An underwater high-speed image sensor for multispectral imaging and an imaging method

Abstract

The present invention provides an underwater high-speed image sensor for multispectral imaging and an imaging method, which include a color imaging module, a monochromatic imaging module, a filter wheel, a synchronous central control platform, an illumination system, a support structure, and a waterproof housing. The support structure and the waterproof housing fix the underwater high-speed image sensor for multispectral imaging in a determined position and ensure long-term working stability and waterproofness. The synchronous central control platform controls the illumination system to provide appropriate underwater illumination conditions, controls the filter wheel to be in the required imaging wavelength band, synchronously controls the color imaging module and the monochromatic imaging module to collect video images. After the video images are transmitted back to the synchronous central control platform and subjected to video compression processing, they are pushed to the host computer for display. The high frame rate can significantly improve the image ghost problem of fast-swimming fish. The imaging in the infrared wavelength band supported by the filter wheel and the illumination system has a longer observation distance than the visible wavelength band and can obtain a clearer imaging effect in an environment with a higher turbidity.

Description

Technical Field

[0001] The present invention belongs to the field of optical sensors, and in particular relates to an underwater high-speed image sensor for multispectral imaging and an imaging method. Background Art

[0002] Optical imaging is an important means to study water ecology and record the impact of underwater organisms. Compared with other observation methods, it has the advantages of intuitive images, rich details and low cost.

[0003] At present, the frame rate of image sensors commonly used in underwater optical imaging on the market is generally no more than 30 frames per second. When shooting fast-swimming fish, there is the problem of image ghosting, and it is impossible to accurately measure the size of fish, let alone observe the surface details of fish in detail. Due to the complex water ecological environment and the obvious changes in water environment with seasonal climate, during the turbid water period, conventional image sensors on the market are unable to clearly capture underwater objects. Underwater active lighting technology is widely used, but it mainly uses point light sources in the visible light band, and the lighting wavelength range and lighting uniformity are limited.

[0004] At present, there are no reports on underwater high-speed image sensors for water ecological monitoring with high frame rate, adaptability to high turbidity environments, and multi-spectral acquisition. Summary of the Invention

[0005] In view of the defects of the existing technology, the present invention provides an underwater high-speed image sensor and imaging method for multispectral imaging, which can effectively solve the above problems.

[0006] The technical solution adopted in the present invention is as follows:

[0007] The present invention provides an underwater high-speed image sensor for multispectral imaging, comprising an underwater high-speed image sensor body and an illumination system (40); wherein the underwater high-speed image sensor body comprises a color imaging module (10), a monochrome imaging module (11), a filter wheel (20), a synchronous central control platform (30), a support structure (50) and a waterproof housing (60);

[0008] The color imaging module (10) and the filter wheel (20) are installed inside the waterproof housing (60) via the support structure (50), and the monochrome imaging module (11) is coaxially installed on the front and rear sides of the filter wheel (20); the color imaging module (10) and the monochrome imaging module (11) are arranged parallel to each other at the same height and close to each other;

[0009] The lighting system (40) is arranged on the upper and lower sides of the image acquisition ends of the color imaging module (10) and the monochrome imaging module (11);

[0010] The color imaging module (10), the monochrome imaging module (11), the filter wheel (20) and the illumination system (40) are all connected to the synchronous central control platform (30).

[0011] Preferably, the color imaging module (10) includes a first imaging lens (101), a first lens fixing adapter (102), a first image sensor driving circuit board (103) and a color CMOS image sensor (104);

[0012] The first lens fixing adapter (102) is coaxially and fixedly installed at the rear end of the first imaging lens (101), and the color CMOS image sensor (104) is fixedly installed inside the first lens fixing adapter (102); the first image sensor driving circuit board (103) is fixedly installed at the rear end of the first lens fixing adapter (102);

[0013] The monochrome imaging module (11) includes a second imaging lens (111), a second lens fixing adapter (112), a second image sensor driving circuit board (113) and a monochrome CMOS image sensor (114);

[0014] The second lens fixing adapter (112) is coaxially arranged at the rear end of the second imaging lens (111); the monochrome CMOS image sensor (114) is fixedly installed inside the second lens fixing adapter (112); the second image sensor driving circuit board (113) is fixedly installed at the rear end of the second lens fixing adapter (112);

[0015] Both the first image sensor driving circuit board (103) and the second image sensor driving circuit board (113) are connected to the synchronous central control platform (30).

[0016] Preferably, the filter wheel (20) includes a wheel (201), narrow-band filters (202), a driving motor (203), an adapter (204) and a housing (205);

[0017] The housing (205) is fixed to the support structure (50); the wheel (201) is rotatably installed inside the housing (205), and the wheel (201) rotates in a vertical plane under the drive of the driving motor (203); the driving motor (203) is connected to the synchronous central control platform (30);

[0018] A plurality of slots are evenly formed in the circumferential direction of the wheel (201), and each slot is installed with a narrow-band filter (202), and the narrow-band filters (202) installed in each slot allow light with the same or different wavelengths to pass through;

[0019] The housing (205) has a light-transmitting through-hole opened in the rotation path of the narrowband filter (202); the adapter (204) is assembled and installed on the front side of the light-transmitting through-hole, and the adapter (204) has a through-hole communicating with the light-transmitting through-hole; the second imaging lens (111) is assembled and installed on the front side of the adapter (204); the second lens fixing adapter (112) is assembled and installed on the rear side of the housing (205), and the monochrome CMOS image sensor (114) is installed inside the second lens fixing adapter (112); and when a certain narrowband filter (202) rotates to the position of the light-transmitting through-hole, the narrowband filter (202) is located in the imaging path formed between the second imaging lens (111) and the monochrome CMOS image sensor (114).

[0020] Preferably, the illumination system (40) includes a uniform surface light source (401) and a light source control box (402);

[0021] The uniform surface light source (401) includes 8 independently controlled surface light sources, and each of the surface light sources is dispersedly installed on both sides of the color imaging module (10) and the monochrome imaging module (11);

[0022] The structure of each surface light source from the outside to the inside is a light homogenizing plate, an LED lamp bead array, and a printed circuit board in sequence; the light homogenizing plate is used to uniformly disperse the light emitted by the LED lamp bead array in space; the LED lamp bead array includes white light LED lamp beads and 850nm near-infrared LED lamp beads, and each of the LED lamp beads is welded on the printed circuit board, and the printed circuit board is connected to the light source control box (402); the light source control box (402) is connected to the synchronous central control platform (30), and is controlled by the synchronous central control platform (30) to drive each of the LED lamp beads of each of the surface light sources to work, and adjust the light emission brightness and light emission color of each of the surface light sources.

