CN207571578U - A kind of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions - Google Patents
A kind of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions Download PDFInfo
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- CN207571578U CN207571578U CN201721557487.9U CN201721557487U CN207571578U CN 207571578 U CN207571578 U CN 207571578U CN 201721557487 U CN201721557487 U CN 201721557487U CN 207571578 U CN207571578 U CN 207571578U
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Abstract
The utility model discloses a kind of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions, including Image Acquisition and night vision supplementary module, navigates by water module, image display and power management module automatically；Described image acquires and night vision supplementary module, for receiving the image imaging point of detection target and barrier, and ensures that submarine navigation device can work normally at night on daytime；The automatic navigation module is used to implement the automatic avoiding barrier navigation of submarine navigation device；Described image display module captures target image for showing；The power management module, for providing a system to power supply.The underwater automatic aircraft, range of triangle is formed using the laser that PSD and LD are sent out at night, front obstacle and the distance of submarine navigation device are obtained by ARM chips, self-navigation module selection path is made to realize the navigation of submarine navigation device automatic obstacle-avoiding, and CCD digital cameras with real-time grasp shoot and shooting, can obtain the information of detection target.
Description
Technical field
The utility model belongs to submarine navigation device automatic obstacle-avoiding navigation technology field more particularly to one kind based on PSD rangings
With the underwater automatic aircraft of CCD night visions imaging, under water there are many in the case of barrier, realized using PSD rangings underwater
The automatic avoiding barrier navigation of aircraft, at the same time obtains the detection useful letter of target using CCD digital cameras real-time grasp shoot
Breath.
Background technology
Submarine navigation device refers to hunt the recuperable small underwater such as thunder and operation from load of navigating for underwater reconnaissance, remote control
Body, be it is a kind of using submarine or surface vessel to support platform, can long-time autonomous long voyage under water unmanned intelligent small
Weapon equipment platform.Nowadays, it becomes more and more important in ocean development present, submarine navigation device has increasingly obtained the weight of every country
Depending on either being used in civilian or army, all play important role.But during submarine navigation device is scouted under water,
Due to submarine navigation device mainly according to the course line planned in advance navigate by water automatically using navigation or by operating personnel it is remote
Journey real-time control is navigated by water, however it is possible that the various uncertain barrier of complexity such as submerged reefs, fishing can be encountered during underwater navigation
Net, shipwreck, mud when and when preventing it from being navigated by water according to the course line that is pre-designed or plan, it is necessary to temporarily change underwater course line
With avoiding barrier, it is otherwise likely to cause damaged in collision accident.
The existing system using PSD transmission pixel differences is chiefly used in obtaining space fluid three-dimensional information, as utility model is special
Profit《A kind of device of measurable muddy fluid Three-dimensional Flow information》Be exactly using two-dimensional measurement sensor PSD by microcontroller come
Synthesize three-dimensional flowing information；The existing system that avoidance is carried out to submarine navigation device is such as invented mostly using IVFH collision prevention methods
Patent《UAV navigation IVFH collision prevention methods》It is exactly the automatic obstacle-avoiding that submarine navigation device is realized by IVFH methods.However
There is no the examples that automatic obstacle-avoiding is realized using PSD rangings in existing patent.
In view of this, it is necessary to a kind of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions be provided, utilized
Laser beam that LD semiconductor lasers are sent out at night forms laser triangulation with PSD, and pass through ARM chips obtain it is underwater before
The distance of square barrier and submarine navigation device makes self-navigation module optimum selecting path realize submarine navigation device automatic obstacle-avoiding boat
Row, and CCD digital cameras can real-time grasp shoot, can obtain detection target useful information.
Invention content
The purpose of this utility model is：In order to solve submarine navigation device shooting process flexibly hiding to barrier, improve
Detection efficient, the utility model proposes using PSD rangings and CCD imagings realize the navigation of submarine navigation device automatic avoiding barrier and
Real-time grasp shoot.
Technical solution is used by the utility model：A kind of underwater automatic boat being imaged based on PSD rangings and CCD night visions
Row device, which is characterized in that including Image Acquisition and night vision supplementary module, navigate by water module, image display and power supply automatically
Management module；Described image acquires and night vision supplementary module, for receiving the image imaging point of detection target and barrier, and protects
Card submarine navigation device can work normally at night on daytime；The automatic navigation module, is used to implement the automatic of submarine navigation device
Avoiding barrier navigates by water；Described image display module captures target image for showing；The power management module, for giving
Image Acquisition and night vision supplementary module navigate by water module, image display offer power supply automatically；Wherein：
Described image acquires and night vision supplementary module includes LD modules, PSD modules and CCD modules, the LD modules and PSD
Module, CCD modules are connected with each other；
The automatic navigation module include SDRAM module, ARM modules, self-navigation module, DSP module, FPGA module with
And FLASHROM modules；The SDRAM module is connected with each other with PSD modules, CCD modules, the ARM modules and SDRAM module
Be connected with each other, the self-navigation module and ARM modules are connected with each other, the DSP module and SDRAM module, ARM modules,
FPGA module and FLASHROM modules are connected with each other, and the FPGA module is connected with each other with ARM modules, the FLASHROM moulds
Block is connected with each other with image display.
