NL2031493A - Underwater three-dimensional scanning device based on crosshair scanning - Google Patents

Underwater three-dimensional scanning device based on crosshair scanning Download PDF

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Publication number
NL2031493A
NL2031493A NL2031493A NL2031493A NL2031493A NL 2031493 A NL2031493 A NL 2031493A NL 2031493 A NL2031493 A NL 2031493A NL 2031493 A NL2031493 A NL 2031493A NL 2031493 A NL2031493 A NL 2031493A
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Netherlands
Prior art keywords
laser
crosshair
underwater
scanning
dimensional
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NL2031493A
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Dutch (nl)
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NL2031493B1 (en
Inventor
Feng Xuehao
He Zhiguo
Huang Hui
Li Zixin
Xu Wen
Song Hong
Wang Mengjie
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Univ Zhejiang
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Publication of NL2031493B1 publication Critical patent/NL2031493B1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals

Abstract

Disclosed is an underwaterthree-dimensional scanning device based on crosshair scanning, which comprises a laser scanning device, a crosshair laser focus adjustment mechanism and a circuit control device. The laser scanning device comprises a crosshair laser and a laser receiver, wherein the crosshair laser emits crosshair laser pulses and modulates the crosshair laser pulses; the modulated crosshair laser pulses reach the underwater area to be measured after being transmitted by water bodies, and the undenNater area to be measured is scanned to obtain three- dimensional coordinates of surface points of the undenNater area to be measured; the laser receiver is used for receiving the echo laser reflected by the undenNater area to be measured and transmitted back through the same water body; the crosshair laser focus adjustment mechanism is used to adjust the focal length of the crosshair laser according to different undenNater environments; the circuit control device is used for extracting modulation signals from the echo laser, performing microwave signal processing on the modulation signals to obtain target distance information, and performing three-dimensional reconstruction according to the three-dimensional coordinates by using a three-dimensional model.

Description

Underwater three-dimensional scanning device based on crosshair scanning
TECHNICAL FIELD The invention mainly relates to the field of underwater three-dimensional scanning, in particular to an underwater three-dimensional scanning device based on crosshair scanning.
BACKGROUND Three-dimensional underwater scanning technology is indispensable in civil fields such as underwater engineering installation and maintenance, submarine sunken ships, search of aircraft wreckage, marine ecological observation, and military fields such as underwater mine detection, submarine detection and anti-submarine.
Traditional laser scanning surveying and mapping uses time difference method or triangulation method to measure the distance, and usually uses linear structured laser to scan along the horizontal or vertical direction to realize three-dimensional measurement. Due to the limitation of scanning accuracy and speed, it is difficult to realize rapid measurement. At the same time, due to the attenuation of laser in underwater transmission, scattering and diffusion of light in the transmission process, low sensitivity of laser receiving equipment and other factors, underwater three-dimensional scanning technology has been unable to break through the problems of large scanning error, short action time and slow scanning speed.
Aiming at the above-mentioned problems existing in the existing underwater three- dimensional scanning, this application proposes an underwater three-dimensional scanning device based on crosshair scanning, which has simple installation structure and high measuring speed.
SUMMARY The embodiment of the application provides an underwater three-dimensional scanning device based on crosshair scanning to solve the technical problems of slow laser scanning speed and low scanning accuracy in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the invention is as follows: an underwater three-dimensional scanning device based on crosshair scanning comprises a laser scanning device, a crosshair laser focus adjustment mechanism and a circuit control device; the laser scanning device comprise a crosshair laser and a laser receiver, wherein that crosshair laser emits crosshair laser pulses and modulates the crosshair laser pulses, and the modulated crosshair laser pulses reach the underwater area to be detected after being transmitted by water bodies, and then the underwater area to be detected is scanned to obtain three-dimensional coordinates of surface points of the underwater area to be detected; the laser receiver is used for receiving the echo laser reflected by the underwater area to be measured and transmitted back through the same water body; the crosshair laser focus adjustment mechanism is used to adjust the focal length of the crosshair laser according to different underwater environments; the circuit control device is used for extracting modulation signals from the echo laser, performing microwave signal processing on the modulation signals to obtain target distance information, and performing three-dimensional reconstruction according to the three-dimensional coordinates by using a three-dimensional model.