[0023] Preferably, the synchronous central control platform (30) includes a core processor (301), an FPC connector (302), a serial port connector (303), an RJ45 Ethernet connector (304), a DC power connector (305), a printed circuit board (306), and fixing screw holes (307);

[0024] The printed circuit board (306) is fixed inside the waterproof housing (60) through the fixing screw holes (307); the core processor (301), the FPC connector (302), the serial port connector (303), the RJ45 Ethernet connector (304), and the DC power connector (305) are arranged on the surface of the printed circuit board (306);

[0025] The core processor (301) is respectively connected to the FPC connector (302), the serial port connector (303), the RJ45 Ethernet connector (304) and the DC power connector (305);

[0026] The FPC connector (302) is used to be respectively connected to the first image sensor driving circuit board (103) of the color imaging module (10) and the second image sensor driving circuit board (113) of the monochrome imaging module (11);

[0027] The serial port connector (303) is used to be respectively connected to the light source control box (402) of the lighting system (40) and the driving motor (203) of the filter wheel (20);

[0028] The RJ45 Ethernet connector (304) is used to connect to a host computer and communicate with the host computer;

[0029] The DC power connector (305) is used to supply power to the printed circuit board (306).

[0030] Preferably, the support structure (50) includes a color imaging module support (501) and a filter wheel support (502); the color imaging module support (501) is used to support and install the color imaging module (10); the filter wheel support (502) is used to support and install the monochrome imaging module (11).

[0031] Preferably, the waterproof housing (60) includes a light-transmitting window (601), a housing front cover (602), a housing main body (605), a multi-beam waterproof flange interface (606) and a single-beam waterproof flange interface (607);

[0032] The housing front cover (602) is hermetically installed on the front side of the housing main body (605); the housing front cover (602) hermetically installs the light-transmitting window (601), and the light-transmitting window (601) is located directly in front of the color imaging module (10) and the monochrome imaging module (11); the multi-beam waterproof flange interface (606) and the single-beam waterproof flange interface (607) for accommodating the passage of cables are installed on the side of the housing main body (605).

[0033] The present invention also provides an imaging method for a multi-spectral imaging underwater high-speed image sensor as described above, including the following steps:

[0034] S110. The described underwater high-speed image sensor for multi-spectral imaging is fixedly installed at the underwater target position. When the synchronous central control platform (30) receives an image acquisition instruction from the upper computer, it executes S111;

[0035] S111. The synchronous central control platform (30) controls the lighting system (40) and the filter wheel (20) according to the initial filter wheel control parameters and lighting system control parameters.

[0036] Specifically, it controls the luminous brightness and color of each surface light source of the lighting system (40) to achieve lighting of the underwater image acquisition area; it controls the drive motor (203) of the filter wheel (20) to rotate, so that the specified narrowband filter (202) rotates to the working position to achieve adjustment of the imaging band.

[0037] S113. Under the underwater light of the lighting system (40), the color imaging module (10) acquires a color image of the water body and sends it to the synchronous central control platform (30);

[0038] The monochromatic imaging module (11) cooperates with the narrowband filter (202) in the working position to simultaneously acquire a black-and-white image of the water body and send it to the synchronous central control platform (30);

[0039] S114. The synchronous central control platform (30) receives the color image and the black-and-white image simultaneously acquired of the water body. On the one hand, it analyzes the acquired color image and black-and-white image, and then performs video compression encoding and sends it to the upper computer in real time; on the other hand, the synchronous central control platform (30) analyzes the imaging quality of the color image and the black-and-white image, and obtains new filter wheel control parameters and lighting system control parameters for improving the imaging quality.

[0040] The synchronous central control platform (30) performs real-time adjustment and control of the lighting system (40) and the filter wheel (20) according to the new filter wheel control parameters and lighting system control parameters, and then returns to S111. Such continuous cycling realizes high-quality image acquisition of the underwater environment.

[0041] Preferably, analyzing the acquired color image and black-and-white image specifically includes:

[0042] ① Using a calibration algorithm to calibrate the color image and the black-and-white image respectively to obtain a calibrated color image and a calibrated black-and-white image;

[0043] ② Using a color adjustment algorithm to adjust the color of the calibrated color image to obtain a color-adjusted color image;

[0044] ③Perform image fusion on the corrected black-and-white image and the color-adjusted color image to obtain a fused image.

[0045] Preferably, a correction algorithm is used to correct the color image and the black-and-white image respectively, specifically:

[0046] A1. Determine the brightness correction coefficient γ according to the overall brightness of the image. If the overall image is darker, then select γ < 1 to increase the brightness; otherwise, select γ > 1 to reduce the brightness.

[0047] A2. For each pixel point in the image, its original pixel value is I. Use formula (1) to map the original pixel value I to [0, 1] to obtain the pixel value I in ;

[0048]

[0049] A3. Use formula (2) to correct the pixel value I in to obtain the corrected pixel value I out :

[0050]

[0051] A4. Map the corrected pixel value I out back to [0, 255] to obtain the finally corrected pixel value I':

[0052] I' = I out ·255 (3)

[0053] Use a color adjustment algorithm to perform color adjustment on the corrected color image to obtain a color-adjusted color image, specifically:

[0054] B1. For the corrected color image, the total number of pixels in the image is N. It has a red channel R, a green channel G, and a blue channel B. Use formula (4) to obtain the average pixel value of each channel:

[0055]

[0056] where: R i , G i and B i respectively represent the pixel components of pixel i in the red channel R, the green channel G, and the blue channel B;

[0057] and respectively represent the average pixel values of the red channel R, the green channel G, and the blue channel B;

[0058] B2. Using formula (5), the gain coefficients of each channel are obtained:

[0059]

[0060] Where: k R , k G and k B respectively represent the gain coefficients of the red channel R, the green channel G, and the blue channel B;

[0061] B3. Using formula (6), according to the gain coefficients of each channel, the RGB values of each pixel i are adjusted:

[0062] R i ′ = k R · R i

[0063] G i ′ = k G · G i

[0064] B i ′ = k B · B i (6)

[0065] Thus, the color-adjusted color image is obtained.

[0066] A multi-spectral imaging underwater high-speed image sensor and imaging method provided by the present invention have the following advantages:

[0067] A multi-spectral imaging underwater high-speed image sensor and imaging method provided by an embodiment of the present invention include a color imaging module, a monochromatic imaging module, a filter wheel, a synchronous central control platform, an illumination system, a support structure, and a waterproof housing. The support structure and the waterproof housing fix the multi-spectral imaging underwater high-speed image sensor in a determined position and ensure long-term working stability and waterproofness. The synchronous central control platform controls the illumination system to provide appropriate underwater lighting conditions, controls the filter wheel to be in the required imaging band, synchronously controls the color imaging module and the monochromatic imaging module to collect video images. After the video images are transmitted back to the synchronous central control platform and subjected to video compression processing, they are pushed to the upper computer for display based on Ethernet. A high frame rate of not less than 40 frames per second can significantly improve the image ghosting problem of fast-swimming fish. The infrared band imaging supported by the filter wheel and the illumination system has a longer observation distance than the visible band and can obtain a clearer imaging effect in an environment with higher turbidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 It is a schematic diagram of the overall structure of a multi-spectral imaging underwater high-speed image sensor provided by the present invention;

