CN205785072U - A kind of underwater laser datum line based on computer vision measures system - Google Patents
A kind of underwater laser datum line based on computer vision measures system Download PDFInfo
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- CN205785072U CN205785072U CN201620272048.2U CN201620272048U CN205785072U CN 205785072 U CN205785072 U CN 205785072U CN 201620272048 U CN201620272048 U CN 201620272048U CN 205785072 U CN205785072 U CN 205785072U
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Abstract
The utility model discloses a kind of underwater laser datum line based on computer vision and measure system, belong to extraordinary fields of measurement under water, for measuring the relative location parameter that underwater structure is installed, engineering construction under auxiliary water.The laser beam that this measurement system uses high power laser to produce provides characteristics of image as preset reference line and scale, the measurement for Software of Computer Vision.The Underwater Camera that system is carried obtains live picture under water, and extract characteristics of image by Software of Computer Vision, the relative distance between underwater structure and predeterminated position is drawn via built-in algorithms, also can be by extracting the depth displacement between two adjacent regular texture things of other pattern measurements of picture or parameter of grinding one's teeth, the plane attitude of reflection works or relative position, reach the purpose assisting underwater performance accurately to install.
Description
Technical field
The invention belongs to computer vision and underwater high-speed propulsion field, be specifically related to the computer vision of underwater structure
Identify and measure.
Background technology
Gravity type quay is that China is distributed more widely, uses more a kind of dock structure form, and principal mode has square to tie
Structure and caisset.Wherein, box structure formula harbour typically uses prefabricated large-scale mixed earth square as basic building block, block
Prefabricated at precasting yard, scene of then transporting to is installed.The installation accuracy of square and efficiency directly affect whole concrete block quay wall and build
If quality and progress.
At present, in gravity type concrete block quay wall is built, there is several traditional square that measurement and positioning method is installed: underwater benchmark
Collimation method, forward position object of reference control methods, reference line method waterborne, extension line positioning mode and measurement bay (bar) positioning mode.Front four kinds of methods
Being physical contact method, personnel and the ship machine that need to coordinate are more, put into relatively big, inefficiency, and water surface lifting commander can only
Linked up the positional information obtaining square under water by transmitter receiver under water and diver's voice, construction quality cannot effectively be supervised
Superintend and direct.In this demand, develop fifth method measurement bay positioning mode further, on the angle point of square, i.e. respectively arrange one
Frame (bar) is stretched on the individual edge exceeding the water surface, and signal projector is installed on frame top, and surface receiver is by receiving what different head sent
Position signalling determines the plan-position of square under water, but the method has the strongest limitation to be only applicable to the degree of depth less than 5 meters
' s operation in shallow water, for the installation of the deeper substrate square of the depth of water, then still need to use aforementioned localization method.
Summary of the invention
In view of current square installation situation the most under water, on the basis of conventional buck installation and locating method, this paper presents one
Plant underwater laser datum line based on computer vision and measure system, substitute the physical entity in traditional method with laser beam accurate
Line, and by the real-time pictures that underwater camera is gathered, utilize the characteristics of image in Software of Computer Vision identification picture,
Calculate the physical location of square, provide for water surface lifting commander and revise data accurately, thus instruct square to transpose.
The present invention is controlled main frame, the lift-launch engineering machine of Software of Computer Vision, Underwater Camera by the water surface, is mended under water
Light modulation, under water duplex laser instrument (being used as scale), green datum line laser instrument, laser target chi, measurement stand and watertight cable
Deng part composition.
Preferably, described Underwater Camera uses wide-angle lens, and shell uses titanium alloy material, has stronger resistant to sea water
Corrosive power, and described Underwater Camera can bear the hydraulic pressure of maximum water depth 300 meters；
Preferably, the described shell of light compensating lamp under water uses titanium alloy material, prevents seawater corrosion, intensity of illumination and illumination angle
Degree scalable, to adapt to the most different light filling demands；
Preferably, described laser target chi uses special stainless steel material, and its surface is chemically treated for black, weakens laser
Reflecting effect, prevents dazzle from occurring, the image characteristics extraction of interference calculation machine vision software and identification；
Preferably, the described laser instrument of duplex under water uses red laser exciter, and projection red laser post is to laser target chi
On, spot center, away from fixing, provides scale for Software of Computer Vision algorithm process.Its shell uses titanium alloy material, tool
For stronger anti-seawater corrosion ability, and pressure design makes it can bear the hydraulic pressure of maximum water depth 1500 meters.