Further, the modulation adopts cosine modulation or pulse modulation.
Further, the echo laser includes reflected laser of the water body to be measured and backscattered laser of the water body.
Further, the modulation includes the adjustment of pulse width, modulation frequency and modulation depth parameters.
Furthermore, the circuit control device comprises a DSP processor, a memory module, a peripheral power supply, a dual-port RAM module and an LCD display screen.
The dual-port RAM module is electrically connected with the laser receiver and the DSP processor respectively, and is used for acquiring the echo laser received by the laser receiver and transmitting the echo laser to the DSP processor; the peripheral power supply supplies power for the whole circuit control device; the memory module is electrically connected with the DSP processor and used for three- dimensional coordinates; the DSP processor is also electrically connected with the crosshair laser and the crosshair laser focus adjustment mechanism respectively, and is used for controlling the crosshair laser and the crosshair laser focus adjustment mechanism; the LCD display screen is electrically connected with the DSP processor and used for displaying scanning results, which include the results of three-dimensional reconstruction, target distance information and three-dimensional coordinates of surface points.
Further, the scanning results also include the texture and reflectivity of the underwater area to be measured.
Furthermore, by scanning the underwater area to be measured, the surface texture and reflectivity information of the underwater area to be measured are also obtained.
Further, the peak value of the microwave signal processing result corresponds to the target distance information.
Further, the laser receiver is a high-speed acquisition digital image sensor, preferably a CDD or CMOS lamp photoelectric image sensor as a receiving device of laser signals.
Furthermore, the crosshair laser can generate crosshair pattern laser, which can divide the area to be measured into four quadrants, and only need to rotate the incident crosshair laser by 90 degrees to obtain the point cloud data of the whole surface morphology of the scanned underwater area to be measured, so as to realize the three-dimensional morphology of the measured object.
According to the above technical scheme, the underwater three-dimensional scanning device based on crosshair scanning provided by the embodiment of the present invention has the following beneficial effects.
The invention adopts the method of modulated laser ranging to complete the sampling of the surface of the water area to be measured. The modulated crosshair laser pulses have modulation information after being reflected by the underwater area to be scanned, which can effectively distinguish the backscattered signal from the underwater target echo signal, thus suppressing the underwater backscattering, greatly improving the signal-to-noise ratio and signal contrast, and being suitable for various complicated underwater environments with high underwater measurement accuracy. It can accurately provide the DSP processor with the information of coordinates, textures and refractive index of a large number of points collected in the underwater area to be scanned. In this method, the crosshair laser pulses are cosine modulated, and the parameters such as pulse width, modulation frequency and modulation depth can be adjusted. Select appropriate parameters according to the actual underwater conditions, and the application range is wide.
According to the invention, the crosshair laser is used as the measuring light source, the photoelectric image sensor device such as CCD or CMOS is used as the laser signal receiving device, the laser ranging function is realized by using the modulated laser ranging principle, and the distance of the laser light source is obtained; the object to be measured is divided into four guadrants by the crosshair laser, and the point cloud data of the whole surface morphology of the scanned object can be obtained only by rotating the incident crosshair light source by 90 degrees, so as to realize the three-dimensional morphology perception of the area to be measured. The equipment has the characteristics of simple structure, flexible application, low cost and high speed, and can be used for submarine, underwater inspection robot, underwater engineering installation and maintenance, underwater environment perception and measurement.
BRIEF DESCRIPTION OF THE FIGURES The accompanying drawings, which are incorporated into and constitute a part of this specification, illustrate embodiments consistent with this application and together with this specification serve to explain the principles of this application.