[0069] Figure 2 Schematic diagram of the imaging module structure of an underwater high-speed image sensor for multispectral imaging provided by the present invention;

[0070] Figure 3 Schematic diagram of the filter wheel structure of an underwater high-speed image sensor for multispectral imaging provided by the present invention;

[0071] Figure 4 Schematic diagram of the synchronous central control platform structure of an underwater high-speed image sensor for multispectral imaging provided by the present invention;

[0072] Figure 5 Schematic diagram of the lighting system structure of an underwater high-speed image sensor for multispectral imaging provided by the present invention;

[0073] Figure 6 Schematic diagram of the support structure of an underwater high-speed image sensor for multispectral imaging provided by the present invention;

[0074] Figure 7 Schematic diagram of the waterproof housing structure of an underwater high-speed image sensor for multispectral imaging provided by the present invention;

[0075] Figure 8 Schematic diagram of the working process of an underwater high-speed image sensor for multispectral imaging provided by the present invention;

[0076] Figure 9 Underwater imaging effect diagram of an underwater high-speed image sensor for multispectral imaging provided by the present invention.

[0077] Underwater high-speed image sensor A for multispectral imaging;

[0078] Color imaging module 10, monochromatic imaging module 11, filter wheel 20, synchronous central control platform 30, lighting system 40, support structure 50, waterproof housing 60;

[0079] First imaging lens 101, first lens fixing adapter 102, first image sensor driving circuit board 103, color CMOS image sensor 104;

[0080] Second imaging lens 111, second lens fixing adapter 112, second image sensor driving circuit board 113, monochromatic CMOS image sensor 114;

[0081] Wheel 201, narrowband filter 202, driving motor 203, adapter 204, housing 205;

[0082] Core processor 301, FPC connector 302, serial port connector 303, RJ45 Ethernet connector 304, DC power connector 305, printed circuit board 306, fixing screw hole 307;

[0083] Uniform surface light source 401, light source control box 402;

[0084] Color imaging module support 501, filter wheel support 502;

[0085] Light transmission window 601, front cover of the housing 602, sealing rubber ring 603, sealing screw 604, housing body 605, multi-beam waterproof flange interface 606, single-beam waterproof flange interface 607. Detailed implementation mode

[0086] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0087] Refer to Figure 1 , the present invention provides an underwater high-speed image sensor for multi-spectral imaging, including an underwater high-speed image sensor main body and an illumination system 40; wherein, the underwater high-speed image sensor main body includes a color imaging module 10, a monochrome imaging module 11, a filter wheel 20, a synchronous central control platform 30, a support structure 50 and a waterproof housing 60;

[0088] Inside the waterproof housing 60, the color imaging module 10 and the filter wheel 20 are installed through the support structure 50, and the monochrome imaging module 11 is coaxially installed on the front and rear sides of the filter wheel 20; the color imaging module 10 and the monochrome imaging module 11 are arranged in parallel at the same height and close to each other;

[0089] The illumination system 40 is arranged on the upper and lower sides of the image acquisition ends of the color imaging module 10 and the monochrome imaging module 11;

[0090] The color imaging module 10, the monochrome imaging module 11, the filter wheel 20 and the illumination system 40 are all connected to the synchronous central control platform 30.

[0091] Refer to Figure 2 , the color imaging module 10 includes a first imaging lens 101, a first lens fixing adapter 102, a first image sensor drive circuit board 103 and a color CMOS image sensor 104;

[0092] The first lens fixing adapter 102 is coaxially and fixedly installed at the rear end of the first imaging lens 101, and the color CMOS image sensor 104 is fixedly installed inside the first lens fixing adapter 102; the first image sensor driving circuit board 103 is fixedly installed at the rear end of the first lens fixing adapter 102;

[0093] The monochromatic imaging module 11 includes a second imaging lens 111, a second lens fixing adapter 112, a second image sensor driving circuit board 113, and a monochromatic CMOS image sensor 114;

[0094] The second lens fixing adapter 112 is coaxially arranged at the rear end of the second imaging lens 111; the monochromatic CMOS image sensor 114 is fixedly installed inside the second lens fixing adapter 112; the second image sensor driving circuit board 113 is fixedly installed at the rear end of the second lens fixing adapter 112;

[0095] Both the first image sensor driving circuit board 103 and the second image sensor driving circuit board 113 are connected to the synchronous central control platform 30.

[0096] Refer to Figure 3 , the filter wheel 20 includes a wheel 201, narrowband filters 202, a driving motor 203, an adapter 204, and a housing 205;

[0097] The housing 205 is fixed to the support structure 50; the wheel 201 is rotatably installed inside the housing 205, and the wheel 201 rotates in a vertical plane under the drive of the driving motor 203; the driving motor 203 is connected to the synchronous central control platform 30;

[0098] A plurality of slots are evenly formed in the circumferential direction of the wheel 201, and each of the slots is installed with a narrowband filter 202, and the wavelengths of the light allowed to pass through by the narrowband filters 202 installed in each of the slots are the same or different;

[0099] The housing 205 defines a light-transmitting through-hole in the rotation path of the narrowband filter 202; the adapter 204 is assembled and installed on the front side of the light-transmitting through-hole, and the adapter 204 has a through-hole communicating with the light-transmitting through-hole; the second imaging lens 111 is assembled and installed on the front side of the adapter 204; the second lens fixing adapter 112 is assembled and installed on the rear side of the housing 205, and the monochrome CMOS image sensor 114 is installed inside the second lens fixing adapter 112; and when a certain narrowband filter 202 rotates to the position of the light-transmitting through-hole, the narrowband filter 202 is located in the imaging path formed between the second imaging lens 111 and the monochrome CMOS image sensor 114.

[0100] Refer to Figure 5 , the illumination system 40 includes a uniform surface light source 401 and a light source control box 402;

[0101] The uniform surface light source 401 includes 8 independently controlled surface light sources, and each of the surface light sources is dispersedly installed on both sides of the color imaging module 10 and the monochrome imaging module 11;

[0102] The structure of each surface light source from the outside to the inside is a light homogenizing plate, an LED lamp bead array, and a printed circuit board in sequence; the light homogenizing plate is used to spatially disperse and uniformize the light emitted by the LED lamp bead array; the LED lamp bead array includes white light LED lamp beads and 850nm near-infrared LED lamp beads, and each of the LED lamp beads is welded on the printed circuit board, and the printed circuit board is connected to the light source control box 402; the light source control box 402 is connected to the synchronous central control platform 30, and is controlled by the synchronous central control platform 30 to drive each of the LED lamp beads of each of the surface light sources to work, and adjust the light emission brightness and light emission color of each of the surface light sources.

