Underwater laser scanning reconstruction system and method based on manned submersible

A manned submersible, underwater laser technology, applied in instruments, surveying, mapping and navigation, computing and other directions, can solve the problems of laser scattering, insufficient accuracy level, reduced accuracy, etc. small scattering effect

Active Publication Date: 2019-01-01
NAT DEEP SEA CENT +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, in the process of deep sea exploration, the close-range detection capability of manned submersibles is poor. At present, side-scan sonar is mostly used for seabed detection and reconstruction. Not enough, only the general appearance of the seabed terrain can be drawn, resulting in the lack of many details
[0004]The existing relatively mature laser scanning system is based on the principle of laser ranging for 3D reconstruction. Although it has a high level of accuracy on land, due to the following reasons : (1) The underwater environment is complex, and it is very difficult to set parameters such as laser light source and camera; (2) The laser will have scattering and refraction in water, which will greatly reduce its accuracy and even fail to work (3) Devices designed for 3D reconstruction based on the principle of laser ranging are generally expensive, have higher requirements for light sources, cameras, etc., and have higher costs; existing laser scanning reconstruction devices cannot Positive effect and impact of underwater detection and reconstruction

Method used

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  • Underwater laser scanning reconstruction system and method based on manned submersible
  • Underwater laser scanning reconstruction system and method based on manned submersible
  • Underwater laser scanning reconstruction system and method based on manned submersible

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Embodiment 1

[0048] Embodiment 1, this embodiment proposes an underwater laser scanning and reconstruction system based on a manned submersible, which is specifically realized based on the following principles: the line structured light can accurately reflect the detailed information of the object surface when it is irradiated on the surface of the object, and the camera captures An image with linear structured light can represent the surface information of an object in a two-dimensional plane. When there are a series of images, it can be fitted to obtain a complete 3D structure of the image.

[0049] Such as figure 1 As shown, the underwater laser scanning reconstruction system includes a blue laser, a CCD camera, a control unit, an image processing unit, a manned submersible attitude information acquisition unit, and a data fusion unit;

[0050] Both the blue laser and the CCD camera are connected to the control unit, and the control unit controls the blue laser to project the blue laser...

Embodiment 2

[0057] Embodiment 2, based on the underwater laser scanning reconstruction system proposed in Embodiment 1, this embodiment proposes an underwater laser scanning reconstruction method, aiming at the defects existing in the underwater reconstruction of existing laser products, it is carried out in principle improvements such as figure 2 shown, including the following steps:

[0058] Step S1, through the blue line structured light source perpendicular to the downward emission of the line structured light to act on the surface of the object, after a certain line of structured light is irradiated on the surface of the object, the outline shape of the object will be displayed, and the CCD camera will capture the line containing the outline information of the object surface The image of structured light, each image captured by the CCD camera represents the surface profile information of the object being photographed in a certain vertical section;

[0059] Step S2, based on the ima...

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Abstract

The invention discloses an underwater laser scanning reconstruction system based on a manned submersible and a method thereof. The system comprises a blue laser, a CCD camera, a control unit, an imageprocessing unit, a manned submersible attitude information acquisition unit and a data fusion unit. The blue laser and CCD camera are connected with the control unit. The input end of the image processing unit is connected with the control unit, and the output end of the image processing unit is connected with the data fusion unit. The data fusion unit fuses the coordinate information of pixel points and attitude information of manned submersible vehicle sent by the image processing unit so as to realize the accurate three-dimensional reconstruction. As the laser is taken as a starting point,laser line light source and image processing technology are used, at the same time, it can greatly reduce the influence of laser scattering and refraction phenomena on detection. At the same time, itcan realize the precise detection of submarine micro-topography by data fusion with attitude sensor of manned submersible. It can be widely used in military and scientific research fields.

Description

technical field [0001] The invention relates to an underwater laser scanning reconstruction system and method based on a manned submersible, which is applied to the field of detection and detection of underwater carrying equipment such as a manned submersible. Background technique [0002] The 21st century is the century of the ocean. Faced with a series of problems related to human survival and development, such as population expansion, shortage of land resources, deterioration of the ecological environment, and climate change, the importance of the ocean is becoming more and more obvious. Strengthening research on oceans and global changes, marine environment and ecology, doing a good job in marine protection, and promoting the sustainable development and utilization of marine energy and resources are the inevitable choices for human beings to expand their living space and maintain their survival and development. [0003] As an important scientific research tool for deep-s...

Claims

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Application Information

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IPC IPC(8): G06T17/00G01C11/00
CPCG06T17/00G01C11/00Y02A90/30
Inventor 丁忠君张春堂潘文超赵子毅
Owner NAT DEEP SEA CENT
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