Imaging device for in-situ biological monitoring underwater and imaging control method

Abstract

The application discloses an imaging device for in-situ biological monitoring under water and an imaging control method, wherein the imaging device comprises: a sealed machine shell with a light-transmitting window at the front end; a lens module carried in the sealed machine shell, the lens module comprising: a wide-angle lens for wide-range imaging to locate a target area to be monitored, and a microscopic objective lens for microscopic imaging of the target area, the microscopic objective lens being connected with an electronic adjustable lens, the electronic adjustable lens being used to obtain images of multiple different focal planes by adjusting diopter parameters; a relay lens group used to transfer and correct image quality of images collected by the lens module; a lens switching mechanism used to drive the lens module to rotate to realize lens switching; and a camera module used to collect image information and transmit the image information to an upper system. The application realizes in-situ, real-time and long-term microscopic observation under water, and thus can obtain continuous and reliable observation data.

Description

Technical Field

[0001] This invention relates to the field of underwater biological monitoring technology, and in particular to an imaging device and imaging control method for underwater in-situ biological monitoring. Background Technology

[0002] As human research into the ocean deepens, people have begun to focus on micron-scale biological activities occurring in marine ecosystems such as algae, seagrass beds, and coral reefs, in order to study their impact on the health of marine ecosystems and long-term dynamic evolution processes, such as coral bleaching, coral polyp growth, and substrate structure. Therefore, microscopic imaging technology has broad application needs in underwater environments.

[0003] Currently, underwater biological monitoring mainly relies on laboratory sampling followed by observation using optical or fluorescence microscopes. However, the laboratory environment cannot fully simulate the dynamic and complex underwater environment with varying physicochemical parameters, making it difficult to accurately reflect biological physiological activities and ecological behaviors. Furthermore, the transportation process may cause biological damage, disrupt ecological integrity, and affect the accuracy of monitoring results. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention aims to provide an imaging device and imaging control method for underwater in-situ biological monitoring, which can realize rapid positioning in the underwater environment and then conduct detailed observation, thus meeting the needs of long-term recording of underwater biological behavior.

[0005] The objective of this invention is achieved through the following technical solution: According to a first aspect of the present disclosure, an imaging device for underwater in-situ biological monitoring is provided, comprising: A sealed housing with a light-transmitting window at the front; The lens module, housed within the sealed housing, includes: a wide-angle lens for large-area imaging to locate the target area to be monitored, and a microscope objective for microscopic imaging of the target area. The microscope objective is connected to an electronically adjustable lens, which obtains images of multiple different focal planes by adjusting the diopter parameter. The relay lens assembly, housed within the sealed housing, is used to transmit and correct the image quality of the images acquired by the lens module. A lens switching mechanism connected to the lens module is used to drive the lens module to rotate so that the wide-angle lens and the microscope objective are respectively switched to be in contact with the relay lens group; and, The camera module connected to the relay lens group is used to acquire image information transmitted from the relay lens group and transmit it to the host system.

[0006] To implement the above technical solution for underwater biological monitoring, the imaging device is first transported to the corresponding water area. Initially, the wide-angle lens, relay lens group, and camera module are aligned on the same axis. Imaging is first achieved through the wide-angle lens. Due to its large field of view, the wide-angle lens can achieve large-area imaging. The light rays after imaging through the wide-angle lens propagate along the optical axis into the relay lens group for transmission and image quality correction. Finally, the image information is transmitted to the camera module for acquisition and sent to the upper-level system. At this point, the upper-level system can determine whether the target area to be monitored exists in the current water area, achieving rapid large-area search and positioning. When the target area to be monitored is determined to exist, the lens assembly is controlled by the lens switching mechanism to align the microscope objective with the relay lens group. At this time, the microscope objective, relay lens group, and camera module are aligned on the same axis. Imaging is then performed through the microscope objective. The microscope performs high-resolution microscopic imaging of the target area to obtain two-dimensional image information with micron-level spatial resolution. After imaging by the microscope objective, light propagates along the optical axis and enters an electronically adjustable lens. The electronically adjustable lens continuously adjusts the refractive power parameter, causing the focal plane of the imaging system to move dynamically along the optical axis. Without moving the microscope objective and imaging device, it can quickly scan different imaging depth positions, thereby obtaining images of multiple different focal planes. The light modulated by the electronically adjustable lens then enters the relay lens group to perform optical transmission image quality correction on the images of different focal planes, so that each focal plane image is accurately imaged onto the photosensitive surface of the camera module. Finally, the camera module collects and transmits the data to the host system, thereby achieving fine imaging of the target area. This enables in-situ, real-time, and long-term microscopic observation in an underwater environment, and thus obtains continuous and reliable observation data.