[0103] Refer to Figure 4 , the synchronous central control platform 30 includes a core processor 301, an FPC connector 302, a serial port connector 303, an RJ45 Ethernet connector 304, a DC power connector 305, a printed circuit board 306, and fixing screw holes 307;

[0104] The printed circuit board 306 is fixed inside the waterproof housing 60 through the fixing screw holes 307; the core processor 301, the FPC connector 302, the serial port connector 303, the RJ45 Ethernet connector 304, and the DC power connector 305 are arranged on the surface of the printed circuit board 306;

[0105] The core processor 301 is respectively connected to the FPC connector 302, the serial port connector 303, the RJ45 Ethernet connector 304, and the DC power connector 305;

[0106] The FPC connector 302 is used to be respectively connected to the first image sensor drive circuit board 103 of the color imaging module 10 and the second image sensor drive circuit board 113 of the monochrome imaging module 11;

[0107] The serial port connector 303 is used to be respectively connected to the light source control box 402 of the lighting system 40 and the drive motor 203 of the filter wheel 20;

[0108] The RJ45 Ethernet connector 304 is used to connect to a host computer and communicate with the host computer;

[0109] The DC power connector 305 is used to supply power to the printed circuit board 306.

[0110] Refer to Figure 6 , the support structure 50 includes a color imaging module support 501 and a filter wheel support 502; the color imaging module support 501 is used to support and install the color imaging module 10; the filter wheel support 502 is used to support and install the monochrome imaging module 11.

[0111] Refer to Figure 7 , the waterproof housing 60 includes a light transmission window 601, a housing front cover 602, a housing main body 605, a multi-beam waterproof flange interface 606, and a single-beam waterproof flange interface 607;

[0112] The housing front cover 602 is hermetically installed on the front side of the housing main body 605; the housing front cover 602 hermetically installs the light transmission window 601, and the light transmission window 601 is located directly in front of the color imaging module 10 and the monochrome imaging module 11; the side part of the housing main body 605 installs the multi-beam waterproof flange interface 606 and the single-beam waterproof flange interface 607 for accommodating the passage of cables.

[0113] The present invention also provides an imaging method for an underwater high-speed image sensor for multispectral imaging, including the following steps:

[0114] S110, an underwater high-speed image sensor for multispectral imaging is fixedly installed at an underwater target position; when the synchronous central control platform 30 receives an image acquisition instruction from a host computer, S111 is executed;

[0115] S111. The synchronization central control platform 30 controls the lighting system 40 and the filter wheel 20 according to the initial filter wheel control parameters and the lighting system control parameters.

[0116] Specifically, it controls the emission brightness and color of each surface light source of the lighting system 40 to achieve lighting of the underwater image acquisition area; it controls the drive motor 203 of the filter wheel 20 to rotate, and then rotates the specified narrowband filter 202 to the working position to achieve adjustment of the imaging band.

[0117] S113. Under the underwater light of the lighting system 40, the color imaging module 10 acquires a color image of the water body and sends it to the synchronization central control platform 30.

[0118] The monochromatic imaging module 11 cooperates with the narrowband filter 202 in the working position to simultaneously acquire a black-and-white image of the water body and send it to the synchronization central control platform 30.

[0119] S114. The synchronization central control platform 30 receives the color image and the black-and-white image simultaneously acquired of the water body. On the one hand, it analyzes the acquired color image and black-and-white image, and then performs video compression coding and sends it to the host computer in real time. On the other hand, the synchronization central control platform 30 analyzes the imaging quality of the color image and the black-and-white image, and obtains new filter wheel control parameters and lighting system control parameters for improving the imaging quality.

[0120] The synchronization central control platform 30 returns to S111 according to the new filter wheel control parameters and lighting system control parameters, and performs real-time adjustment control on the lighting system 40 and the filter wheel 20; and so on in a loop to achieve high-quality image acquisition of the underwater environment.

[0121] In this step, the analysis of the acquired color image and black-and-white image is specifically as follows:

[0122] ① Using a calibration algorithm, the color image and the black-and-white image are respectively calibrated to obtain the calibrated color image and the calibrated black-and-white image.

[0123] The algorithms for calibrating the color image and the black-and-white image are the same:

[0124] A1. According to the overall brightness of the image, determine the brightness calibration coefficient γ; where, if the overall image is too dark, then select γ < 1 for increasing the brightness; otherwise, select γ > 1 for reducing the brightness.

[0125] A2. For each pixel point in the image, its original pixel value is I; using formula (1), map the original pixel value I to [0,1] to obtain the pixel value I. in;

[0126]

[0127] A3, using formula (2), for pixel value I in Correction is performed to obtain the corrected pixel value I out :

[0128]

[0129] A4, the corrected pixel value I out Map back to [0,255] to get the final corrected pixel value I′:

[0130] I′=I out ·255 (3)

[0131] ② Using a color adjustment algorithm to perform color adjustment on the corrected color image to obtain a color-adjusted color image;

[0132] In this step, the color adjustment algorithm is:

[0133] B1, for the corrected color image, the total number of pixels in the image is N; it has a red channel R, a green channel G and a blue channel B. Formula (4) is used to obtain the mean value of the pixels in each channel:

[0134]

[0135]

[0136] Where: R i , G i and B i , respectively represent the pixel components of pixel i in the red channel R, green channel G and blue channel B;

[0137] and Represents the pixel mean of the red channel R, green channel G and blue channel B respectively;

[0138] B2, using formula (5), obtain the gain coefficient of each channel:

[0139]

[0140] k G =1

[0141]

[0142] Where: k R , k G and k B, representing the gain coefficients of the red channel R, green channel G, and blue channel B respectively;

[0143] For B3, using formula (6), according to the gain coefficients of each channel, adjust the RGB values of each pixel i:

[0144] R i ′ = k R ·R i

[0145] G i ′ = k G ·G i

[0146] B i ′ = k B ·B j (6)

[0147] Thus, the color - adjusted color image is obtained.

[0148] ③Fuse the corrected black - and - white image and the color - adjusted color image to obtain a fused image.

[0149] Through the correction algorithm and color - adjustment algorithm of the present invention, the following effects are achieved:

[0150] 1. Adjust the brightness distribution of the image to make the details in the dark part clearer.

[0151] 2. Improve the contrast and enhance the visual effect.

[0152] 3. Compensate for the non - linear characteristics of the display device to make the image have a consistent visual perception on different devices.

[0153] The present invention significantly improves the color performance and visual quality of the image.

[0154] In the present invention, through precise control of the light source cycle and relying on the synchronous central control platform, the imaging uniformity reaches more than 90%. The entire system depends on the seamless communication between the adaptive light source control box and the synchronous central control platform, and the two are connected through the RS232 interface. When the host computer monitors that the brightness of a certain area of the screen is too dark, the synchronous central control platform will automatically issue an adjustment instruction to quickly increase the brightness of the light source in that area; on the contrary, when a certain area of the screen is too bright, the synchronous central control platform will instruct the light source in that area to reduce the brightness. Through this real - time and precise feedback control mechanism, it can ensure that the brightness of the image displayed on the host computer always remains within the preset range, avoiding the phenomenon of being too bright or too dark, and further combining the correction algorithm and color - adjustment algorithm of the present invention, finally achieving a high - quality imaging effect, and the uniformity is always maintained above 90%. This intelligent control not only improves the stability of the system but also ensures the consistency and reliability of the imaging effect under different light conditions.

