CN209485965U - A kind of underwater spectral reflectivity in-situ measurement device of binocular imaging formula - Google Patents
A kind of underwater spectral reflectivity in-situ measurement device of binocular imaging formula Download PDFInfo
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- CN209485965U CN209485965U CN201821769646.6U CN201821769646U CN209485965U CN 209485965 U CN209485965 U CN 209485965U CN 201821769646 U CN201821769646 U CN 201821769646U CN 209485965 U CN209485965 U CN 209485965U
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Abstract
The utility model discloses a kind of underwater spectral reflectivity in-situ measurement devices of binocular imaging formula, including binocular light spectrum image-forming subsystem, underwater wide spectrum LED light source, water body attenuation coefficient measuring instrument, control unit, receiving end optical transmitter and receiver, host computer, bracket；Wherein, binocular light spectrum image-forming subsystem includes two underwater optical spectrum imagers of parameter identical first and the second underwater optical spectrum imagers；First underwater optical spectrum imagers and the second underwater optical spectrum imagers synchronous acquisition underwater object optical image series；Water body attenuation coefficient measuring instrument is fixed on bracket, for measuring water body optical attenuation coefficient, first underwater optical spectrum imagers, the second underwater optical spectrum imagers, underwater wide spectrum LED light source and water body attenuation coefficient measuring instrument are connected with control unit, control unit is connected with receiving end optical transmitter and receiver, and receiving end optical transmitter and receiver is connected with host computer.The utility model is able to achieve in situ, quantitative, the accurate measurement of underwater object surface spectrum reflectivity.
Description
Technical field
The utility model relates to a kind of underwater spectrum reflectivity measurer more particularly to a kind of binocular imaging formula Underwater Opticals
Compose reflectivity in-situ measurement device.
Background technique
The spectral reflectivity of body surface is the spectral radiant energy and be incident on body surface that body surface is reflected
Ratio between spectral radiant energy embodies body surface to the albedo of different wavelengths of light, is the intrinsic attribute of object
One of.This characteristic of object spectra reflectivity obtains in fields such as satellite remote sensing, agricultural, food, biomedicine, military affairs
Very extensive application, but correlative study and application mainly still concentrate on land and sea, and for studying and answering under water
With relatively fewer.
As the mankind deepen continuously to ocean research, the requirement that people monitor underwater environment and detect is also continuous
It improving, countries in the world scientific research personnel is just trying to explore spectral reflectivity that is how quantitative, accurately obtaining immersed body surface, and
Based on this to seabed object (mineral, biology, the culture on such as seabed surface) carry out Classification and Identification, to the marine eco-environment into
Row more effectively monitoring.Spectral imaging technology combines Spatial Dimension with spectral Dimensions, and collection of illustrative plates may be implemented, and can obtain
To more intuitive, abundant, accurate object information, therefore, by underwater spectral imaging technology original position, immersed body table is quantitatively obtained
The spectral reflectivity in face is a kind of detection means for extremely having application prospect.
Usual underwater environment is low-light even dark surrounds, needs to carry out underwater light spectrum image-forming using underwater artificial light sources
Floor light.However, during being transmitted in water due to light, water body (including suspended particulate substance in water, water, dissolved matter in water
Matter etc.) serious absorption can be generated to light and scatter attenuation acts on, lead to that the energy of light integrally weakens, energy is in different wave length
Relative distribution changes, true to restore body surface therefore, it is necessary to carry out water body attenuation compensation to spectrum picture under initial condition
Real spectral information.United States Patent (USP) (CN 203444122 U, US Patent 8,767,205) proposes a kind of underwater EO-1 hyperion
Imaging system, and by cooperating with undersea ranging device, the influence of compensation water body decaying obtains underwater spectrum picture letter
Breath, but since its imaging mode is only imaging surface detection, it is unable to get body surface three-dimensional information, therefore there are spectral information compensation
Error, and the system cannot obtain immersed body surface spectrum reflectivity data in situ.