Further, the LD modules are LD semiconductor lasers.
Further, the PSD modules are Position-Sensitive Detector and receiving lens.
Further, the ARM modules are ARM microprocessor.
Further, the self-navigation module is CMOS logic gate circuit.
The beneficial effects of the utility model are：The utility model proposes a kind of be imaged based on PSD rangings and CCD night visions
Underwater automatic aircraft forms range of triangle, before being obtained under water by ARM chips using the laser that PSD and LD are sent out at night
The distance of square barrier and submarine navigation device makes self-navigation module selection path realize the navigation of submarine navigation device automatic obstacle-avoiding,
And CCD digital cameras can real-time grasp shoot, can obtain detection target useful information.Relative to the prior art, have following prominent
Go out advantage：
1st, realize that submarine navigation device automatic obstacle-avoiding navigates by water using PSD range of triangle cooperation ARM, it can using CCD real-time grasp shoots
Obtain detection target imaging useful information；
2nd, PSD and CCD is assisted to work with superperformance using the laser beam that LD semiconductor lasers are sent out, improves water
The efficiency of lower aircraft automatic obstacle-avoiding navigation；
3rd, the recovery of submarine navigation device real-time grasp shoot image can be carried out using targetedly DSP module, it is existing it is low into
Effect on Detecting is promoted as far as possible in the case of this.
Description of the drawings
Fig. 1 is the structure diagram of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions of the utility model.
Specific embodiment
The utility model in order to better understand furthers elucidate the content of the utility model with reference to embodiment, but
The content of the utility model is not limited solely to the following examples.Those skilled in the art can make the utility model various
Change or modification, such equivalent forms are equally within the scope of claims listed by the application limit.
With reference to figure 1, the underwater automatic aircraft being imaged based on PSD rangings and CCD night visions of the utility model embodiment, packet
It includes Image Acquisition and night vision supplementary module, navigate by water module, image display 10 and power management module 11 automatically.
Described image acquires and night vision supplementary module, for receiving the image imaging point of detection target and barrier, and protects
Card submarine navigation device can work normally at night on daytime.The automatic navigation module, for passing through the phase of each chip module
Mutually the automatic avoiding barrier navigation of submarine navigation device is realized in cooperation.Described image display module 10 captures target for showing
Image.The power management module 11, for providing power supply to whole system.
Described image acquires and night vision supplementary module includes LD modules 1, PSD modules 2 and CCD modules 3.The LD modules hair
The laser beam of injection carries out target and barrier detection illumination, and the PSD modules and CCD modules receive barrier and spy respectively
Survey the image imaging point of target.The LD modules are LD semiconductor lasers, and the light source that it sends out makes submarine navigation device at night
Also it can work normally.In the present embodiment, the PSD modules specifically using：Position-Sensitive Detector and receiving lens, institute
It states CCD modules and high-definition digital video camera may be used.
The automatic navigation module includes SDRAM module 4, ARM modules 5, self-navigation module 6, DSP module 7, FPGA moulds
Block 8 and FLASHROM modules 9.The SDRAM module 4, for image buffer storage；The ARM modules 5, for controlling LD modules
Whether send out laser beam and utilize PSD module rangings；The self-navigation module 6, for avoiding obstacles optimum selecting path；
The DSP module 7, for handling the image of CCD modules candid photograph；The FPGA module 8 operates for control sequential；It is described
FLASHROM modules 9, for storing image information.The self-navigation module 6 uses CMOS logic gate circuit.The ARM moulds
Block 5 is ARM microprocessor.
The course of work of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions is as follows：
During underwater automatic aircraft systems work, power management module 11 is to Image Acquisition and night vision supplementary module, automatic
Navigation module and image display 10 are powered.When submarine navigation device is operated in night, ARM modules, which send out control signal, makes LD
Semiconductor laser sends out laser beam for illuminating, and receiving lens, receiving lens and position sensing detection are contained in PSD modules
Device is for receiving the laser beam being reflected back, and laser output laser forms range of triangle with PSD modules.Laser passes through collimation
Laser beam is irradiated on front detection object or barrier by lens, and the light of reflection will form final the reflected beams, be made
It for transducing signal, is focused on Position-Sensitive Detector by receiving lens imaging, when getting signal, is sent into SDRAM moulds
In block, by SDRAM module and the information exchange of ARM modules, it can obtain under water by laser triangulation method in ARM chips
The distance of front obstacle and submarine navigation device, when reaching a certain specific range, ARM chip controls self-navigations module is preferentially
Forward path is selected, submarine navigation device can be made to be effectively shielded from barrier such as submerged reef, fishing net, shipwreck, mud etc., is realized underwater
Aircraft automatic obstacle-avoiding navigates by water.When night LD module send out laser beam for detect illumination when, CCD digital cameras can grab in real time
The image of detection target is clapped, and the video image information obtained in real time is sent into SDRAM module and is kept in.If the figure obtained in real time
Picture information is not clear enough, and ARM chips can be sent out in image processing signal to DSP module, you can image is completed in DSP module
Deblurring processing.And FPGA module generates various control logics and clock signal, and ARM modules and DSP are controlled by information exchange
The operation of module.During to ensure system operation there are enough amount of storage, therefore the additional extension FLASH storages in DSP module
Space module enters the image storage of CCD digital camera real-time grasp shoots to store image, finally by image display
Image can be shown on a display screen.
