Underwater illumination light supplementing method, device and system

Abstract

The invention discloses an underwater illumination light supplementing method, device and system, and relates to the technical field of illumination, and the method comprises the steps: obtaining the distance information between a measured object and a lamp, a standard spectrum outputted by the lamp, and an actual measurement spectrum reflected to a camera device; calculating radiation intensity according to the distance information, and adjusting illumination information of the lamp according to the radiation intensity; and constructing a light supplementing spectrum according to the standard spectrum and the actually measured spectrum, and adjusting the spectral information of the lamp according to the light supplementing spectrum. According to the invention, the method can be adaptive to underwater environment changes, and the optimal observation effect is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of lighting, and in particular to an underwater lighting and supplementary lighting method, device and system. Background Art

[0002] Underwater observation is not only an important tool for marine scientific research, but also an indispensable technical support in the fields of marine resource development, marine environmental protection, marine disaster warning, etc. When conducting observations in the ocean, good lighting conditions are an important prerequisite for obtaining clear images. Currently, the commonly used lighting method to ensure clear marine observations is to fix multiple lamps around the camera. This method has a limited lighting area and a single lighting range, and it is difficult to adjust the lighting area according to the rotation of the camera. If the irradiation distance and azimuth of the lamp are adjusted, divers need to go underwater to make the adjustment. Moreover, water has a strong scattering and absorption effect on light, and ordinary light sources cannot truly restore the true colors of underwater objects. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an underwater lighting and supplementary lighting method, device and system that can adapt to changes in the underwater environment and ensure the best observation effect.

[0004] To solve the above technical problem, the present invention provides an underwater lighting and supplementary lighting method, including: obtaining the distance information between the object to be measured and the lamp, the standard spectrum output by the lamp, and the measured spectrum reflected to the imaging device; calculating the radiation intensity according to the distance information, and adjusting the illuminance information of the lamp according to the radiation intensity; constructing a supplementary lighting spectrum according to the standard spectrum and the measured spectrum, and adjusting the spectral information of the lamp according to the supplementary lighting spectrum.

[0005] As an improvement of the above solution, the step of constructing a supplementary lighting spectrum according to the standard spectrum and the measured spectrum includes: calculating the supplementary lighting spectrum according to the formula C(λ) = max(0, S(λ) - M(λ)), where C(λ) is the supplementary lighting spectrum, S(λ) is the standard spectrum, and M(λ) is the measured spectrum; calculating the target spectrum after supplementary lighting according to the supplementary lighting spectrum and the measured spectrum; optimizing the target spectrum according to the standard spectrum; and updating the supplementary lighting spectrum according to the optimized target spectrum.

[0006] As an improvement of the above solution, the evaluation indexes for optimizing the target spectrum according to the standard spectrum include the mean square error and the correlation coefficient;

[0007] The mean square error MSE is:

[0008] The correlation coefficient r′ is:

[0009] r′ = Cov(M′, S) / σ M′ σS

[0010] Among them, N is the number of spectral data points, and M′(λ i ) is the target spectrum after supplementary lighting for the i-th spectral data point, S(λ i ) is the standard spectrum of the i-th spectral data point, Cov(M′, S) is the covariance between the spectrum data after supplementary lighting and the standard spectrum data, σ M′ is the standard deviation of the spectrum data after supplementary lighting, and σ S is the standard deviation of the standard spectrum data after supplementary lighting.

[0011] As an improvement to the above solution, the least squares method is adopted to optimize the target spectrum according to the standard spectrum.

[0012] As an improvement to the above solution, the step of calculating the radiation intensity according to the distance information includes:

[0013] Calculating the radiation intensity according to the distance information:

[0014]

[0015] Among them, I(s, r, λ) is the radiation intensity along the direction s at the position r and wavelength λ, and I 0 (s, r, λ) is the incident radiation intensity at the wavelength λ, τ(r, λ) is the optical thickness at the position r and wavelength λ, S(s, r, λ, τ′) is the scattering source function at the wavelength λ, and τ′ is the component of the optical thickness of the scattering source in the direction s.

[0016] As an improvement to the above solution, the underwater lighting supplementary lighting method further includes: calculating the optical thickness according to the absorption coefficient and the scattering coefficient:

[0017]

[0018] Among them, τ(r, λ) is the optical thickness at the position r and wavelength λ, α a (z′, λ) is the absorption coefficient, and α s (z′, λ) is the scattering coefficient.