Utility model content
Aiming at the shortcomings in the prior art, it is in situ to provide a kind of underwater spectral reflectivity of binocular imaging formula for the utility model
Measuring device obtains immersed body spectrum picture using two underwater optical spectrum imagers are synchronous, and based on Binocular Vision Principle
The three dimensional space coordinate of object is calculated, to obtain the space length on object between each point and optical spectrum imagers；According to same
The water body attenuation coefficient of pacing amount compensates decaying of the water body to spectrum；According to underwater optical spectrum imagers spectral response and absolute spoke
Calibration model between degree of penetrating obtains the spectral radiant energy that body surface is reflected；Further according to the Underwater Optical of underwater LED light source
Field distribution model calculates the spectral radiant energy for being incident on body surface, to obtain the spectral reflectivity of body surface.
In order to solve the above-mentioned technical problem, the utility model is achieved through the following technical solutions: a kind of binocular imaging
The underwater spectral reflectivity in-situ measurement device of formula, including binocular light spectrum image-forming subsystem, underwater wide spectrum LED light source, water body decline
Subtract coefficient measuring instrument, control unit, receiving end optical transmitter and receiver, host computer, bracket；Wherein, the binocular light spectrum image-forming subsystem packet
The underwater optical spectrum imagers of two parameters identical first and the second underwater optical spectrum imagers are included, the two is installed in parallel in bracket
The left and right sides and front end face it is in the same plane；The first underwater optical spectrum imagers and the second underwater optical spectrum imagers are same
Step acquisition underwater object optical image series；The water body attenuation coefficient measuring instrument is fixed on bracket, for measuring water body
Optical attenuation coefficient, the first underwater optical spectrum imagers, the second underwater optical spectrum imagers, underwater wide spectrum LED light source and water
Volume attenuation coefficient measuring instrument is connected with control unit, and control unit is connected with receiving end optical transmitter and receiver, receiving end optical transmitter and receiver with it is upper
Position machine is connected.
Further, the described first underwater optical spectrum imagers and the second underwater optical spectrum imagers include that optical spectrum imagers are close
Batten down and the imaging lens being mounted in optical spectrum imagers sealed compartment, liquid crystal tunable optical filter, imaging sensor, focusing control
Circuit and hub processed；Described image sensor, liquid crystal tunable optical filter and imaging lens are sequentially arranged in same optical axis；
Described image sensor, liquid crystal tunable optical filter, focusing control circuit pass through hub and are connected with control unit, focusing control
Circuit control imaging lens processed are focused.
Further, the imaging lens use electromotive focusing camera lens.
Further, described image sensor uses low-light camera.
Further, it is expanded between described image sensor and liquid crystal tunable optical filter by installing image rotation lenses group
As visual field.
Further, described control unit includes control unit sealed compartment and the hair that is mounted in control unit sealed compartment
Sending end optical transmitter and receiver, power management module and microcomputer；The power management module is the entire underwater spectrum of binocular imaging formula
Reflectivity in-situ measurement device provides operating voltage；Water body attenuation coefficient measuring instrument, the first underwater optical spectrum imagers, second are under water
Optical spectrum imagers and transmitting terminal optical transmitter and receiver are connected with microcomputer, and the transmitting terminal optical transmitter and receiver and receiving end optical transmitter and receiver are logical
Optical fiber is crossed mutually to communicate.