Preferably, described green datum line laser instrument uses high-power green laser exciter, it is ensured that decay at a distance
After, laser projected spot on target chi remains to be identified by Software of Computer Vision.Its shell uses titanium alloy material, possesses
Stronger anti-seawater corrosion ability, and pressure design makes it can bear the hydraulic pressure of maximum water depth 1500 meters.
Preferably, the described water surface controls main frame can control two set underwater lasers and the keying of Underwater Camera simultaneously, control
Under controlling the water circulation, the brightness of light compensating lamp is strong and weak, meanwhile, is transferred to take after the image signal data packing of underwater camera collection being processed
The engineering machine of borne computer vision software is further processed.
Preferably, the engineering machine of described lift-launch Software of Computer Vision, receive from regarding that water surface control main frame is sent
Frequently signal, after computer vision software carries out Image semantic classification, the process of feature extraction scheduling algorithm, provides square currently real-time position
Put parameter, and by picture output to display screen, regulate and control personnel's reference for the water surface.
Preferably, described measurement stand uses stainless steel material, its role is to integrated installation Underwater Camera, the most double
The connection adnexa such as laser instrument, under water light compensating lamp, laser target chi, and according to measuring the practical situation of position, quick adjustment is mended under water
The angle of light modulation and the visual field size of Underwater Camera, preferably obtain tested square feature.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it is possible to obtaining following has
Benefit effect:
The laser directrix that the present invention uses simplifies complicated procedures when conventional entity datum line is arranged, overcomes biography simultaneously
The winding degree that system entity datum line is excessive due to length and produces, and the problem swung under water currents.It addition, native system
Main frame will be controlled by picture real-time Transmission to the water surface under water by watertight cable, and not only may utilize accurate Software of Computer Vision and know
Not and calculate the location parameter of object under test, and water surface commander can supervise water easily and efficiently by real-time pictures
Lower construction quality, it is achieved the visualization of hoisting process under water, datumization operation.
Accompanying drawing explanation
When Fig. 1 is that in the embodiment of the present invention, square installs measurement under water, measure carriage portion and laser-based directrix emitter
Arrange schematic diagram.
Fig. 2 is that the computer vision underwater laser directrix in the embodiment of the present invention measures system connection diagram.
Fig. 3 is the pictorial feature parameter measurement schematic diagram in Software of Computer Vision.
Fig. 4 is that underwater laser directrix based on computer vision measures systematic schematic diagram.
In all of the figs, identical reference is used for representing identical element or structure, wherein:
The end fixed by 101-square to be measured 102-watertight cable 103-green datum line laser instrument 104-datum line laser instrument
Seat 105-light compensating lamp 106-portable hand-held support 107-red laser light beam 108-black laser target chi 109-water under water
Lower duplex laser instrument (scale with) 110-Underwater Camera 111-green laser datum line it addition, 102,105,106,108,
109,110 assembly is measured for portable hand-held；102, line component on the basis of 103,104.
Detailed description of the invention
In order to make the purpose of invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, to this
Invention further describes.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit
Determine the present invention.As long as additionally, technical characteristic involved in each embodiment of invention described below is each other
The conflict of not constituting just can be mutually combined.
When Fig. 1 is that square installs measurement under water, measure components and the layout schematic diagram of laser-based directrix emitter.Should
Kind of underwater laser datum line based on computer vision measure the measurement part of system include portable hand-held measure assembly (102,
105,106,108,109,110), laser datum line component (102,103,104) is preset.
Hand-held measurement assembly includes Underwater Camera, under water light compensating lamp, under water duplex laser instrument and laser target chi.Due to this
Measurement system is mainly used in the accurate adjustment measuring phases in whole hoisting process, therefore following example have all assumed that lifting coarse tuning process
Complete, enter the accurate adjustment stage.In this stage, hand-held measurement assembly is arranged in be measured along laser-based directrix by underwater operation personnel
The measuring surface of square (101), and make green laser datum line (111) project on black laser target chi (108), Underwater Camera
(110) obtaining this position real-time pictures and control main frame by watertight cable (102) transmission to the water surface, video data packing processes
It is sent to carry the engineering machine of Software of Computer Vision, a series of software algorithms output side after processing by Ethernet afterwards
The relative location parameter of block target measurement point.
Portable hand-held measurement assembly moves along the light path of laser-based directrix, can measure the phase para-position of square diverse location
Put parameter.And because in square hoisting process, square side remains vertical state, so relative according to different measuring point
Location parameter can deduce the absolute position of whole square.