Fig. 1 is a schematic structural diagram of an underwater three-dimensional scanning device based on crosshair scanning provided by an embodiment of the present invention.
Fig. 2 is a flow chart of a specific implementation method of an underwater three-dimensional scanning device based on crosshair scanning provided by an embodiment of the present invention.
Fig. 3 is a schematic diagram of modulated laser ranging in an underwater three-dimensional scanning device based on crosshair scanning provided by an embodiment of the present invention.
Fig. 4 is a structural block diagram of an circuit control device in an underwater three- dimensional scanning device based on crosshair scanning provided by an embodiment of the present invention.
The marks attached in the figure are: 1 for laser receiver, 2 for crosshair laser, 3 for crosshair laser focus adjustment mechanism, 4 for circuit control device and 5 for underwater area to be measured.
DESCRIPTION OF THE INVENTION Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements. The embodiments described in the following exemplary examples do not represent all the embodiments consistent with this application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.
The terminology used in this application is only for the purpose of describing specific embodiments and is not intended to limit this application. The singular forms "a", "that" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meaning. It should also be understood that the term "and/or" as used herein refers to and includes any or all possible combinations of one or more associated listed items.
Referring to Fig. 1, an embodiment of the present invention provides an underwater three- dimensional scanning device based on crosshair scanning, which comprises a laser scanning device, a crosshair laser focus adjustment mechanism 3 and a circuit control device 4. The laser scanning device comprises a laser receiver 1 and a crosshair laser 2, wherein the crosshair laser 2 can emit crosshair laser pulses to modulate the crosshair laser pulses, and the modulated crosshair laser pulses reach the underwater area 5 to be measured after being transmitted through water bodies, and scan the underwater area 5 to obtain the three-dimensional coordinates of the surface points of the underwater area 5 to be measured; the laser receiver is used for receiving the echo laser reflected by the underwater area 5 to be measured and transmitted back through the same water body; the crosshair laser focus adjustment mechanism 3 is used to adjust the focal length of the crosshair laser 2 according to the different underwater environments. The circuit control device 4 is used for extracting the modulated signal from the echo laser, processing the modulated signal with microwave signal, and obtaining target distance information; and performing three-dimensional reconstruction according to the three-dimensional coordinates by using a three-dimensional model.
According to the above technical scheme, the embodiment of the present invention adopts the method of modulated laser ranging, as shown in Figure 2, specifically, the crosshair laser 2 5 emits crosshair laser pulses, cosine modulation or pulse modulation (parameters such as pulse width, modulation frequency and modulation depth can be adjusted) is performed on the crosshair laser pulses, and appropriate parameters are selected according to the actual underwater conditions detected; the modulated crosshair laser pulses reach the target after passing through the transmission medium, are reflected by the target and return through the same medium, the echo signal is received by a high-speed detector, the modulated signal is extracted for microwave signal processing, and the peak value of the microwave signal processing result corresponds to the target distance information. The specific implementation method of laser ranging is shown in Figure 3. The echo laser includes reflected laser from the water area to be measured and backscattered laser from the water area.
Compared with other laser ranging methods, the modulated laser method used in this example has the following advantages: the modulated crosshair laser pulse has modulation information after being reflected by the underwater area to be scanned, which can effectively distinguish the backscattering signal from the underwater target echo signal, thus suppressing the underwater backscattering, greatly improving the signal-to-noise ratio and signal contrast, and being suitable for various complicated underwater environments with high underwater measurement accuracy. It can accurately provide the DSP processor with the information of coordinates, textures and refractive index of a large number of points collected in the underwater area to be scanned. This method can adjust the parameters such as pulse width, modulation frequency and modulation depth according to the actual underwater conditions, and has a wide application range.
In this embodiment, the laser scanning device is a high-speed digital image sensor. Preferably, a CDD or CMOS lamp photoelectric electric image sensor is used as the laser signal receiving device.