It these are only the embodiment of the utility model, be not intended to limit the utility model, it is therefore, all in this practicality
Novel spirit and any modification, equivalent substitution, improvement and etc. within principle, done, should be included in the power of the utility model
Within sharp claimed range.
Claims (5)
1. a kind of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions, which is characterized in that including Image Acquisition and
Night vision supplementary module navigates by water module, image display (10) and power management module (11) automatically；Described image acquire and
Night vision supplementary module for receiving the image imaging point of detection target and barrier, and ensures submarine navigation device at night on daytime
It can work normally；The automatic navigation module is used to implement the automatic avoiding barrier navigation of submarine navigation device；Described image
Display module (10) captures target image for showing；The power management module (11), for auxiliary to Image Acquisition and night vision
It helps module, module, image display (10) offer power supply is provided automatically；Wherein：
Described image acquires and night vision supplementary module includes LD modules (1), PSD modules (2) and CCD modules (3), the LD modules
(1) it is connected with each other with PSD modules (2), CCD modules (3)；
The automatic navigation module include SDRAM module (4), ARM modules (5), self-navigation module (6), DSP module (7),
FPGA module (8) and FLASHROM modules (9)；The SDRAM module (4) mutually interconnects with PSD modules (2), CCD modules (3)
It connects, the ARM modules (5) are connected with each other with SDRAM module (4), and the self-navigation module (6) mutually interconnects with ARM modules (5)
It connects, the DSP module (7) is mutual with SDRAM module (4), ARM modules (5), FPGA module (8) and FLASHROM modules (9)
Connection, the FPGA module (8) are connected with each other with ARM modules (5), the FLASHROM modules (9) and image display
(10) it is connected with each other.
2. the underwater automatic aircraft according to claim 1 being imaged based on PSD rangings and CCD night visions, which is characterized in that
The LD modules (1) are LD semiconductor lasers.
3. the underwater automatic aircraft according to claim 1 being imaged based on PSD rangings and CCD night visions, which is characterized in that
The PSD modules (2) are Position-Sensitive Detector and receiving lens.
4. the underwater automatic aircraft according to claim 1 being imaged based on PSD rangings and CCD night visions, which is characterized in that
The ARM modules (5) are ARM microprocessor.
5. the underwater automatic aircraft according to claim 1 being imaged based on PSD rangings and CCD night visions, which is characterized in that
The self-navigation module (6) is CMOS logic gate circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721557487.9U CN207571578U (en) | 2017-11-16 | 2017-11-16 | A kind of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721557487.9U CN207571578U (en) | 2017-11-16 | 2017-11-16 | A kind of underwater automatic aircraft being imaged based on PSD rangings and CCD night visions |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110988892A (en) * | 2019-12-09 | 2020-04-10 | 北京信息科技大学 | Laser active detection system |
| CN111174765A (en) * | 2020-02-24 | 2020-05-19 | 北京航天飞行控制中心 | Planet vehicle target detection control method and device based on visual guidance |
| CN112904350A (en) * | 2021-01-27 | 2021-06-04 | 天津蓝鳍海洋工程有限公司 | Method for autonomous obstacle avoidance in three-dimensional navigation of underwater vehicle |
-
2017
- 2017-11-16 CN CN201721557487.9U patent/CN207571578U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110988892A (en) * | 2019-12-09 | 2020-04-10 | 北京信息科技大学 | Laser active detection system |
| CN110988892B (en) * | 2019-12-09 | 2022-04-26 | 北京信息科技大学 | Laser active detection system |
| CN111174765A (en) * | 2020-02-24 | 2020-05-19 | 北京航天飞行控制中心 | Planet vehicle target detection control method and device based on visual guidance |
| CN111174765B (en) * | 2020-02-24 | 2021-08-13 | 北京航天飞行控制中心 | Planet vehicle target detection control method and device based on visual guidance |
| CN112904350A (en) * | 2021-01-27 | 2021-06-04 | 天津蓝鳍海洋工程有限公司 | Method for autonomous obstacle avoidance in three-dimensional navigation of underwater vehicle |
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Granted publication date: 20180703 Termination date: 20181116 |