Underwater target measuring device and method based on linear structured light

Abstract

The invention discloses an underwater target measuring device based on line structured light. Theunderwater target measuring device comprises a main control computer, an underwater vehicle, an underwater binocular camera arranged at the front upper part of the underwater vehicle, a line structured light system and an underwater lighting system; optical filters are arranged in front of two lenses of the underwater binocular camera; a linear structured light system is arranged between the two lenses, the linear structured light system comprises at least one linear laser and a point laser which are arranged in parallel, and the underwater lighting system adopts a blue-green light lighting lamp. The underwater binocular camera, the line structure light system and the underwater lighting system are all in communication connection and electric connection with the main control computer through data lines. The blue-green light supplement lamp is adopted to overcome the difficulty that an underwater target in a dark water environment is difficult to identify, the linear structured light is utilized to solve the problem of accurate attitude determination and positioning of the underwater operation target, the blue-green light supplement lamp and the linear structured light supplement each other, and finally, the underwater mechanical arm can autonomously grab the target.

Description

technical field [0001] The invention relates to a binocular stereo vision technology based on line structured light, in particular to an underwater target measuring device and method based on line structured light. Background technique [0002] When the underwater operation vehicle performs underwater operation tasks, it is necessary to detect and accurately determine the attitude of the underwater operation object, so as to facilitate the grasping operation of the mechanical arm. Commonly used optical cameras have a limited detection range in dark underwater environments, and due to the optical characteristics of water bodies, underwater images generally have problems such as color shift and unclearness, making it difficult to directly determine the position and attitude of the operating object. When grasping, it is necessary to provide the position and attitude of the target object in real time, which poses a challenge to visual servoing. Contents of the invention [00...

AI Technical Summary

Problems solved by technology

Commonly used optical cameras have a limited detection range in dark underwater environments, and due to the optical characteristics of water bodies, underwater images generally have problems such as color shift and unclearness, making it difficult to directly determine the position and attitude of the operating object. The position and attitude of the target object need to be provided in real time when grasping, which poses a challenge to visual servoing

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