Compared with prior art, the utility model has the beneficial effects that
(1) the utility model is not necessarily to additional range unit, realizes underwater binocular vision by two underwater optical spectrum imagers
Light spectrum image-forming；Measurement obtains two groups of optical image series every time, is calculated based on Binocular Vision Principle and obtains each pixel of object
The three-dimensional spatial information of point；In conjunction with the water body attenuation coefficient of synchronous in situ measurement, water body decaying is accurately compensated, object is obtained
The true reflectance spectrum radiation energy in body surface face；
(2) the underwater optical spectrum imagers of the utility model greatly improve water using low-light camera as imaging sensor
Lower image quality；Using liquid crystal tunable optical filter, mechanical spectrum device is compared, greatly improves spectrum channel switching
Speed reduces the complexity of device, improves device reliability, and the shake of whole device and power consumption etc. are preferably minimized, kept away
The registration between same group of optical image series is exempted from；Using electromotive focusing camera lens, light spectrum image-forming clarity ensure that；
(3) measurement method of the utility model relies on underwater LED light source underwater light field model and underwater optical spectrum imagers light
Calibration relation between spectrum response and absolutely spectral radiant emittance, it is instant according to object dimensional spatial information when can measure in situ
True incident and reflection the spectral radiant energy of body surface is calculated, to obtain in situ, quantitative, accurate spectral reflectance
Rate.Therefore, seabed object (mineral, biology, the culture on such as seabed surface) can be carried out based on the utility model efficient
Classification and Identification more effectively monitors the marine eco-environment, can also obtain the three-dimensional information, under water of immersed body simultaneously
Gesture landforms etc..
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the schematic diagram of internal structure of the control unit of the utility model；
Fig. 3 is the internal structure external structure main view of the underwater optical spectrum imagers of the utility model；
Fig. 4 is the internal structure external structure top view of the underwater optical spectrum imagers of the utility model；
Fig. 5 is the integrated connection block diagram of the utility model；
In figure, 1. first underwater optical spectrum imagers, 2. second underwater optical spectrum imagers, 3. underwater wide spectrum LED light sources, 4.
Water body attenuation coefficient measuring instrument, 5. control units, 6. receiving end optical transmitter and receivers, 7. host computers, 8. brackets, 9. imaging sensors, 10.
Liquid crystal tunable optical filter, 11. imaging lens, 12. focusing control circuits, 13. hubs, 14. internal stents, 15. spectrum at
As instrument sealed compartment, 16. transmitting terminal optical transmitter and receivers, 17. power management modules, 18. microcomputers, 19. control unit sealed compartments.
Specific embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.
As shown in Figs. 1-5, a kind of underwater spectral reflectivity in-situ measurement device of binocular imaging formula of the utility model includes double
Sight composes imaging subsystems, underwater wide spectrum LED light source 3, water body attenuation coefficient measuring instrument 4, control unit 5, receiving end light end
Machine 6, host computer 7, bracket 8；Wherein, described control unit 5 includes control unit sealed compartment 19 and to be mounted on control unit close
Transmitting terminal optical transmitter and receiver 16, power management module 17 and microcomputer 18 in batten down 19；The power management module 17 is entire
Measuring device provides operating voltage；Described control unit sealed compartment 19 is made of metallic cylinder, drive end bearing bracket, rear end cap etc., passes through O
Shape circle realizes static seal, and the multiple underwater electrical connectors of installation are uniformly distributed on front and rear cover, and the underwater electrical connector is used for sealed compartment
It is internal to realize signal transmission or power transmission with external；The transmitting terminal optical transmitter and receiver 16 and receiving end optical transmitter and receiver 6 are connect by watertight
Plug-in unit and underwater optoelectronic composite cable form fiber channel, and fiber optic communication considerably increases underwater communication distance and device maximum functional
The depth of water；The host computer 7 carries out optical-fibre communications (i.e. above-mentioned fiber channel) with microcomputer 18, sends out to microcomputer 18
Data acquisition, transmission and device control instruction are sent, and carries out data receiver, data storage and processing.
Auxiliary is provided under the underwater wide spectrum LED light source 3 is dark under water or low light environment for underwater light spectrum image-forming to shine
It is bright；The binocular light spectrum image-forming subsystem includes the first underwater optical spectrum imagers 1 and the second underwater optical spectrum imagers 2；Described
One underwater optical spectrum imagers 1 are identical with the parameter of the second underwater optical spectrum imagers 2, and the two is installed in parallel in bracket 8 or so
Two sides, and front end face is in the same plane, meets binocular vision imaging requirement；The water body attenuation coefficient measuring instrument 4 is fixed
In 8 side of bracket, for measuring water body optical attenuation coefficient.