[0155] The following introduces a specific embodiment:

[0156] Refer to the attached Figure 1 As shown, it is a schematic diagram of the overall structure of a multi - spectral imaging underwater high - speed image sensor provided by the invention, including a color imaging module 10, a monochromatic imaging module 11, a filter wheel 20, a synchronous central control platform 30, a support structure 50, and a waterproof housing 60. The attached Figure 1 The multi - spectral imaging underwater high - speed image sensor A shown is installed in the middle of the Figure 5 acquisition box shown; on the surface of the acquisition box, an illumination system 40 is arranged.

[0157] The color imaging module 10 is used to acquire color images;

[0158] The monochromatic imaging module 11 is used to acquire black - and - white images in combination with the filter wheel 20;

[0159] The filter wheel 20 is used to switch filter plates of different spectral bands to achieve multi - spectral imaging;

[0160] The synchronous central control platform 30 is used to synchronously control the color imaging module 10, the monochromatic imaging module 11, the filter wheel 20, and the illumination system 40 to work together, and receive the image data from the color imaging module 10 and the monochromatic imaging module 11, and after processing, send it to the host computer for display;

[0161] The illumination system 40 is used to supplement light in the underwater environment;

[0162] The support structure 50 is used to fix each module in the waterproof housing and provide mechanical support;

[0163] The waterproof housing 60 is used to provide an underwater working environment for the multi - spectral imaging underwater high - speed image sensor.

[0164] Among them, the color imaging module 10 is used to acquire color video images, the monochromatic imaging module 11 is used to acquire black - and - white video images, the filter wheel 20 is used to switch narrow - band filter plates of different bands, and in combination with the monochromatic imaging module 11, it realizes the acquisition of multi - spectral video images; the synchronous central control platform 30 is the control core of a multi - spectral imaging underwater high - speed image sensor provided by the present invention, which is used to synchronously control the color imaging module 10, the monochromatic imaging module 11, the filter wheel 20, and the illumination system 40. At the same time, it is used to receive the color video images from the color imaging module 10 and the multi - spectral video images from the monochromatic imaging module 11, and after video compression encoding, it is pushed to the host computer software for display through Ethernet.

[0165] Refer to the attached Figure 2As shown, it is a schematic structural diagram of an imaging module of an underwater high-speed image sensor for multi-spectral imaging provided by the invention. Attached Figure 1 The color imaging module 10 and the monochrome imaging module 11 shown therein are basically the same in structure. The color imaging module 10 includes a first imaging lens 101, a first lens fixing adapter 102, a first image sensor driving circuit board 103, and a color CMOS image sensor 104; the monochrome imaging module 11 includes a second imaging lens 111, a second lens fixing adapter 112, a second image sensor driving circuit board 113, and a monochrome CMOS image sensor 114. Among them, the first imaging lens 101, the first lens fixing adapter 102, and the first image sensor driving circuit board 103 of the color imaging module 10 are respectively the same components as the second imaging lens 111, the second lens fixing adapter 112, and the second image sensor driving circuit board 113 of the monochrome imaging module 11. The different parts are the color CMOS image sensor 104 and the monochrome CMOS image sensor 114. Among them, the color CMOS image sensor 104 has a layer of filter on the top of the photosensitive pixels, which only allows specific red, green, or blue light to pass through. In a 2×2 range, the arrangement order of the filters is RGGB, that is, red, green, green, blue; the monochrome CMOS image sensor 114 has no filter on the top of the photosensitive pixels, and each pixel reflects the sum of the light intensities of all incident wavelength lights. Compared with the color CMOS image sensor 104, the monochrome CMOS image sensor 114 can receive more photons because there is no filter restriction, so it has better imaging clarity in the same environment.

[0166] For the color imaging module 10: The first imaging lens 101 is used to collect the incident light and converge the image onto the photosensitive surface of the color CMOS image sensor 104 at the rear; the first lens fixing adapter 102 is used to fix the first imaging lens 101 and the color CMOS image sensor 104 on the first image sensor driving circuit board 103; among them, the color CMOS image sensor 104 is soldered on the first image sensor driving circuit board 103; the first image sensor driving circuit board 103 includes a power supply module and an FPC connector. The power supply module is used to supply power to the color CMOS image sensor 104, and the FPC connector is used to connect the color CMOS image sensor 104 and the synchronous central control platform 30;

[0167] For the monochromatic imaging module 11: The second imaging lens 111 is used to collect incident light and converge the image onto the photosensitive surface of the monochromatic CMOS image sensor 114 at the rear side; the second lens fixed adapter 112 is used to fix the second imaging lens 111 and the monochromatic CMOS image sensor 114 on the second image sensor driving circuit board 113; wherein, the monochromatic CMOS image sensor 114 is soldered on the second image sensor driving circuit board 113; the second image sensor driving circuit board 113 includes a power module and an FPC connector, the power module is used to supply power to the monochromatic CMOS image sensor 114, and the FPC connector is used to connect the monochromatic CMOS image sensor 114 and the synchronous central control platform 30.

[0168] Reference appendix Figure 3As shown in the figure, it is a schematic structural diagram of a filter wheel 20 of an underwater high-speed image sensor for multispectral imaging provided by the present invention, including a wheel 201, narrow-band filters 202, a drive motor 203, an adapter 204, and a housing 205. The wheel 201 is circular, and its geometric center is in contact with the drive motor 203. There are 6 slots on the wheel 201 for installing narrow-band filters 202. By rotating the wheel 201 to switch the narrow-band filter 202 that coincides with the monochromatic imaging module 11, video image acquisition in different wavelength bands can be achieved; the narrow-band filter 202 is used to limit the wavelength of the light incident on the monochromatic imaging module 11 through the filter. Each slot is installed with a narrow-band filter 202 for limiting different transmitted light wavelengths. For example, the bandwidth of one narrow-band filter 202 is 40 nm, that is, the 600-nm narrow-band filter allows light with wavelengths from 580 nm to 620 nm to pass through, while light of other wavelengths is blocked. The wavelength selection of the narrow-band filter 202 needs to be based on actual application requirements, and the wavelength should cover the reflected light wavelength range of the photographed object. At the same time, the bandwidth of the narrow-band filter 202 also needs to be selected according to actual needs. If the bandwidth is too small, such as 10 nm, the incident light intensity will be greatly reduced, and the picture brightness will be reduced. If the bandwidth is too large, such as 80 nm, the spectral resolution ability will be reduced; the drive motor 203 is connected to the wheel 201 and the synchronous central control platform 30, and is controlled by the synchronous central control platform 30 to drive the wheel 201 to rotate to the target position. The communication protocol for the synchronous control platform 30 to control the drive motor 203 is the RS232 serial communication protocol; the adapter 204 is used to connect the monochromatic imaging module 11 and the filter wheel 20. Among them, the second imaging lens 111 in the monochromatic imaging module 11 is located at the front end of the filter wheel 20, and the monochromatic CMOS image sensor 114 and the second image sensor drive circuit board 113 are located at the rear end of the filter wheel 20. That is, the front-to-back order is the second imaging lens 111, the filter wheel 20, the monochromatic CMOS image sensor 114, and the second image sensor drive circuit board 113; the housing 205 is used to provide mechanical support and protection for the filter wheel 20, and fix and protect the internal wheel 201, narrow-band filters 202, and drive motor 203.