[0007] In some exemplary embodiments, a mounting plate is provided inside the sealed housing, the rear end of the relay lens assembly is fixed to the mounting plate, a support plate is fixed to the front end of the relay lens assembly, the wide-angle lens and the microscope objective are fixed to a loading plate, and the lens switching mechanism is disposed between the loading plate and the support plate.

[0008] To achieve the above technical solution, the relay lens group is installed and fixed through the mounting plate, and the support plate and loading plate provide installation space for the lens module and lens switching mechanism, which facilitates the switching control of the lens module.

[0009] In some exemplary embodiments, the loading plate is slidably mounted on the support plate, and the lens switching mechanism drives the loading plate to slide so as to drive the wide-angle lens and the microscope objective to complete the switching action.

[0010] The above technical solution simplifies the structure of the sliding switching method.

[0011] In some exemplary embodiments, the support plate is provided with a first detection sensor and a second detection sensor, and the loading plate is provided with a first identification element and a second identification element. When the first detection sensor detects the first identification element, the wide-angle lens is connected to the relay lens group. When the second detection sensor detects the second identification element, the microscope objective is connected to the relay lens group.

[0012] The above technical solution enables precise position detection of the microscope objective of the wide-angle lens, improving the accuracy of lens switching.

[0013] According to a second aspect of the present disclosure, an imaging control method for an imaging device for underwater in-situ biological monitoring as described in the first aspect is provided, comprising: The wide-angle lens can image a large area of ​​the predetermined underwater region to search for and locate the target area to be monitored. The lens switching component controls the movement of the lens module to switch the microscope objective to be aligned with the relay lens group; Microscopic objectives are used to perform microscopic imaging of the target area to obtain two-dimensional image information with micron-level spatial resolution; The diopter parameters of the electronically adjustable lens are continuously adjusted according to preset adjustment parameters to make the imaging focal plane move dynamically along the optical axis, and image information of multiple focal planes are obtained by scanning different imaging depth positions. During the continuous focusing process of the electronically adjustable lens, the camera module acquires image information at a preset frame rate that matches the preset adjustment parameters to form an image stack arranged along the imaging depth direction; An image fusion algorithm is used to synthesize the image stack to obtain a clear two-dimensional image, and a three-dimensional model reflecting the underwater environment is constructed by combining the imaging depth information.

[0014] In some exemplary embodiments, when the wide-angle lens performs large-scale imaging of a predetermined underwater area, the relay lens group performs magnification matching and image quality correction on the image plane before transmitting the image to the camera module to complete image acquisition.

[0015] In some exemplary embodiments, the step of using an image fusion algorithm to synthesize the image stack to obtain a clear two-dimensional image specifically includes: Define each frame in the image stack as... Where I is the image stack, I1~I N For each frame of the image; Gaussian filtering is applied to each frame of the image to obtain the blur stack I. B And calculate the unsharpened mask stack based on the fuzzy stack. ; After Gaussian filtering to reduce noise in the unsharpened mask stack, the sharpness map is obtained by taking the maximum value along the imaging depth direction. and layer index depth map ; An optimized depth map is obtained by performing adaptive smoothing based on the resolution map. ; Based on the optimized depth map, sharp pixels are extracted from the unsharpened mask stack to synthesize a fully sharp image I. f .

[0016] In some exemplary embodiments, an unsharpened mask stack is calculated based on the fuzzy stack. At that time, according to the formula Perform the calculation.

[0017] In some exemplary embodiments, the adaptive smoothing process based on the sharpness map is used to obtain an optimized depth map. Specifically, it includes: Reverse the brightness and darkness relationships of the sharpness map and perform normalization processing to obtain a normalized image. ,in, ; Specific features are enhanced or extracted from the normalized image to generate a mask, wherein, K represents the maximum blur kernel size; Gaussian blurring is applied to the layer index depth map based on the mask to obtain a smoothed optimized depth map. ,in, .

