Three-dimensional imaging system and imaging method of underwater robot five-component ranging sonar inclined well

Abstract

The invention relates to an underwater robot five component ranging sonar inclined shaft three dimensional imaging system and imaging method. The underwater robot five component ranging sonar inclined shaft three dimensional imaging system comprises an underwater robot, a water surface optical transceiver and a water surface upper computer; four horizontal component ranging sonars and one vertical component ranging sonar are arranged on the underwater robot; the azimuth differences among the four horizontal component ranging sonars are 90 degrees; the underwater robot is also provided with an optical fiber gyroscope. One-frame two-dimensional image sequences of an inclined shaft can be obtained by the four horizontal component ranging sonars, a serial of one-frame two-dimensional image sequences are processed by the water surface upper computer, vertical axes of the two-dimensional image sequences are upwards aligned by processing the geological dimensions of the inclined shaft and the data of the four horizontal component ranging sonars, the two-dimensional image sequences are aligned in the horizontal direction by a heading angle measured by the optical fiber gyroscope, and a two-dimensional image and a three-dimensional image of the inclined shaft can be drawn in real time by combining the vertical distance, measured by the vertical component ranging sonar, between the robot and the water surface.

Description

technical field [0001] The invention relates to a three-dimensional imaging system and imaging method of an underwater robot five-component ranging sonar inclined well. Background technique [0002] In recent years, sonar imaging has received extensive attention and development in the field of underwater acoustics. The use of 3D imaging sonar can still obtain detailed information about the outline of underwater targets and environmental information even in turbid water and poor lighting conditions. 3D imaging sonar is a high-resolution imaging sonar that can provide very good image quality. It is based on beamforming or acoustic lens technology. Currently, there are two main technical routes: one is to use a one-dimensional line array to synthesize a two-dimensional array through mechanical translation; the other is to directly use a two-dimensional array to The resolution can be obtained directly in the three directions of vertical and distance. Load the image sonar on va...

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Problems solved by technology

[0003] The detection of the pipe wall in the inclined well of the hydropower storage power station puts forward the demand for the development of new imaging sonar and three-dimensional imaging methods, because for the detection of the inclined well of the hydropower storage power station, on the one hand, the current graphic sonar is a one-dimensional or two-dimensional sensor array, requires a lot of underwater acoustic sensor units, requires high installation accuracy, and the cost of hardware production and software calculation is also very high; on the other hand, because the inclined shaft itself is cylindrical and the horizontal section is The three-dimensional imaging sonar is difficult to obtain the three-dimensional image of the inclined well in the horizontal and omnidirectional direction, and technical means must be used for splicing, which is difficult to realize and the actual effect is difficult to guarantee

In addition, the underwater robot relies on the propeller to control its movement in the water. Due to its nonlinear hydrodynamic characteristics, the random disturbance of the water flow, and the differential feedback control mechanism, it is difficult to keep it in the process of diving and horizontal rotation. consistent relative position

The sonar system rigidly connected to the robot is affected by this, and the collected two-dimensional target image slices cannot be aligned in the vertical and horizontal directions, resulting in distortion and distortion of the three-dimensional rendering

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