[0169] Reference appendix Figure 4As shown in the figure, it is a schematic diagram of the synchronous central control platform 30 of a multi-spectral imaging underwater high-speed image sensor provided by the present invention, including a core processor 301, an FPC connector 302, a serial port connector 303, an RJ45 Ethernet connector 304, a DC power connector 305, a printed circuit board 306, and fixing screw holes 307. Among them, the core processor 301 is the "brain" of a multi-spectral imaging underwater high-speed image sensor provided by the present invention, which is used to control other components in the system according to a preset operation program and control commands sent by the host computer, and receive video image data from the color imaging module 10 and the monochrome imaging module 11, and after video compression and encoding, push the data to the host computer for display via Ethernet; the FPC connector 302 is a high-speed connector that can transmit data at several Gbit / s, and is electrically connected to the core processor 301, the color imaging module 10, and the monochrome imaging module 11 through an FPC flexible cable. The use of the FPC flexible cable and the FPC connector 302 makes the fixed installation of the device flexible; the serial port connector 303 is a simple low-speed connector, which is respectively used for electrically connecting and controlling the lighting system 40 and the filter wheel 20; the RJ45 Ethernet connector 304 is a commonly used high-speed connector, which can transmit data at a speed of 1 Gbit / s under a gigabit Ethernet network, and is used to connect the host computer software and a multi-spectral imaging underwater high-speed image sensor provided by the present invention; the DC power connector 305 is a commonly used power connector, which is used to couple the DC power into the synchronous central control platform 30; the printed circuit board 306 is a carrier for other components on the synchronous central control platform 30, which is used to provide fixation and electrical connection between different components. The core processor 301, the FPC connector 302, the serial port connector 303, the RJ45 Ethernet connector 304, and the DC power connector 305 are all fixed on the printed circuit board 306; fixing screw holes 307 are opened on the printed circuit board 306, which are used to fix the synchronous central control platform 30 inside the waterproof housing 60.

[0170] Refer to the appendix Figure 5As shown in the figure, it is a schematic structural diagram of an illumination system 40 of an underwater high-speed image sensor for multi-spectral imaging provided by the present invention, including a uniform surface light source 401 and a light source control box 402. Among them, the uniform surface light source 401 includes 8 independently controlled surface light sources. The structure of each surface light source from the outside to the inside is successively a light homogenizing plate, an LED lamp bead, a printed circuit board, a wire, and a housing. The light homogenizing plate is used to evenly disperse the light emitted by the LED lamp bead array in space. The LED lamp bead includes a white light LED lamp bead and an 850nm near-infrared LED lamp bead. The LED lamp bead is soldered on the printed circuit board. The wire is connected to the light source control box 402. The housing is used to provide protection and support for the light source. The wires of the 8 independently controlled uniform surface light sources 401 are gathered into the light source control box 402. The light source control box 402 is simultaneously connected to the synchronous central control platform 30 and is controlled by the synchronous central control platform 30 to drive the 8 uniform surface light sources 401 to work and adjust the light emission brightness of each uniform surface light source 401.

[0171] Refer to the appendix Figure 6 As shown in the figure, it is a schematic diagram of a support structure 50 of an underwater high-speed image sensor for multi-spectral imaging provided by the present invention, including a color imaging module support 501 and a filter wheel support 502. Among them, the color imaging module support 501 is made of 7075 aluminum alloy, with a black anodized surface treatment, and its shape is L-shaped. The short side of the color imaging module support 501 is fixed on the waterproof housing 60, and the long side is fixed to the color imaging module 10. The filter wheel support 502 is made of 7075 aluminum alloy, with a black anodized surface treatment, and its shape is flat. There are screw holes and slots on it. One end is fixed to the filter wheel 20 by a countersunk head screw, and the other end is fixed to the waterproof housing 60 by a flat head screw and a nut. The thickness and screw hole positions of the color imaging module support 501 and the filter wheel support 502 are determined according to the height positions of the color imaging module 10 and the monochrome imaging module 11, so that the color imaging module 10 and the monochrome imaging module 11 are finally located at the same height.

[0172] Refer to the appendix Figure 7As shown in the figure, it is a schematic diagram of the waterproof housing 60 of a multi-spectral imaging underwater high-speed image sensor provided by the present invention, including a light-transmitting window 601, a housing front cover 602, a sealing rubber ring 603, a sealing screw 604, a housing main body 605, a multi-beam waterproof flange interface 606, and a single-beam waterproof flange interface 607. The material of the light-transmitting window 601 is ultra-clear glass, which ensures high transmittance of all wavelengths of light within the wavelength range of interest. The light-transmitting window 601 is fixed on the housing front cover 602 through the sealing rubber ring 603 and waterproof glue; the material of the housing front cover 602 is 7075 aluminum alloy, and its surface is treated with black anodization. The surface of the housing front cover 602 is provided with a groove for installing the light-transmitting window 601, and counterbores for installing the sealing screws 604 are provided at the four corners; the sealing rubber ring 603 is tightened and clamped between the housing front cover 602 and the housing main body 605 by the sealing screws 604, playing a role in waterproof sealing; the sealing screw 604 is an M6 aluminum alloy screw, which is used to tighten and clamp the sealing rubber ring 603 between the housing front cover 602 and the housing main body 605; the material of the housing main body 605 is 7075 aluminum alloy, and its surface is treated with black anodization. It is the main housing of a multi-spectral imaging underwater high-speed image sensor provided by the present invention, providing long-term stable fixation and waterproof protection for the device; the multi-beam waterproof flange interface 606 is a special waterproof cable interface fixed on the upper side of the housing main body 605, with a diameter of 20 mm. An aviation interface and a waterproof hose are connected externally, and multiple wires can be accommodated internally; the single-beam waterproof flange interface 607 is a special waterproof cable interface fixed on the upper side of the housing main body 605, with a diameter of 8 mm, and can accommodate a single cable with waterproof performance itself.