Fig. 2 is the system connection figure that this kind underwater laser based on computer vision datum line measures system.Underwater camera
Head (110), under water light compensating lamp (105) and under water duplex laser instrument (109) integrated installation, above portable hand-held support, pass through
Watertight cable (102) is connected to the water surface and controls main frame；Same, it is fixed in advance on datum line laser instrument firm banking (104)
Green datum line laser instrument (103) also by watertight cable be connected to the water surface control main frame.
The water surface control main frame can control all connected underwater installations by watertight cable, including generating laser,
The keying of photographic head, and the brightness of light compensating lamp under water is strong and weak.
Fig. 3 is the pictorial feature parameter measurement schematic diagram in Software of Computer Vision, measures stand by placing, takes the photograph under water
Camera obtains image-region as shown in the figure, is finally calculated between square and default laser-based directrix by Software of Computer Vision
Distance parameter.
Fig. 4 is that this kind underwater laser based on computer vision directrix measures systematic schematic diagram, and first system receives under water
The datum line characteristic image of camera acquisition, then to gather image be filtered, strengthen, after the pretreatment such as super-resolution,
Laser scale subpoint, laser datum line projection point, and square tested surface, the finally side of calculating is extracted by special algorithm
Block is to the distance of datum line.
As it will be easily appreciated by one skilled in the art that a kind of embodiment that the foregoing is only the present invention, not in order to
Limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should comprise
Within protection scope of the present invention.
Claims (3)
1. underwater laser datum line based on computer vision measures a system, by Underwater Camera, under water light compensating lamp, under water
Duplex laser instrument, green datum line laser instrument, portable hand-held measure stand, the water surface controls main frame, it is soft to carry computer vision
The engineering machine of part, and some watertight cables composition, the visualization measurement installed for concrete block quay wall under water, its feature exists
In:
Underwater Camera (110), described Underwater Camera uses wide-angle lens, and shell uses titanium alloy material, has stronger
Anti-seawater corrosion ability, and described Underwater Camera can bear the hydraulic pressure of maximum water depth 300 meters；Light compensating lamp (105) under water, institute
Stating light compensating lamp shell under water and use titanium alloy material, prevent seawater corrosion, intensity of illumination scalable, to adapt to the most different light
According to demand, illuminating lamp light beam is spreaded type, reduces illumination and gathers the impact on image characteristics extraction；
Duplex laser instrument (109) under water, the described laser instrument of duplex under water uses red laser exciter, and two parallel beam of light project
The spot center of laser target chi, away from fixing, provides scale for subsequent calculations machine vision software Processing Algorithm；Shell uses titanium to close
Gold copper-base alloy, possesses stronger anti-seawater corrosion ability, and pressure design makes it can bear the hydraulic pressure of maximum water depth 1500 meters；
Green datum line laser instrument (103), described green datum line laser instrument uses high-power green laser exciter, it is ensured that remote
Projected spot after the attenuation of distance remains to be identified by Software of Computer Vision；
Shell uses titanium alloy material, possesses stronger anti-seawater corrosion ability, and pressure design makes it can bear flood
The hydraulic pressure of deep 1500 meters；
The water surface controls main frame, and the described water surface controls main frame by watertight cable (102) by Underwater Camera (110) and light filling under water
Lamp (105) connects into system, can control the switch of Underwater Camera, under water light compensating lamp, and can control under water according to underwater environment
Illuminating lamp light filling intensity, by integrated to relevant software and hardware, Real-time Collection characteristic image under water, and underwater camera is gathered
Image signal data packing is transferred to carry the engineering machine of Software of Computer Vision and processes further after processing；
Carry Software of Computer Vision engineering machine, the engineering machine of described lift-launch Software of Computer Vision, receive from
The water surface controls the video signal that main frame is sent, after computer vision software carries out Image semantic classification, feature extraction algorithm process,
Provide square current instant position parameter, and by picture output to display screen, regulate and control personnel's reference for the water surface.
A kind of underwater laser datum line based on computer vision the most according to claim 1 measures system, it is characterized in that
Laser beam is used to substitute conventional entity datum line.
A kind of underwater laser datum line based on computer vision the most according to claim 1 measures system, it is characterized in that
Duplex laser instrument under water is used as scale, to provide ratiometric conversion foundation for subsequent calculations machine vision software.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783732A (en) * | 2016-03-15 | 2016-07-20 | 武汉华海创智科技有限公司 | Computer-vision-based underwater laser datum line measuring system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783732A (en) * | 2016-03-15 | 2016-07-20 | 武汉华海创智科技有限公司 | Computer-vision-based underwater laser datum line measuring system |
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