[0019] As an improvement to the above solution, the underwater lighting supplementary lighting method further includes: obtaining the size information of the object to be measured; controlling the illumination angle of the lamp according to the size information to adjust the illumination area of the light.

[0020] As an improvement to the above solution, the underwater lighting supplementary lighting method further includes: obtaining the image information collected by the camera device; adjusting the illumination parameters of the lamp according to the image information.

[0021] Accordingly, the present invention further provides an underwater lighting and supplementary lighting device, including a memory and a processor, where the memory stores a computer program. Among them, when the processor executes the computer program, the steps of the above-mentioned underwater lighting and supplementary lighting method are implemented.

[0022] Accordingly, the present invention further provides an underwater lighting and supplementary lighting system, including a lamp, a camera device, and the above-mentioned underwater lighting and supplementary lighting device, and both the camera device and the underwater lighting and supplementary lighting device are arranged on the lamp.

[0023] Implementing the present invention has the following beneficial effects:

[0024] The underwater lighting and supplementary lighting method of the present invention can adjust the illuminance and spectrum according to the actual underwater conditions to change the penetration degree of light. This not only facilitates the supplementary lighting adjustment, saves the lamp maintenance time and maintenance cost, but also is conducive to better observing the seabed conditions and restoring the true colors.

[0025] Furthermore, the underwater lighting and supplementary lighting method of the present invention can also control the lighting angle of the lamp according to the size information of the object to be measured to adjust the irradiation area of the light; it can also adjust the lighting area according to the pointing position of the camera; it can also adjust the lighting parameters in real time by using a dynamic feedback method according to the image processing technology to effectively improve the clarity of the picture and truly restore the colors. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flowchart of the first embodiment of the underwater lighting and supplementary lighting method of the present invention;

[0027] Figure 2 is a spectral attenuation diagram of the present invention;

[0028] Figure 3 is a flowchart of the second embodiment of the underwater lighting and supplementary lighting method of the present invention;

[0029] Figure 4 is a flowchart of the third embodiment of the underwater lighting and supplementary lighting method of the present invention;

[0030] Figure 5 is a schematic structural diagram of an embodiment of the underwater lighting and supplementary lighting system of the present invention;

[0031] Figure 6 is a schematic structural diagram of an embodiment of the lamp in the underwater lighting and supplementary lighting system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] To make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby declared that the directional terms such as up, down, left, right, front, back, inside and outside that appear or will appear in the text of the present invention are only based on the accompanying drawings of the present invention and do not specifically limit the present invention.

[0033] See Figure 1 , Figure 1 which shows a flowchart of the first embodiment of the underwater lighting and supplementary lighting method of the present invention, including:

[0034] S101, obtaining the distance information between the object to be measured and the lamp, the standard spectrum output by the lamp, and the measured spectrum reflected to the imaging device;

[0035] In practical applications, the distance information between the object to be measured and the lamp can be obtained through algorithm processing according to the detection function of the imaging device.

[0036] S102, calculating the radiation intensity according to the distance information and adjusting the illumination information of the lamp according to the radiation intensity;

[0037] The physical process of light attenuation caused by light entering seawater includes absorption and scattering. Among them:

[0038] I. Absorption

[0039] The process of light energy loss in water is absorption.

[0040] II. Scattering

[0041] The main factors causing light scattering are water molecules and various particles, including suspended matter particles, phytoplankton, etc. The main scattering mechanisms include: Rayleigh scattering and Mie scattering.

[0042] Rayleigh scattering mainly occurs in the scattering process of very small particles (such as water molecules), satisfying I∝1 / λ4. Short-wavelength light (blue light and violet light) will be significantly scattered, while long-wavelength light (red light) will be less scattered;

[0043] Mie scattering occurs when the particle size is comparable to or larger than the light wavelength (such as plankton), satisfying I∝1 / λn, where n is less than 4. Mie scattering will cause obvious attenuation of light of various wavelengths, resulting in color distortion, especially in deeper waters.

[0044] Generally, when a monochromatic collimated light beam passes through the seawater medium, the radiant energy changes exponentially and satisfies the following underwater beam energy attenuation equation:

[0045] L(r) = L(0)e -cr

[0046] Where

[0047] c is the seawater attenuation coefficient (1 / m);

[0048] r is the optical transmission distance;

[0049] L(0) is the radiance along the r direction at the coordinate 0 point;

[0050] L(r) is the radiance along the r direction at the path r;

[0051] The length corresponding to the radiance decaying to 1 / e of the original is the attenuation length.

