positions of the inner mounting flange, the glass optical instrument cabin and the outer supporting base when the glass optical instrument cabin is mounted, so that the repeated mounting accuracy of the whole system is guaranteed.
As a preferred scheme of the present invention, a plurality of watertight connectors are disposed on the glass optical instrument chamber, and the image acquisition module inside the glass optical instrument chamber performs external power supply and communication through the plurality of watertight connectors uniformly distributed in the circumferential direction.
As the preferable scheme of the invention, the soft rubber cushion is made of 3D printing soft rubber, the shape of the soft rubber cushion is fitted with the external supporting base and the upper cover, the repeated installation precision is ensured when the glass optical instrument cabin is pressed and fixed, and sufficient friction force is provided.
As a preferable scheme of the invention, the internal mounting flange is made of nylon and is bonded to the inner surface of the optical instrument cabin through sealant.
According to the preferable scheme, the plurality of step positioning blocks are of U-shaped structures, when the glass optical instrument cabin is installed, one side of each U-shaped structure is connected with the inner installation flange through a bolt, the other side of each U-shaped structure is connected with the outer supporting base through a bolt, the end face of the lower hemisphere of the glass ball is in contact with the concave surface in the U-shaped structure, and the end face is leveled through the step positioning blocks.
The invention also provides an assembly method of the system, which comprises the following steps:
1) fixing an external support base on a required mounting interface in a bolt connection mode, padding a soft rubber pad on the external support base, and placing a lower hemisphere of a glass ball; fixing 3 step positioning blocks uniformly distributed along the circumferential direction on an external support base through bolts, and leveling the end surface of the lower hemisphere of the glass ball by using the step surfaces sunken by the step positioning blocks;
2) fixing an internal mounting flange on a step positioning block through a bolt, adhering the internal mounting flange to the inner wall surface of a lower hemisphere of a glass ball through a sealant after positioning, and ensuring the relative position accuracy among the internal mounting flange, the lower hemisphere of an optical instrument cabin and an external supporting base through the step positioning block before adhering; so far, the relative positions of the end surfaces of the internal mounting flange and the lower hemisphere of the optical instrument cabin and the external support base are determined;
3) the image acquisition module is assembled and then integrally fixed on a support plate (41) through a bolt; then taking down the step positioning block, covering the upper hemisphere of the glass sphere to form a glass optical instrument cabin, and vacuumizing and sealing; helium is injected into the glass ball to 10kPa to enhance the heat conduction uniformity of the internal device; the glass optical instrument cabin is protected and friction is increased through a 3D printed soft rubber pad, and then the glass optical instrument cabin is fastened through an external supporting base, a connecting rod and an upper cover; one end of the connecting rod is directly screwed into the threaded hole of the upper cover, and the other end of the connecting rod is fixed with the external support base through a nut; thereby ensuring that the relative position between the optical instrument capsule and the external support structure is not changed.
The beneficial effects of the invention are:
1. the optical instrument cabin is simple and reliable in installation and positioning mode, and has high repeated installation accuracy.
2. The compatibility and the expansion capability are strong, and the internal components are easy to replace and upgrade;
3. the system has a large image acquisition visual field range, can be accompanied by attitude angle information of an image, and can be used in the image algorithm fields such as positioning navigation, seabed map building and the like.
4. The light source is a flash lamp arranged in the system and is directly connected with the camera through a cable, so that the reliability is high, and flash parameters are easy to configure;
5. the whole weight is light, the pressure resistance is strong, and the device can work in the whole-sea deep pressure environment.
Drawings
Fig. 1 is a sectional view showing the overall structure of the present invention.
Fig. 2 is a schematic view of an optical instrument pod according to the present invention.
FIG. 3 is a schematic view of an external support positioning module according to the present invention.
FIG. 4 is a schematic diagram of an image capture module according to the present invention.
FIG. 5 is a schematic view of an internal support positioning module according to the present invention.