The first underwater optical spectrum imagers 1 are identical with the second underwater 2 structure of optical spectrum imagers, include optical spectrum imagers
Sealed compartment 15 and the imaging sensor 9 being mounted on by internal stent 14 in optical spectrum imagers sealed compartment 15, liquid crystal tunable filter
Mating plate 10, imaging lens 11, focusing control circuit 12 and hub 13, the imaging lens 11 use electromotive focusing camera lens, institute
It states imaging sensor 9 and uses low-light camera；Guarantee that it is worked normally under water by the optical spectrum imagers sealed compartment 15 of pressure resistance；It is described
Optical spectrum imagers sealed compartment 15 is cylindrical shape, is made of metallic cylinder, drive end bearing bracket, rear end cap, O-ring, underwater electrical connector etc., preceding
End cap setting optical glass window allows extraneous light to enter imaging lens 11；The liquid crystal tunable optical filter 10 is located at figure
As between sensor 9 and imaging lens 11, three is arranged in same optical axis, filters to the light by imaging lens 11
Light exports the spectrum of specific band；The microcomputer receives the auto-focusing instruction of host computer, then controls focusing control
Focusing motor movement inside circuit drives electromotive focusing camera lens, the focusing control circuit 12 drive inside imaging lens 11
Focusing motor movement, microcomputer calculate spectrum picture clarity in real time, the spectrum of specific band are made to focus on described image
On the imaging plane of sensor 9, clearly spectrum picture is obtained；The low-light camera quantum response efficiency with higher, subtracts
The limitation of weak water body decaying and narrow-band spectrum power dissipation, suitable for the underwater spectrum picture of acquisition；The low-light camera with
Image rotation lenses group can be installed to expand visual field between liquid crystal tunable optical filter, reduce the influence shaken to imaging；It is described micro-
Light camera, liquid crystal tunable optical filter 10, focusing control circuit 12 are connected by hub 13 with microcomputer 18.
It is underwater that the microcomputer 18 controls water body attenuation coefficient measuring instrument 4, the first underwater optical spectrum imagers 1 and second
Work operation, the data acquisition of optical spectrum imagers 2, and real-time data transmission is returned into host computer.The microcomputer control two
The synchronous working of the underwater optical spectrum imagers of platform, including the identical running parameter of synchronous setting, synchronous acquisition spectral image data, and
Spectroscopic data real-time Transmission is returned into host computer.
Underwater wide spectrum LED light source can use the product of 6500 model of Deepsea company SLS in the present embodiment, but not
It is limited to this；Water body attenuation coefficient measuring instrument can use the product of TriOS company ViPer model, but not limited to this；Low-light camera
The product of 888 EMCCD model of Andor company iXon Ultra can be used, but not limited to this；Liquid crystal tunable optical filter can
To use the product of CRi company VIS-10 VariSpec Filter model, but not limited to this；Microcomputer can use
The product of COMMELL company LP-175 model, but not limited to this；Electromotive focusing camera lens can use Canon Inc. EF-S 18-
The product of 135mm f/3.5-5.6 model, but not limited to this；Control circuit of focusing can use the production of Arduino Uno model
Product, but not limited to this；Power management module can use the product of Shanghai Cui Xing Electronic Science and Technology Co., Ltd. MT856 model, but
It is without being limited thereto.