As shown in Fig. 4, in this embodiment, the circuit control device includes DSP processor, memory module, peripheral power supply, dual-port RAM module and LCD display screen. The dual-port RAM module is electrically connected with the laser receiver and the DSP processor respectively, and is used for acquiring the echo laser received by the laser receiver and transmitting the echo laser to the DSP processor; the peripheral power supply supplies power for the whole circuit control device; the DSP processor is also electrically connected with the crosshair laser 2 and the crosshair laser focus adjustment mechanism respectively for controlling the crosshair laser 2 and the crosshair laser focus adjustment mechanism; the LCD display screen is electrically connected with the DSP processor and used for displaying scanning results,
which include the results of three-dimensional reconstruction, target distance information and three-dimensional coordinates of surface points.
In this embodiment, the circuit control device can realize laser ranging and reconstruction of underwater three-dimensional environment. The peripheral power supply supplies power to the circuit control device, and the memory module can be used to store three-dimensional coordinates, textures and reflectivity information of a large number of points collected by the laser scanning device on the surface of the underwater area. When the target distance and underwater environment are constant, the reflectivity of the underwater area to be measured is proportional to the average data obtained by the laser receiver, and the texture and reflectivity of the underwater area to be measured are in one-to-one correspondence. The LCD display screen can display the scanning results of the underwater scanning device based on crosshair scanning in real time, and the scanning results include the three-dimensional reconstruction results of the area to be scanned, the real-time distance from the crosshair laser 2 to the surface of the area to be scanned, and the three-dimensional coordinates, textures and reflectivity of a large number of points on the surface of the area to be measured.
Compared with the existing underwater three-dimensional scanning device, the invention adopts the crosshair laser 2 as the measuring light source, uses the photoelectric image sensor devices such as CCD or CMOS as the laser signal receiving device, realizes the laser ranging function by using the principle of modulated laser ranging, and obtains the distance of the laser light source. Through the crosshair laser 2, the object to be measured is divided into four quadrants, and the point cloud data of the whole surface morphology of the scanned object can be obtained only by rotating the incident crosshair light source by 90 degrees, so as to realize the three-dimensional morphology perception of the area to be measured. The device has the characteristics of simple structure, flexible application, low cost and high speed, and can be widely used in submarines, underwater inspection robots, underwater engineering installation and maintenance, underwater environment perception and measurement.
In this embodiment, the three-dimensional model is a cuboid containing the three- dimensional coordinates, and the length, width and height of the cuboid model are respectively parallel to the x-axis, y-axis and z-axis of the spatial rectangular coordinate system (where the x- axis and y-axis of the spatial rectangular coordinate system are parallel to the underwater area to be measured and the z-axis is perpendicular to the underwater area to be measured) established with the crosshair laser as the origin.
In this embodiment, the crosshair laser 2 can generate crosshair pattern laser, which can divide the area to be measured into four quadrants. Only by rotating the incident crosshair laser 2 by 90 degrees, the point cloud data of the whole surface morphology of the scanned environment can be obtained, and the three-dimensional morphology of the measured object can be realized. According to the invention, a method based on modulated laser ranging is adopted to collect three-dimensional coordinates, textures, reflectivity and other information of a large number of points on the surface of the underwater environment to be scanned, and the DSP processor uses three-dimensional models to reconstruct according to the collected data, so as to realize underwater three-dimensional scanning and display the scanning results of an underwater scanning device based on crosshair scanning on LCD display, wherein the scanning results include three-dimensional reconstruction results of the area to be scanned, real-time distances from crosshair laser to the surface of the area to be scanned, and three-dimensional coordinates and textures of a large number of points on the surface of the area to be measured.
The above description is only the preferred embodiment of the present invention, and it is not intended to limit the present invention.
Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims (10)

CONCLUSIESCONCLUSIONS 1. Een inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning, welke inrichting een inrichting voor laserscanning, een mechanisme voor het instellen van de focus van de crosshair-laser en een schakeling-besturingsinrichting; — de inrichting voor laserscanning een crosshair-laser en een laserontvanger omvat, waarbij — de crosshair-laser crosshair-laserpulsen uitzendt en de crosshair-laserpulsen moduleert, en de gemoduleerde crosshair-laserpulsen het te detecteren onderwatergebied bereiken na door watermassa's te zijn doorgegeven, waarna het te detecteren onderwatergebied wordt gescand om driedimensionale coördinaten te verkrijgen van oppervlakpunten van het te detecteren onderwatergebied; — de laserontvanger wordt toegepast voor het ontvangen van de echolaser die door het te meten onderwatergebied wordt weerkaatst en door hetzelfde waterlichaam wordt teruggezonden; — het mechanisme voor het instellen van de focus van de crosshair-laser wordt toegepast om de brandpuntsafstand van de crosshair-laser aan te passen aan verschillende onderwateromgevingen; — de schakeling-besturingsinrichting wordt toegepast voor het extraheren van modulatiesignalen van de echolaser, het uitvoeren van microgolfsignaalverwerking op de modulatiesignalen om informatie over de doelafstand te verkrijgen, en het uitvoeren van driedimensionale reconstructie volgens de driedimensionale coördinaten door het toepassen van een driedimensionaal model.An underwater three-dimensional scanning device based on crosshair scanning, the device comprising a laser scanning device, a mechanism for adjusting the focus of the crosshair laser and a circuit controller; — the laser scanning device comprises a crosshair laser and a laser receiver, wherein — the crosshair laser emits crosshair laser pulses and modulates the crosshair laser pulses, and the modulated crosshair laser pulses reach the underwater area to be detected after passing through bodies of water, after which the underwater area to be detected is scanned to obtain three-dimensional coordinates of surface points of the underwater area to be detected; — the laser receiver is used to receive the echo laser reflected from the underwater area to be measured and returned by the same body of water, - the crosshair laser focus adjustment mechanism is applied to adjust the crosshair laser focal length to suit different underwater environments; — the circuit controller is used to extract modulation signals from the echo laser, perform microwave signal processing on the modulation signals to obtain target distance information, and perform three-dimensional reconstruction according to the three-dimensional coordinates by applying a three-dimensional model. 2. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 1, waarbij de modulatie cosinusmodulatie of puls-modulatie aanneemt.The crosshair scanning underwater three-dimensional scanning apparatus according to claim 1, wherein the modulation adopts cosine modulation or pulse modulation. 3. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 1, waarbij de echolaser gereflecteerde laser van het te meten watergebied en terugverstrooide laser van het watergebied omvat.The crosshair scanning underwater three-dimensional scanning apparatus according to claim 1, wherein the echo laser comprises reflected laser from the water region to be measured and backscattered laser from the water region. 4. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 1, waarbij de modulatie de parameters van aanpassing van pulsbreedte, modulatiefreguentie en modulatiediepte omvat.The crosshair scanning underwater three-dimensional scanning apparatus according to claim 1, wherein the modulation includes the parameters of adjustment of pulse width, modulation frequency and modulation depth. 5. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 1, waarbij de schakeling-besturingsinrichting een DSP-The crosshair scanning underwater three-dimensional scanning apparatus according to claim 1, wherein the circuit controller includes a DSP processor, een geheugenmodule, een perifere voeding, een RAM-module met twee poorten en een LCD-displayscherm omvat, waarbij — de RAM-module met dubbele poort elektrisch is verbonden met respectievelijk de laserontvanger en de DSP-processor, welke wordt toegepast voor het opvangen van de door de laserontvanger ontvangen echolaser en voor het verzenden van de echolaser naar de DSP-processor; — de perifere stroomvoorziening stroom voor de gehele schakeling-besturingsinrichting levert; — de geheugenmodule elektrisch is verbonden met de DSP-processor welke wordt toegepast voor driedimensionale coördinaten; — de