In the figure, 1-a glass optical instrument cabin, 11-a watertight connector, 12-an upper hemisphere of a glass sphere, 13-a lower hemisphere of the glass sphere, 2-an external supporting and positioning module, 21-an upper cover, 22-a connecting rod, 23-a soft rubber pad, 24-an external supporting base, 3-an image acquisition module, 31-an IMU, 32-a main controller, 33-a flash lamp power supply, 34-a flash lamp, 35-a single-lens reflex camera, 4-an internal supporting and positioning module, 41-a supporting plate, 42-an internal mounting flange and 43-a step positioning block.
Detailed Description
For purposes of promoting an understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description of the embodiments taken in conjunction with the accompanying drawings, it being understood that the specific embodiments described herein are illustrative of the invention and are not intended to be exhaustive. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, are within the scope of the present invention.
The invention is further described below in conjunction with fig. 1-5.
As shown in fig. 1, the deep-sea optical image capturing system provided by the present invention is composed of a glass optical instrument capsule 1, an external supporting and positioning module 2, an image capturing module 3 and an internal supporting and positioning module 4, wherein the glass optical instrument capsule 1 is fixed on the external supporting and positioning module 2 in a compressing manner, and the external supporting module 2 is used for ensuring the repeated positioning accuracy of the deep-sea optical image capturing system; the internal supporting and positioning module 4 is connected with the image acquisition module 3 in a bolt connection mode and is connected with the external supporting and positioning module 2 in a mechanical limiting mode.
As shown in fig. 2, the glass optical instrument capsule 1 of the present invention comprises a watertight connector 11, an upper glass sphere 12 and a lower glass sphere 13. The optical instrument cabin 1 is used as a pressure-resistant shell of the whole optical image acquisition system, after the internal supporting and positioning and image acquisition module is installed, the upper hemisphere and the lower hemisphere are closed in a vacuumizing mode, and external power supply and communication are carried out through a plurality of watertight connectors which are uniformly distributed in the circumferential direction.
As shown in fig. 3, the external supporting and positioning module 2 of the present invention includes an upper cover 21, a connecting rod 22, a soft rubber pad 23, and an external supporting base 24, wherein the optical instrument chamber 1 is disposed on the external supporting base 24, and the soft rubber pad is disposed between the optical instrument chamber and the external supporting base for protection; the upper cover 21 is connected with the connecting rod 22 through threads, the connecting rod 22 is fixed on the external supporting base 24, and a soft rubber pad is arranged between the upper cover 21 and the upper hemisphere of the optical instrument cabin for protection; mechanical mounting interfaces are reserved on the upper cover 21 and the external support base 24, and the mechanical mounting interfaces can be connected to other equipment through bolts and ensure the positioning accuracy of the external support positioning module;
as shown in fig. 4, the image capturing module 3 according to the present invention includes an IMU 31, a main controller 32, a flash lamp power supply 33, a flash lamp 34, and a single lens reflex camera 35, and the image capturing module 3 is fixed on the internal supporting and positioning module by bolts, and can capture and store optical image data and IMU attitude angle data synchronously. Since both the inner and outer support frames are rigid pieces, the relative angles and relative positions of the IMU and the slr are known. The main controller is used for controlling the focal length of the single lens reflex, triggering the single lens reflex to collect images, storing the collected images and synchronously collecting IMU attitude angle data; the flash lamp power supply 33 is used for supplying power to the flash lamp 34;
as shown in fig. 5, the internal supporting and positioning module 4 of the present invention includes a supporting plate 41, an internal mounting flange 42, and a step positioning block 43, wherein the flange is bonded to the inside of the optical instrument chamber by a sealant such as silicone adhesive. The ladder positioning block can simultaneously carry out relative position positioning on the internal mounting flange, the glass optical instrument cabin and the external supporting base so as to ensure the repeated mounting precision of the whole system.
In one embodiment of the present invention, there are 3 step positioning blocks 43, each of which is downward opened and is in a U-shaped structure, when the glass optical instrument chamber is installed, one side of the U-shaped structure is connected to the internal mounting flange 42 through a bolt, the other side of the U-shaped structure is connected to the external supporting base 24 through a bolt, the end surface of the lower glass sphere hemisphere 13 contacts with the concave surface inside the U-shaped structure, and the end surface of the lower glass sphere is leveled through the step positioning blocks 43.