The course of work of the utility model is as follows:
(1) the Spectrum attenuation coefficient of water body is obtained by the measurement of water body attenuation coefficient measuring instrument 4, obtains water body and light radiation is passed
Defeated exponential decay model；
(2) the spectral irradiance distributed data of the underwater optical output field of underwater wide spectrum LED light source 3, binding site are measured
The exponential decay model of radiation of light source model, water body, data are fitted to obtain the distribution of underwater light field spectral irradiance；
(3) referring to spectral radiant illuminance standard lamp vertification regulation, using standard spectral irradiance light irradiation standard white plate, i.e.,
Standard spectrum spoke brightness value on standard white plate is it is known that the first underwater optical spectrum imagers 1 and the second underwater optical spectrum imagers 2 are distinguished
Standard white plate is imaged, to establish the calibration transformational relation of spectrum picture brightness Yu absolute spectral radiance；
(4) first underwater optical spectrum imagers 1, the second underwater optical spectrum imagers 2 and underwater wide spectrum LED light source 3 are mounted on
Underwater alignment target object is put on bracket 8, host computer 7 issues auto-focusing instruction, and received end optical transmitter and receiver 6 is sent to transmission
Optical transmitter and receiver 16 is held, microcomputer 18 receives instruction, and the micro electric in imaging lens 11 is driven by focusing control circuit 12
Machine realizes accurate focusing, and microcomputer 18 executes remaining initialization system command of host computer 7, is in system and works normally
State；
(4) microcomputer 18 controls the liquid crystal inside the first underwater optical spectrum imagers 1 and the second underwater optical spectrum imagers 2
Tunable filters 10 successively switch imaging band by interval of the time for exposure, same in the imaged sensor 9 of time for exposure internal control
Step acquisition optical image series, spectral image data is transmitted back to microcomputer 18 after the completion of acquisition, then by transmitting terminal optical transmitter and receiver
16 send to host computer 7, so as in 7 real time inspection optical image series of host computer；
(5) two spectrum pictures that the same band is taken out from two groups of spectrum pictures, using existing SIFT algorithm to this
Two images make location matches, and the same extraterrestrial target o'clock can be obtained on two groups of spectrum pictures based on location matches result
Coordinate, to determine the three dimensional space coordinate of target point based on geometrical relationship；
(6) target range that the water spectral attenuation coefficient and step (5) obtained according to step (1) obtains, to spectrogram
Image brightness carries out Contrary compensation by exponential decay model, the real spectrum brightness of image after obtaining removal water body influence of fading；Root
The transformational relation of the spectrum picture brightness and absolute spectral radiance that obtain according to step (3), obtains the reflectance spectrum spoke of target point
Illumination；The underwater spectral irradiance of the underwater wide spectrum LED light source 3 obtained according to step (2) is distributed to obtain the incidence of target point
Spectral irradiance；It is final to obtain underwater object surface spectrum reflectivity, i.e. reflectance spectrum irradiation level and incident light spectrum irradiation level
Ratio.
It should be noted that the utility model protection is a kind of underwater spectral reflectivity in situ measurement dress of binocular imaging formula
It sets, which is made of each hardware, and the algorithm in the above-mentioned course of work is all ordinary skill in the art means, this is practical new
Type is not protected.
The preferable specific embodiment of the above, only the utility model, those skilled in the art think, with
The development of technology, can realize the basic conception of the utility model in a number of different ways, therefore, the utility model and
Embodiment is not limited to example discussed above.The skill that anyone skilled in the art discloses in the utility model
Within the scope of art, any changes or substitutions that can be easily thought of, should all cover and be within the protection scope of the utility model, this is practical new
The protection scope of type should be subject to the scope of protection of the claims.
Claims (6)
1. a kind of underwater spectral reflectivity in-situ measurement device of binocular imaging formula, which is characterized in that including binocular light spectrum image-forming
System, underwater wide spectrum LED light source (3), water body attenuation coefficient measuring instrument (4), control unit (5), receiving end optical transmitter and receiver (6),
Host computer (7), bracket (8)；Wherein, the binocular light spectrum image-forming subsystem includes identical first Underwater Optical of two parameters
Spectrum imager (1) and the second underwater optical spectrum imagers (2), the two are installed in parallel in the left and right sides of bracket (8) and front end face position
In on same plane；The first underwater optical spectrum imagers (1) and the second underwater optical spectrum imagers (2) synchronous acquisition submarine target
Object optical image series；The water body attenuation coefficient measuring instrument (4) is fixed on bracket (8), the first underwater light spectrum image-forming
Instrument (1), the second underwater optical spectrum imagers (2), underwater wide spectrum LED light source (3) and water body attenuation coefficient measuring instrument (4) with control
Unit (5) processed is connected, and control unit (5) is connected with receiving end optical transmitter and receiver (6), receiving end optical transmitter and receiver (6) and host computer (7) phase
Even.