[0052] It should be noted that the spectral transmission window of seawater (i.e., in this wavelength band, the attenuation of light in seawater is the smallest and the transmission is the largest) is 0.520 μm, the attenuation coefficient is about 0.2 - 0.6 (1 / m), and its attenuation length is about 1.2 - 5 m. The spectral transmission window of clean ocean water is 0.480 μm, the attenuation coefficient is about 0.05 (1 / m), and its attenuation length is about 20 m.

[0053] Since the absorption and scattering of water bodies are affected by various particles, the attenuation coefficients of the same light in different water bodies are also different. Therefore, it is necessary to measure different water bodies multiple times and calculate the illuminance (i.e., radiation intensity) of light with different wavelengths after passing through a certain distance of seawater according to the underwater beam energy attenuation equation and the spectral attenuation diagram (see Figure 2 ) to adjust the illuminance information of the light emitted by the lamp, making the underwater observation image clearer.

[0054] Furthermore, the radiation intensity can be calculated according to the following formula:

[0055]

[0056] Among them,

[0057] I(s,r,λ) is the radiation intensity along the direction s at the position r and wavelength λ, and the position r can be determined according to the distance information;

[0058] I 0 (s,r,λ) is the incident radiation intensity at the wavelength λ;

[0059] τ(r,λ) is the optical thickness at the position r and wavelength λ;

[0060] S(s,r,λ,τ′) is the scattering source function at the wavelength λ, indicating the radiation intensity scattered in a specific direction per unit volume;

[0061] τ′ is the component of the optical thickness of the scattering source in the direction s.

[0062] Correspondingly, the optical thickness can be calculated according to the absorption coefficient and scattering coefficient:

[0063]

[0064] Among them,

[0065] τ(r, λ) is the optical thickness at position r and wavelength λ;

[0066] α a (τ′, λ) is the absorption coefficient;

[0067] α s (z′, λ) is the scattering coefficient.

[0068] Therefore, by calculating the illuminance of light with different wavelengths after passing through a certain distance of seawater, the luminous power of the lamp can be adjusted to meet the required illuminance and ensure that the spectrum maintains an appropriate intensity within the required distance.

[0069] S103. Construct a supplementary light spectrum based on the standard spectrum and the measured spectrum, and adjust the spectral information of the lamp according to the supplementary light spectrum.

[0070] Since different water bodies have different characteristics, it is necessary to detect the spectral characteristics of the lamp in the target water body in real time (such as the standard spectrum output by the lamp and the measured spectrum reflected to the imaging device) to optimize the spectral information of the lamp.

[0071] Specifically, the steps of constructing a supplementary light spectrum based on the standard spectrum and the measured spectrum include:

[0072] (1) Calculate the supplementary light spectrum according to the following formula:

[0073] C(λ) = max(0, S(λ) - M(λ))

[0074] Among them,

[0075] C(λ) is the supplementary light spectrum;

[0076] S(λ) is the standard spectrum;

[0077] M(λ) is the measured spectrum.

[0078] It should be noted that the target spectrum M′(λ) is the sum of the measured spectrum M(λ) and the supplementary light spectrum S(λ), that is, M′(λ) = M(λ) + C(λ); in order to make the target spectrum M′(λ) after supplementary light as close as possible to the standard spectrum S(λ), the calculation formula of the supplementary light spectrum is C(λ) = max(0, S(λ) - M(λ)) to ensure that the spectral supplementary light does not produce negative values.

[0079] (2) Calculate the target spectrum after supplementary light according to the supplementary light spectrum and the measured spectrum;

[0080] M′(λ) = M(λ) + C(λ)

[0081] (3) Optimize the target spectrum according to the standard spectrum;

[0082] During optimization, the supplementary light spectrum can be adjusted by comparing the standard spectrum with the measured spectrum to achieve effective supplementary light for the spectrum, and its fitting degree is evaluated at the same time. In terms of evaluating the fitting degree, the present invention uses the mean square error (MSE) and the correlation coefficient as the main evaluation indicators; that is, the evaluation indicators for optimizing the target spectrum according to the standard spectrum in the present invention include the mean square error and the correlation coefficient.

[0083] Correspondingly, the mean square error MSE is defined as the error metric between the target spectrum after supplementary light and the standard spectrum:

[0084]

[0085] where,

[0086] N is the number of spectral data points;

[0087] M′(λ i ) is the target spectrum after supplementary light for the spectral data point i;

[0088] S(λ i ) is the standard spectrum for the spectral data point i.