The system assembly process is further described in conjunction with fig. 1-5 above as follows:
firstly, fixing an external support base on a required mounting interface in a bolt connection mode, padding a soft rubber pad on the external support base, and placing a lower hemisphere of a glass ball; fixing 3 step positioning blocks uniformly distributed along the circumferential direction on an external support base through bolts, and leveling the end surface of the lower hemisphere of the glass ball by using the step surfaces sunken by the step positioning blocks;
then, the internal mounting flange is fixed on a step positioning block through a bolt, the internal mounting flange is bonded with the inner wall surface of the lower hemisphere of the glass ball through a sealant after positioning, and the relative position precision among the internal mounting flange, the lower hemisphere of the optical instrument cabin and the external supporting base is ensured through the step positioning block before bonding; so far, the relative positions of the end surfaces of the internal mounting flange and the lower hemisphere of the optical instrument cabin and the external support base are determined;
then the image acquisition module is assembled and then integrally fixed on the internal support plate 41 through bolts; then taking down the step positioning block, covering the upper hemisphere of the glass sphere to form a glass optical instrument cabin, and vacuumizing and sealing; helium is injected into the glass ball to 10kPa to enhance the heat conduction uniformity of the internal device; the glass optical instrument cabin is protected and friction is increased through a 3D printed soft rubber pad, and then the glass optical instrument cabin is fastened through an external supporting base, a connecting rod and an upper cover; one end of the connecting rod is directly screwed into the threaded hole of the upper cover, and the other end of the connecting rod is fixed with the external support base through a nut; thereby ensuring that the relative position between the optical instrument capsule and the external support structure is not changed.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (6)
1. A deep sea optical image acquisition system is characterized in that: the device comprises a glass optical instrument cabin (1), an external supporting and positioning module (2), an image acquisition module (3) and an internal supporting and positioning module (4);
the glass optical instrument cabin (1) is fixed in the external supporting and positioning module (2) in a compression mode, and the external supporting module (2) is used for ensuring the repeated positioning accuracy of the deep sea optical image acquisition system; the internal supporting and positioning module (4) is fixedly provided with an image acquisition module (3) in a bolt connection mode and is connected with the external supporting and positioning module (2) in a mechanical limiting mode;
the glass optical instrument cabin (1) is used as a pressure-resistant shell of the whole optical image acquisition system and comprises a glass upper hemisphere (12) and a glass lower hemisphere (13); the upper glass sphere hemisphere (12) and the lower glass sphere hemisphere (13) are matched with each other to form a pressure-resistant shell, and the pressure-resistant shell is sealed in a vacuumizing mode;
the external supporting and positioning module (2) comprises an upper cover (21), a connecting rod (22), a soft rubber pad (23) and an external supporting base (24), the optical instrument cabin (1) is arranged on the external supporting base (24), and the soft rubber pad is arranged between the optical instrument cabin and the external supporting base to play a role in protection; the upper cover (21) is connected with the connecting rod (22) through threads, the connecting rod (22) is fixed on the external support base (24), and a soft rubber pad is arranged between the upper cover (21) and the upper hemisphere of the optical instrument cabin for protection; mechanical mounting interfaces are reserved on the upper cover (21) and the external support base (24), and the mechanical mounting interfaces can be connected to other equipment through bolts and ensure the positioning accuracy of the external support positioning module;
the image acquisition module (3) comprises an IMU (31), a main controller (32), a flash lamp power supply (33), a flash lamp (34) and a single lens reflex (35), wherein the main controller is used for starting the flash lamp power supply, controlling the focal length of the single lens reflex, triggering the single lens reflex to acquire images, storing the acquired images and synchronously acquiring IMU posture angle data; the flash lamp power supply (33) is used for supplying power to the flash lamp (34); the flash lamp (34) is connected with the single lens reflex (35) by using a flash lead;
the internal support positioning module (4) comprises a support plate (41), an internal mounting flange (42) and a step positioning block (43), wherein the internal mounting flange (42) is arranged on the inner surface of the optical instrument cabin; the supporting plate (41) is arranged on the internal mounting flange (42), and the supporting plate (41) is used for fixing the image acquisition module (3); the ladder positioning block is used for positioning the relative positions of the inner mounting flange, the glass optical instrument cabin and the outer supporting base when the glass optical instrument cabin is mounted, so that the repeated mounting accuracy of the whole system is guaranteed.