[0018] In some exemplary embodiments, the construction of a three-dimensional model reflecting the underwater environment by combining imaging depth information specifically involves: Obtain the layer index depth map containing imaging depth information in the unsharpened mask stack. And combined with full-resolution image I f Perform 3D coordinate transformation to construct a 3D model that reflects the underwater environment.

[0019] In summary, compared with the prior art, the present invention has the following beneficial effects: This invention provides an imaging device and imaging control method for underwater in-situ biological monitoring. When monitoring underwater organisms, the imaging device is first transported to the corresponding water area. Initially, the wide-angle lens, relay lens group, and camera module are located on the same axis. Imaging is first performed through the wide-angle lens. Due to its large field of view, the wide-angle lens can achieve large-area imaging. The light rays after imaging through the wide-angle lens propagate along the optical axis and enter the relay lens group for transmission and image quality correction. Finally, the image information is transmitted to the camera module for acquisition and sent to the upper system. At this point, the upper system can determine whether the target area to be monitored exists in the current water area, achieving rapid large-area search and positioning. When the target area to be monitored is determined to exist, the lens assembly is controlled by a lens switching mechanism to align the microscope objective with the relay lens group. At this time, the microscope objective, relay lens group, and camera module... Located on the same axis, high-resolution microscopic imaging of the target area is achieved through a microscope objective to obtain two-dimensional image information with micron-level spatial resolution. After imaging by the microscope objective, light propagates along the optical axis and enters an electronically adjustable lens. The electronically adjustable lens continuously adjusts the refractive power parameter, causing the focal plane of the imaging system to move dynamically along the optical axis. Without moving the microscope objective and imaging device, rapid scanning at different imaging depths is achieved, thereby obtaining images of multiple different focal planes. The light modulated by the electronically adjustable lens then enters the relay lens group to perform optical transmission image quality correction on the images of different focal planes, ensuring that each focal plane image is accurately imaged onto the photosensitive surface of the camera module. Finally, the camera module collects and transmits the data to the host system, thus achieving fine imaging of the target area. This enables in-situ, real-time, and long-term microscopic observation in an underwater environment, thereby obtaining continuous and reliable observation data. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the underwater in-situ biological monitoring imaging device in an embodiment of the present invention.

[0021] Figure 2 This is a cross-sectional view of the underwater in-situ biological monitoring imaging device in an embodiment of the present invention.

[0022] Figure 3 This is an exploded view of the lens module and relay lens group in an embodiment of the present invention.

[0023] Figure 4 This is an exploded view of the lens module and relay lens group from another perspective in an embodiment of the present invention.

[0024] Figure 5 This is a flowchart of the imaging control method in an embodiment of the present invention.

[0025] The numbers and letters in the diagram represent the names of the corresponding components: 10. Sealed housing; 11. Light-transmitting window; 12. Mounting plate; 13. Rear cover; 14. Sealing ring; 20. Lens module; 21. Wide-angle lens; 22. Microscope objective; 23. Electronically adjustable lens; 24. Loading plate; 25. First identification element; 26. Second identification element; 30. Relay lens group; 31. Support plate; 32. First detection sensor; 33. Second detection sensor; 40. Camera module. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] like Figures 1 to 4 As shown, the first aspect of this invention provides an underwater in-situ biological monitoring imaging device, comprising: a sealed housing with a light-transmitting window at the front end; a lens module housed within the sealed housing, the lens module including: a wide-angle lens for large-area imaging to locate the target area to be monitored, and a microscope objective for microscopic imaging of the target area, the microscope objective being connected to an electronically adjustable lens, the electronically adjustable lens obtaining images of multiple different focal planes by adjusting the diopter parameter; a relay lens group housed within the sealed housing for transmitting and image quality correction of the images acquired by the lens module; a lens switching mechanism (not shown in the figure) connected to the lens module for driving the lens module to rotate so that the wide-angle lens and the microscope objective are respectively switched to be in contact with the relay lens group; and a camera module connected to the relay lens group for acquiring image information transmitted from the relay lens group and transmitting it to a host system.

