Three-dimensional imaging device and method for dynamic and fine detection of underwater small targets

Abstract

The invention discloses a three-dimensional imaging device for dynamic and fine detection of small underwater targets, which includes a platform (3), and is characterized in that: a laser emitting module and an underwater camera (1) are fixedly installed on the platform, and the underwater camera (1) and The processing unit (5) is connected; the laser emitting module is an array laser emitting unit (2); the arrangement of the lasers of the array laser emitting unit is: multiple lasers (9) are arranged in parallel at a set interval, and the lasers It is a word-line laser; or a plurality of lasers are arranged at the same position on the same vertical plane, the laser is a word-line laser, and each word-line laser is installed at a different angle. The three-dimensional imaging device for dynamic and fine detection of underwater small targets of the present invention uses a laser array unit to reduce the number of splicing point cloud data, improve the quality of point cloud imaging, and realize dynamic detection of high-precision fine targets on the seabed.

Description

technical field [0001] The invention relates to a three-dimensional imaging device for dynamic and fine detection of small underwater targets, which belongs to the technical field of underwater robot detection. Background technique [0002] In order to meet the needs of efficient and autonomous operation of underwater robots in complex ocean environments, the functional requirements of underwater target detection as the "eyes" of robots are getting higher and higher, and the detection technology is becoming more and more advanced. The task of underwater target detection is to find the target of interest in a specific area, which is an important process of target extraction and recognition. At present, acoustic detection, optical detection and magnetic detection technologies are widely used. Due to the rapid absorption of electromagnetic waves by water bodies, the short optical detection distance, the scattering of suspended particles in water and the inhomogeneity of light s...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is: the existing underwater optical vision and acoustic vision obtain two-dimensional images, the optical detection is affected by the scattering of suspended particles in the water, the uneven illumination of the light source, etc., and the acoustic detection is affected by the multiple channels of the underwater acoustic channel. Effects such as side lobe effects of transducer beams, poor imaging quality and difficult to guarantee detection accuracy, unable to accurately obtain 3D information of underwater targets, inconvenient online measurement of target spatial scale characteristics, and dynamic matching under high-speed carrier motion is very difficult

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