[0173] Refer to the attached Figure 8 As shown in the figure, it is a schematic diagram of the working process of a multi-spectral imaging underwater high-speed image sensor provided by the present invention, specifically as follows:

[0174] S110) The synchronous central control platform 30 receives instructions from the upper computer and drives the lighting system 40, the color imaging module 10, the monochromatic imaging module 11, and the filter wheel 20 to start working;

[0175] S120) The color imaging module 10 and the monochromatic imaging module 11 transmit video images to the synchronous central control platform 30. The synchronous central control platform 30 performs computational processing on the video images and transmits them to the upper computer software after video compression encoding;

[0176] S130) The synchronous central control platform 30 calculates and issues new image sensor control instructions, filter wheel control instructions, and lighting system control instructions according to the received video image data;

[0177] S140) The synchronous central control platform 30 pushes the new video image data to the upper computer software and continuously calculates new instructions and transmits new video images.

[0178] The control of the synchronous central control platform 30 over the lighting system 40, the color imaging module 10, the monochrome imaging module 11, and the filter wheel 20 is a continuous loop process. In a multi-spectral imaging underwater high-speed image sensor provided by the present invention, every 1 second, the synchronous central control platform 30 captures and calculates the current video image, calculates the mean values of its color components and grayscale values, so as to confirm whether the current picture is too dark or too bright, and whether there is a color cast phenomenon. According to the calculation results, the synchronous central control platform 30 obtains a new control instruction and issues the instruction to each working module.

[0179] Reference appendix Figure 9 As shown, it is an underwater imaging effect diagram of a multi-spectral imaging underwater high-speed image sensor provided by the present invention, and the object being photographed is a black fish.

[0180] A multi-spectral imaging underwater high-speed image sensor and an imaging method provided by an embodiment of the present invention have the following characteristics:

[0181] (1) Through precise light source cycle control and relying on the synchronous central control platform, the imaging uniformity effect of over 90% is achieved. Specifically, since there are 8 evenly distributed surface light sources, the imaging picture is also divided into eight regions in the program, and each region corresponds to an evenly distributed surface light source. When a certain region of the imaging surface becomes darker, the evenly distributed surface light source corresponding to that region will be adjusted. The entire system relies on the seamless communication between the adaptive light source control box and the synchronous central control platform, and the two are connected through the RS232 interface. When the upper computer monitors that the brightness of a certain region of the picture is too dark, the synchronous central control platform will automatically issue an adjustment instruction to quickly increase the brightness of the light source in that region; on the contrary, when the upper computer monitors that the brightness of a certain region of the picture is too bright, the synchronous central control platform will automatically issue an adjustment instruction to indicate the light source in that region to reduce the brightness.

[0182] Through this real-time and precise feedback control mechanism, it can ensure that the brightness of the picture displayed on the upper computer always remains within the preset range, avoid the phenomenon of being too bright or too dark, and finally achieve a high-quality imaging effect, and the uniformity is always maintained above 90%. This intelligent control not only improves the stability of the system but also ensures the consistency and reliability of the imaging effect under different light conditions.

[0183] (2) A binocular camera system is adopted. The monochromatic imaging module is used to detect the infrared band, and the color imaging module is used to capture images in the visible light band. Through this combination of two bands, clear imaging can be achieved in different water quality environments. Under clear water conditions, the color imaging module provides high-resolution detailed images, ensuring clarity and color reproduction. In turbid water environments, the monochromatic imaging module, through its superior penetration ability, effectively reduces the interference of light scattering and reflection caused by turbid substances, thus ensuring a clear image. The two complement each other, enabling high-quality image data to be obtained in both clear water and turbid water environments. This system is widely applicable to underwater detection, environmental monitoring, and other complex underwater imaging requirements.

[0184] Note that the above is only the preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments only. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An imaging method for an underwater high-speed image sensor based on multispectral imaging, characterized in that, Including the following steps: S110, the underwater high-speed image sensor for multi-spectral imaging is fixedly installed at the underwater target position; when the synchronous central control platform (30) receives an image acquisition instruction from the upper computer, S111 is executed; S111, the synchronous central control platform (30) controls the lighting system (40) and the filter wheel (20) according to the initial filter wheel control parameters and the lighting system control parameters; Specifically, control the luminous brightness and luminous color of each surface light source of the lighting system (40) to achieve lighting of the underwater image acquisition area; control the driving motor (203) of the filter wheel (20) to rotate, so that the specified narrow-band filter (202) rotates to the working position to achieve adjustment of the imaging band; S113, under the underwater light of the lighting system (40), the color imaging module (10) acquires a color image of the water body and sends it to the synchronous central control platform (30); The monochromatic imaging module (11) cooperates with the narrow-band filter (202) located at the working position to simultaneously acquire a black-and-white image of the water body and send it to the synchronous central control platform (30); S114, the synchronous central control platform (30) receives the color image and the black-and-white image simultaneously acquired of the water body. On the one hand, analyze the acquired color image and the black-and-white image, and then perform video compression encoding and send it to the upper computer in real time; on the other hand, the synchronous central control platform (30) analyzes the imaging quality of the color image and the black-and-white image, and obtains new filter wheel control parameters and lighting system control parameters for improving the imaging quality; The synchronous central control platform (30) returns to S111 according to the new filter wheel control parameters and lighting system control parameters, and performs real-time adjustment control on the lighting system (40) and the filter wheel (20); continuously cycle like this to achieve high-quality image acquisition of the underwater environment.

2. The imaging method of an underwater high-speed image sensor based on multispectral imaging according to claim 1, characterized in that, Analyzing the acquired color image and the black-and-white image specifically includes: ① Using a calibration algorithm, respectively calibrate the color image and the black-and-white image to obtain a calibrated color image and a calibrated black-and-white image; ② Using a color adjustment algorithm, perform color adjustment on the calibrated color image to obtain a color-adjusted color image; ③ Fuse the calibrated black-and-white image and the color-adjusted color image to obtain a fused image.

3. The imaging method of an underwater high-speed image sensor based on multispectral imaging according to claim 2, wherein Using a calibration algorithm to respectively calibrate the color image and the black-and-white image specifically includes: A1, determine the brightness calibration coefficient γ according to the overall brightness of the image; where if the overall image is too dark, then select γ < 1 for increasing the brightness; otherwise, select γ > 1 for reducing the brightness; A2, for each pixel in the image, its original pixel value is I; using formula (1), map the original pixel value I to [0, 1] to obtain the pixel value I in ; A3. Using formula (2), correct the pixel value I in to obtain the corrected pixel value I out : A4, map the corrected pixel value I out back to [0, 255] to obtain the finally corrected pixel value I': I′ = I out ·255 (3) Using a color adjustment algorithm to perform color adjustment on the calibrated color image to obtain a color-adjusted color image specifically includes: B1, for the calibrated color image, the total number of pixels in the image is N; it has a red channel R, a green channel G, and a blue channel B, and use formula (4) to obtain the pixel mean value of each channel: Where: R i , G i and B i respectively represent the pixel components of pixel i in the red channel R, green channel G, and blue channel B; and respectively represent the pixel means of the red channel R, the green channel G, and the blue channel B; B2. Using formula (5), the gain coefficients of each channel are obtained: where: k R , k G and k B represent the gain coefficients of the red channel R, green channel G, and blue channel B, respectively; B3. Using formula (6), based on the gain coefficients of each channel, the RGB values of each pixel i are adjusted: R i ′ = k R ·R i G i ′ = k G ·G i B i ′ = k B ·B i (6) Thus, the color-adjusted color image is obtained.