2. The deep-sea optical image acquisition system according to claim 1, wherein: the glass optical instrument cabin (1) is provided with a plurality of watertight connectors (11), and the image acquisition module (3) inside the glass optical instrument cabin (1) is externally powered and communicated through the plurality of watertight connectors which are uniformly distributed in the circumferential direction.
3. The deep-sea optical image acquisition system according to claim 1, wherein: the soft rubber cushion is made of 3D printing soft rubber, the shape of the soft rubber cushion is fitted with the external supporting base and the upper cover, repeated installation precision is guaranteed when the glass optical instrument cabin is compressed and fixed, and sufficient friction force is provided.
4. The deep-sea optical image acquisition system according to claim 1, wherein: the internal mounting flange is made of nylon and is bonded to the inner surface of the optical instrument cabin through sealant.
5. The deep-sea optical image acquisition system according to claim 1, wherein: step locating piece (43) have a plurality ofly, and all are the U-shaped structure, and when installation glass optical instrument cabin, one side and inside mounting flange (42) of U-shaped structure pass through bolted connection, and the opposite side passes through bolted connection with outside support base (24), and the terminal surface of hemisphere (13) contacts with the inside sunken face of U-shaped structure under the glass ball, levels through step locating piece (43) to the terminal surface.
6. A method of assembling a system according to any one of claims 1 to 5, comprising the steps of:
1) fixing an external support base on a required mounting interface in a bolt connection mode, padding a soft rubber pad on the external support base, and placing a lower hemisphere of a glass ball; fixing 3 step positioning blocks uniformly distributed along the circumferential direction on an external support base through bolts, and leveling the end surface of the lower hemisphere of the glass ball by using the step surfaces sunken by the step positioning blocks;
2) fixing an internal mounting flange on a step positioning block through a bolt, adhering the internal mounting flange to the inner wall surface of a lower hemisphere of a glass ball through a sealant after positioning, and ensuring the relative position accuracy among the internal mounting flange, the lower hemisphere of an optical instrument cabin and an external supporting base through the step positioning block before adhering; so far, the relative positions of the end surfaces of the internal mounting flange and the lower hemisphere of the optical instrument cabin and the external support base are determined;
3) the image acquisition module is assembled and then integrally fixed on a support plate (41) through a bolt; then taking down the step positioning block, covering the upper hemisphere of the glass sphere to form a glass optical instrument cabin, and vacuumizing and sealing; helium is injected into the glass ball to 10kPa to enhance the heat conduction uniformity of the internal device; the glass optical instrument cabin is protected and friction is increased through a 3D printed soft rubber pad, and then the glass optical instrument cabin is fastened through an external supporting base, a connecting rod and an upper cover; one end of the connecting rod is directly screwed into the threaded hole of the upper cover, and the other end of the connecting rod is fixed with the external support base through a nut; thereby ensuring that the relative position between the optical instrument capsule and the external support structure is not changed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210633833.6A CN114900601A (en) | 2022-06-06 | 2022-06-06 | Deep sea optical image acquisition system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210633833.6A CN114900601A (en) | 2022-06-06 | 2022-06-06 | Deep sea optical image acquisition system |
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| CN114900601A true CN114900601A (en) | 2022-08-12 |
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| CN202210633833.6A Pending CN114900601A (en) | 2022-06-06 | 2022-06-06 | Deep sea optical image acquisition system |
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Application publication date: 20220812 |