[0089] At the same time, the correlation coefficient r′ is used to measure the linear correlation between the target spectrum after supplementary light and the standard spectrum:

[0090] r′ = Cov(M′, S) / σ M′ σ S

[0091] where,

[0092] Cov(M′, S) is the covariance between the spectral data after supplementary light and the standard spectral data;

[0093] σ M′ is the standard deviation of the spectral data after supplementary light;

[0094] σ S is the standard deviation of the standard spectral data after supplementary light;

[0095] The value range of the correlation coefficient r′ is between -1 and 1, and the closer the value is to 1, the better the fitting effect.

[0096] Furthermore, through the process of optimization and iteration, the present invention can adopt the least squares method to make a more in-depth adjustment and optimization of the target spectrum according to the standard spectrum, in order to minimize the mean square error or maximize the correlation coefficient.

[0097] (4) Update the supplementary light spectrum according to the optimized target spectrum.

[0098] Finally, the supplementary light spectrum and the evaluation index of its fitting degree can be output.

[0099] Therefore, the underwater lighting supplementary light method of the present invention can adjust the illuminance and spectrum according to the actual underwater conditions to change the penetration degree of light, which not only facilitates the supplementary light adjustment, saves the lamp maintenance time and maintenance cost, but also is beneficial to better observing the seabed conditions and restoring the true colors.

[0100] See Figure 3 , Figure 3 which shows the flowchart of the second embodiment of the underwater lighting supplementary light method of the present invention, and it includes:

[0101] S201, obtaining the distance information between the object to be measured and the lamp, the standard spectrum output by the lamp, and the measured spectrum reflected to the imaging device;

[0102] S202, calculating the radiation intensity according to the distance information, and adjusting the illuminance information of the lamp according to the radiation intensity;

[0103] S203, constructing the supplementary light spectrum according to the standard spectrum and the measured spectrum, and adjusting the spectrum information of the lamp according to the supplementary light spectrum.

[0104] S204, obtaining the size information of the object to be measured;

[0105] S205, controlling the illumination angle of the lamp according to the size information to adjust the illumination area of the light.

[0106] Different from the first embodiment shown in Figure 1 , in this embodiment, it is also necessary to obtain the size information between the lamps through algorithm processing according to the detection function of the imaging device, and control the illumination angle of the lamp according to the size information to adjust the illumination area of the light.

[0107] Specifically, the distance between the light source 12 and the lens 11 inside the lamp 1 can be adjusted (see Figure 6 ) to achieve a variable light-emitting angle.

[0108] Furthermore, the illumination area can also be adjusted according to the pointing position of the camera.

[0109] See Figure 4 , Figure 4 which shows the flowchart of the third embodiment of the underwater lighting supplementary light method of the present invention, and it includes:

[0110] S301, obtaining the distance information between the object to be measured and the lamp, the standard spectrum output by the lamp, and the measured spectrum reflected to the imaging device;

[0111] S302, calculating the radiation intensity according to the distance information, and adjusting the illuminance information of the lamp according to the radiation intensity;

[0112] S303. Construct a supplementary light spectrum based on the standard spectrum and the measured spectrum, and adjust the spectral information of the lamp according to the supplementary light spectrum.

[0113] S304. Obtain the size information of the object to be measured;

[0114] S305. Control the illumination angle of the lamp according to the size information to adjust the illumination area of the light;

[0115] S306. Obtain the image information collected by the imaging device;

[0116] S307. Adjust the illumination parameters of the lamp according to the image information.

[0117] Different from the second embodiment shown in Figure 3 , in this embodiment, the illumination parameters can be adjusted in real time by using a dynamic feedback method according to image processing technology to effectively improve the clarity of the picture and truly restore the color.

[0118] Therefore, the underwater illumination supplementary light method of the present invention can adapt to the changes in the underwater environment and ensure the best observation effect.

[0119] Correspondingly, the present invention also discloses an underwater illumination supplementary light device 100, including a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the above-mentioned underwater illumination supplementary light method are realized.

[0120] See Figure 5 , Figure 5 shows the specific structure of the underwater illumination supplementary light system 100 of the present invention, which includes a lamp 1, an imaging device 2 and the above-mentioned underwater illumination supplementary light device 3. The imaging device 1 and the underwater illumination supplementary light device 3 are both arranged on the lamp 1, and the lamp 1 and the imaging device 2 are respectively connected to the underwater illumination supplementary light device 3.