4. An underwater high-speed image sensor for multispectral imaging, characterized in that, An imaging method of an underwater high-speed image sensor based on multispectral imaging according to any one of claims 1-3, comprising an underwater high-speed image sensor body and an illumination system (40); wherein, the underwater high-speed image sensor body includes a color imaging module (10), a monochromatic imaging module (11), a filter wheel (20), a synchronous central control platform (30), a support structure (50), and a waterproof housing (60); Inside the waterproof housing (60), the color imaging module (10) and the filter wheel (20) are installed through the support structure (50), and the monochromatic imaging module (11) is coaxially installed on the front and rear sides of the filter wheel (20); the color imaging module (10) and the monochromatic imaging module (11) are arranged in parallel at the same height and close to each other; The illumination system (40) is arranged on the upper and lower sides of the image acquisition ends of the color imaging module (10) and the monochromatic imaging module (11); The color imaging module (10), the monochromatic imaging module (11), the filter wheel (20), and the illumination system (40) are all connected to the synchronous central control platform (30).

5. The underwater high-speed image sensor for multispectral imaging according to claim 4, wherein The color imaging module (10) includes a first imaging lens (101), a first lens fixed adapter (102), a first image sensor drive circuit board (103), and a color CMOS image sensor (104); The first lens fixed adapter (102) is coaxially and fixedly installed at the rear end of the first imaging lens (101), and the color CMOS image sensor (104) is fixedly installed inside the first lens fixed adapter (102); the first image sensor drive circuit board (103) is fixedly installed at the rear end of the first lens fixed adapter (102); The monochromatic imaging module (11) includes a second imaging lens (111), a second lens fixed adapter (112), a second image sensor drive circuit board (113), and a monochromatic CMOS image sensor (114); The second lens fixed adapter (112) is coaxially arranged at the rear end of the second imaging lens (111); the monochromatic CMOS image sensor (114) is fixedly installed inside the second lens fixed adapter (112); the second image sensor drive circuit board (113) is fixedly installed at the rear end of the second lens fixed adapter (112); The first image sensor drive circuit board (103) and the second image sensor drive circuit board (113) are both connected to the synchronous central control platform (30).

6. The underwater high-speed image sensor for multispectral imaging according to claim 5, wherein, The filter wheel (20) includes a wheel (201), narrow-band filters (202), a drive motor (203), an adapter (204), and a housing (205); The outer shell (205) is fixed to the support structure (50); the runner (201) is rotatably installed inside the outer shell (205), and the runner (201) rotates in a vertical plane under the drive of the drive motor (203); the drive motor (203) is connected to the synchronous central control platform (30); A plurality of slots are evenly formed in the circumferential direction of the runner (201), and the narrowband filter (202) is installed in each slot, and the wavelengths of light allowed to pass through by the narrowband filters (202) installed in each slot are the same or different; A light-transmitting through hole is formed in the outer shell (205) in the rotation path of the narrowband filter (202); the adapter (204) is assembled and installed on the front side of the light-transmitting through hole, and the adapter (204) has a through hole communicating with the light-transmitting through hole; the second imaging lens (111) is assembled and installed on the front side of the adapter (204); the second lens fixing adapter (112) is assembled and installed on the rear side of the outer shell (205), and the monochromatic CMOS image sensor (114) is installed inside the second lens fixing adapter (112); and when a certain narrowband filter (202) rotates to the position of the light-transmitting through hole, the narrowband filter (202) is located in the imaging path formed between the second imaging lens (111) and the monochromatic CMOS image sensor (114).

7. The underwater high-speed image sensor for multispectral imaging according to claim 6, wherein The lighting system (40) includes a uniform surface light source (401) and a light source control box (402); The uniform surface light source (401) includes 8 independently controlled surface light sources, and each surface light source is dispersedly installed on both sides of the color imaging module (10) and the monochromatic imaging module (11); The structure of each surface light source from the outside to the inside is a light homogenizing plate, an LED lamp bead array and a printed circuit board in sequence; the light homogenizing plate is used for spatially diffusing and homogenizing the light emitted by the LED lamp bead array; the LED lamp bead array includes white light LED lamp beads and 850 nm near-infrared LED lamp beads, and each LED lamp bead is welded on the printed circuit board, and the printed circuit board is connected to the light source control box (402); the light source control box (402) is connected to the synchronous central control platform (30), and is controlled by the synchronous central control platform (30) to drive each LED lamp bead of each surface light source to work, and adjust the light emission brightness and color of each surface light source.

8. The underwater high-speed image sensor for multispectral imaging according to claim 7, characterized in that, The synchronous central control platform (30) includes a core processor (301), an FPC connector (302), a serial port connector (303), an RJ45 Ethernet connector (304), a DC power connector (305), a printed circuit board (306) and a fixing screw hole (307); The printed circuit board (306) is fixed inside the waterproof housing (60) through the fixing screw holes (307); the central processing unit (301), the FPC connector (302), the serial port connector (303), the RJ45 Ethernet connector (304) and the DC power connector (305) are arranged on the surface of the printed circuit board (306); The central processing unit (301) is respectively connected to the FPC connector (302), the serial port connector (303), the RJ45 Ethernet connector (304) and the DC power connector (305); The FPC connector (302) is used to be respectively connected to the first image sensor driving circuit board (103) of the color imaging module (10) and the second image sensor driving circuit board (113) of the monochrome imaging module (11); The serial port connector (303) is used to be respectively connected to the light source control box (402) of the lighting system (40) and the driving motor (203) of the filter wheel (20); The RJ45 Ethernet connector (304) is used to connect to a host computer and communicate with the host computer; The DC power connector (305) is used to supply power to the printed circuit board (306).

9. The underwater high-speed image sensor for multispectral imaging according to claim 4, wherein, The support structure (50) includes a color imaging module support (501) and a filter wheel support (502); the color imaging module support (501) is used to support and install the color imaging module (10); the filter wheel support (502) is used to support and install the monochrome imaging module (11).

10. A high-speed underwater image sensor for multispectral imaging according to claim 4, characterized in that The waterproof housing (60) includes a light-transmitting window (601), a housing front cover (602), a housing main body (605), a multi-beam waterproof flange interface (606) and a single-beam waterproof flange interface (607); The housing front cover (602) is hermetically installed on the front side of the housing main body (605); the housing front cover (602) hermetically installs the light-transmitting window (601), and the light-transmitting window (601) is located directly in front of the color imaging module (10) and the monochrome imaging module (11); the multi-beam waterproof flange interface (606) and the single-beam waterproof flange interface (607) for accommodating the passage of cables are installed on the side of the housing main body (605).

Images