DSP-processor tevens elektrisch is verbonden met respectievelijk de crosshair-laser en het mechanisme voor het instellen van de focus van de crosshair-laser, welke wordt toegepast voor de besturing van de kruisdradenlaser en het instelmechanisme voor de focus van de kruisdradenlaser — het LCD-scherm elektrisch is verbonden met de DSP-processor en wordt toegepast voor het weergeven van de scanresultaten, waaronder de resultaten van de driedimensionale reconstructie, informatie over de doelafstand en de driedimensionale coördinaten van de oppervlakpunten.processor, a memory module, a peripheral power supply, a dual-port RAM module and an LCD display screen, wherein — the dual-port RAM module is electrically connected to the laser receiver and the DSP processor, respectively, which is used for the capturing the echo laser received by the laser receiver and transmitting the echo laser to the DSP processor; - the peripheral power supply supplies power to the entire circuit driver; - the memory module is electrically connected to the DSP processor used for three-dimensional coordinates; - the DSP processor is also electrically connected to the crosshair laser and the crosshair laser focus adjustment mechanism, which is used for reticle laser control and reticle laser focus adjustment mechanism, respectively - the LCD screen is electrically connected to the DSP processor and is used to display the scanning results, including the results of the three-dimensional reconstruction, target distance information, and the three-dimensional coordinates of the surface points. 6. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 5, waarbij het scanresultaat ook de textuur en reflectiviteit van het te meten onderwatergebied omvat.The crosshair scanning underwater three-dimensional scanning apparatus according to claim 5, wherein the scanning result also includes the texture and reflectivity of the underwater area to be measured. 7. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 1, waarbij de informatie ten aanzien van oppervlaktextuur en reflectiviteit van het te meten onderwatergebied eveneens worden verkregen door het scannen van het te meten onderwatergebied.The crosshair scanning underwater three-dimensional scanning apparatus according to claim 1, wherein the surface texture and reflectivity information of the underwater area to be measured are also obtained by scanning the underwater area to be measured. 8. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 1, waarbij de piekwaarde van het microgolfsignaalverwerkingsresultaat overeenkomt met de informatie ten aanzien van de doelafstand.The crosshair scanning underwater three-dimensional scanning apparatus according to claim 1, wherein the peak value of the microwave signal processing result corresponds to the target range information. 9. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 1, waarbij de laserontvanger een digitale beeldsensor is met hoge snelheid beeldvergaring, bij voorkeur een foto-elektrische elektrische beeldsensor met een CDD of CMOS lamp als de inrichting voor het ontvangen van lasersignalen.The crosshair scanning underwater three-dimensional scanning device according to claim 1, wherein the laser receiver is a digital image sensor with high speed image acquisition, preferably a photoelectric electric image sensor having a CDD or CMOS lamp as the device for receiving laser signals. 10. De inrichting voor het onder water driedimensionaal scannen op basis van crosshair- scanning volgens conclusie 1, waarbij de crosshair-laser een crosshair-patroon laser kan genereren, waarbij het crosshair-patroon het te meten gebied in vier kwadranten kan verdelen, en de puntwolk gegevens van de gehele oppervlak-topografie van het gescande te meten onderwatergebied slechts kan worden verkregen door het roteren van de invallende crosshair-laser met 90 graden, om aldus de driedimensionale topografie van het gemeten object te realiseren.The crosshair scanning underwater three-dimensional scanning apparatus according to claim 1, wherein the crosshair laser can generate a crosshair pattern laser, the crosshair pattern can divide the area to be measured into four quadrants, and the point cloud data of the entire surface topography of the scanned underwater area to be measured can only be obtained by rotating the incident crosshair laser by 90 degrees, thus realizing the three-dimensional topography of the measured object.
NL2031493A 2021-07-01 2022-04-04 Underwater three-dimensional scanning device based on crosshair scanning NL2031493B1 (en)

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Application Number Priority Date Filing Date Title
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