[0121] As Figure 6 shown, a light source 12 and a lens 11 are arranged inside the lamp 1. When adjusting the illumination angle, the distance between the light source 12 and the lens 11 inside the lamp 1 can be adjusted (see Figure 6 ) to achieve a variable illumination angle.

[0122] Therefore, by closely integrating underwater lamps with imaging devices, the underwater lighting and supplementary lighting system of the present invention breaks through the limitations of the traditional fixed lamp positions, providing ideal lighting conditions for seafloor observations. At the same time, the lamps in the underwater lighting and supplementary lighting system of the present invention can follow the rotation of the imaging device (camera) in real time, flexibly adjusting the lighting angle, lighting intensity, and spectral characteristics, thereby significantly improving the clarity of seafloor observation images. In addition, the dynamic adjustment of the underwater lighting and supplementary lighting system of the present invention not only effectively reduces energy consumption but also greatly improves the working efficiency of seafloor observations, providing more reliable support for scientific research and resource management.

[0123] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A method for underwater lighting supplement, characterized in that: include: Obtain the distance information between the measured object and the lamp, the standard spectrum output by the lamp, and the measured spectrum reflected to the camera device; Calculating the radiation intensity according to the distance information, and adjusting the illumination information of the lamp according to the radiation intensity; A fill light spectrum is constructed according to the standard spectrum and the measured spectrum, and the spectrum information of the lamp is adjusted according to the fill light spectrum.

2. The underwater lighting supplementary light method according to claim 1, characterized in that: The step of constructing a supplementary light spectrum according to the standard spectrum and the measured spectrum comprises: The fill light spectrum is calculated according to the formula C(λ)=max(0,S(λ)-M(λ)), where C(λ) is the fill light spectrum, S(λ) is the standard spectrum, and M(λ) is the measured spectrum; Calculating a target spectrum after fill-in light according to the fill-in light spectrum and the measured spectrum; Optimizing the target spectrum according to the standard spectrum; The fill light spectrum is updated according to the optimized target spectrum.

3. The underwater lighting supplementary light method according to claim 2, characterized in that: Evaluation indicators for optimizing the target spectrum according to the standard spectrum include mean square error and correlation coefficient; The mean square error MSF is: The correlation coefficient r' is: r′=Cov(M′,S) / σ M′ s S Where N is the number of spectral data points, M′(λ i ) is the target spectrum after the spectral data point i is supplemented with light, S(λ i ) is the standard spectrum of the spectral data point i, Cov(M′,S) is the covariance of the spectral data after supplementary illumination and the standard spectral data, σ M′ is the standard deviation of the spectral data after fill light, σ S is the standard deviation of the standard spectrum data after fill light.

4. The underwater lighting supplementary light method according to claim 2 or 3, characterized in that: The target spectrum is optimized according to the standard spectrum using the least square method.

5. The underwater lighting supplementary light method according to claim 1, characterized in that: The step of calculating the radiation intensity according to the distance information comprises: Calculate the radiation intensity based on the distance information: Where I(s,r,λ) is the radiation intensity at position r and wavelength λ along direction s, I0(s,r,λ) is the incident radiation intensity at wavelength λ, τ(r,λ) is the optical thickness at position r and wavelength λ, S(s,r,λ,τ′) is the scattering source function at wavelength λ, and τ′ is the component of the optical thickness of the scattering source in direction s.

6. The underwater lighting supplementary light method according to claim 5, characterized in that: Also includes: The optical thickness is calculated based on the absorption coefficient and the scattering coefficient: where τ(r,λ) is the optical thickness at position r and wavelength λ, α a (z,λ) is the absorption coefficient, α s (z′,λ) is the scattering coefficient.

7. The underwater lighting supplementary light method according to claim 1, characterized in that: Also includes: Obtain the size information of the object being measured; The illumination angle of the lamp is controlled according to the size information to adjust the illumination area of ​​the light.

8. The underwater lighting supplementary light method according to claim 1, characterized in that: Also includes: Obtain image information collected by a camera device; The lighting parameters of the lamp are adjusted according to the image information.

9. An underwater lighting supplementary light device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the underwater lighting fill light method described in any one of claims 1 to 8 are implemented.

10. An underwater lighting supplementary light system, characterized in that: It comprises a lamp, a camera and the underwater lighting and fill-lighting device as claimed in claim 8, wherein the camera and the underwater lighting and fill-lighting device are both arranged on the lamp.

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