2. the underwater spectral reflectivity in-situ measurement device of binocular imaging formula according to claim 1, which is characterized in that described
First underwater optical spectrum imagers (1) and the second underwater optical spectrum imagers (2) include optical spectrum imagers sealed compartment (15) and pacify
Imaging lens (11), liquid crystal tunable optical filter (10), imaging sensor (9) in optical spectrum imagers sealed compartment (15),
Focusing control circuit (12) and hub (13)；Described image sensor (9), liquid crystal tunable optical filter (10) and imaging lens
(11) it is sequentially arranged in same optical axis；Described image sensor (9), liquid crystal tunable optical filter (10), focusing control circuit
(12) be connected with control unit (5) by hub (13), focus control circuit (12) control imaging lens (11) and carry out pair
It is burnt.
3. the underwater spectral reflectivity in-situ measurement device of binocular imaging formula according to claim 2, which is characterized in that described
Imaging lens (11) use electromotive focusing camera lens.
4. the underwater spectral reflectivity in-situ measurement device of binocular imaging formula according to claim 2, which is characterized in that described
Imaging sensor (9) uses low-light camera.
5. the underwater spectral reflectivity in-situ measurement device of binocular imaging formula according to claim 2, which is characterized in that described
Imaging viewing field is expanded by installation image rotation lenses group between imaging sensor (9) and liquid crystal tunable optical filter (10).
6. the underwater spectral reflectivity in-situ measurement device of binocular imaging formula according to claim 2, which is characterized in that described
Control unit (5) includes control unit sealed compartment (19) and the transmitting terminal optical transmitter and receiver that is mounted in control unit sealed compartment (19)
(16), power management module (17) and microcomputer (18)；The power management module (17) is entire binocular imaging formula water
Lower spectral reflectivity in-situ measurement device provides operating voltage；Water body attenuation coefficient measuring instrument (4), the first underwater optical spectrum imagers
(1), the second underwater optical spectrum imagers (2) and transmitting terminal optical transmitter and receiver (16) are connected with microcomputer (18), the transmission
End optical transmitter and receiver (16) and receiving end optical transmitter and receiver are mutually communicated by optical fiber.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108591866A (en) * | 2018-04-26 | 2018-09-28 | 广州市科锐达光电技术有限公司 | A kind of diffusing reflection LED line |
| CN109444056A (en) * | 2018-10-30 | 2019-03-08 | 浙江大学 | A kind of underwater spectral reflectivity in-situ measurement device of binocular imaging formula and measurement method |
| CN111272711A (en) * | 2020-02-26 | 2020-06-12 | 中国海洋大学 | Water attenuation coefficient in-situ measuring device |
-
2018
- 2018-10-30 CN CN201821769646.6U patent/CN209485965U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108591866A (en) * | 2018-04-26 | 2018-09-28 | 广州市科锐达光电技术有限公司 | A kind of diffusing reflection LED line |
| CN109444056A (en) * | 2018-10-30 | 2019-03-08 | 浙江大学 | A kind of underwater spectral reflectivity in-situ measurement device of binocular imaging formula and measurement method |
| CN109444056B (en) * | 2018-10-30 | 2024-03-01 | 浙江大学 | Binocular imaging type underwater spectral reflectivity in-situ measurement device and measurement method |
| CN111272711A (en) * | 2020-02-26 | 2020-06-12 | 中国海洋大学 | Water attenuation coefficient in-situ measuring device |
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