[0028] Specifically, the sealed housing has an overall cylindrical structure. The light-transmitting window is preferably made of pressure-resistant optical glass, which is clipped and fixed to the front end of the sealed housing and can be glued in place with sealant. For easy installation, a mounting plate is provided inside the sealed housing. The rear end of the relay lens assembly is fixed to the mounting plate. The mounting plate can be fixed to the integrally formed fixing ring on the inner wall of the sealed housing by means of screws or other methods. A rear cover is also sealed and fixed to the rear end of the sealed housing. The rear cover can be fixed to the sealed housing by means of threaded connection, sealing snap-fit, etc. A sealing ring is also provided between the rear cover and the mounting plate. After the rear cover is fixed to the sealed housing, the sealing ring is pressed and fixed to the mounting plate, thereby effectively improving the sealing performance between the two. The camera module can be connected to the onshore upper system through a submarine cable. The submarine cable can pass through the rear cover into the mounting housing and be sealed and fixed with sealant.

[0029] The wide-angle lens employs a large field of view for imaging a wide range of environments. The microscope objective uses a lens with a long working distance for high-resolution microscopic imaging of the target area. The relay lens group is used for optical transmission, magnification matching of the image plane, and image quality correction. An electronically adjustable lens (ETL) is an optical element that can rapidly and mechanically change its focal length or optical focus through electrical signal control. In this embodiment, the electronically adjustable lens can be a liquid polymer lens, liquid crystal lens, etc., which can control the continuous change of refractive power through electrical signals (current or voltage signals), thereby achieving rapid, continuous, and wide-range dynamic adjustment of the underwater microscopic imaging working distance, overcoming the limitations of fixed working distance and low focusing efficiency in traditional underwater microscopes.

[0030] A support plate is fixed to the front end of the relay lens assembly. The wide-angle lens and the microscope objective are fixed to a mounting plate. The lens switching mechanism is located between the mounting plate and the support plate. It can be understood that the mounting plate, the support plate, and the mounting plate are all provided with light-transmitting ports to allow light to pass through, so that the image can be smoothly transmitted to the camera module. The mounting plate realizes the installation and fixation of the relay lens assembly. The support plate and the mounting plate provide installation space for the lens module and the lens switching mechanism, which facilitates the switching control of the lens module. In some embodiments, the support plate can be a PCB board, on which a control chip and control circuit are configured to realize the power supply and control of the lens switching device.

[0031] In this embodiment, the loading plate and the support plate are slidably connected by a matching slide rail and slider. The lens switching mechanism drives the loading plate to slide so as to drive the wide-angle lens and the microscope objective to complete the switching action. The lens switching device can be, for example, a small electric cylinder, which can be fixed on the support plate and the driving end is connected to the loading plate. The reciprocating movement of the loading plate can be realized during the extension and retraction of the small electric cylinder, and the sliding switching method has a simpler structure.

[0032] Furthermore, the support plate is equipped with a first detection sensor and a second detection sensor, and the loading plate is equipped with a first identification element and a second identification element. When the first detection sensor detects the first identification element, the wide-angle lens is aligned with the relay lens group; when the second detection sensor detects the second identification element, the microscope objective is aligned with the relay lens group. Both the first and second detection sensors can be photoelectric sensors. When the first identification element moves to block the first detection sensor, it indicates that the wide-angle lens is aligned with the relay lens group; when the second identification element moves to block the second detection sensor, it indicates that the microscope objective is aligned with the relay lens group. This achieves precise position detection of the microscope objective of the wide-angle lens and improves the lens switching accuracy.

[0033] In other embodiments, the loading plate may also be configured to be rotatably connected to the support plate, and the lens switching mechanism can switch between the wide-angle lens and the microscope objective by driving the loading plate to rotate or flip.

[0034] When conducting underwater biological monitoring, the imaging device is first transported to the corresponding water area. Initially, the wide-angle lens, relay lens group, and camera module are aligned on the same axis. Imaging is first achieved through the wide-angle lens. Due to its large field of view, the wide-angle lens enables large-area imaging. The light rays after imaging through the wide-angle lens propagate along the optical axis into the relay lens group for transmission and image quality correction. Finally, the image information is transmitted to the camera module for acquisition and sent to the host system. The host system can then determine whether the target area exists in the current water area, enabling rapid, large-area search and location. When the target area is determined to exist, the lens switching mechanism controls the lens assembly to align with the microscope objective and the relay lens group. At this point, the microscope objective, relay lens group, and camera module are aligned on the same axis. The microscope objective is then used to image the target area. High-resolution microscopic imaging is performed in the field to obtain two-dimensional image information with micron-level spatial resolution. After imaging by the microscope objective, light propagates along the optical axis and enters an electronically adjustable lens. The electronically adjustable lens continuously adjusts the diopter parameter, causing the focal plane of the imaging system to move dynamically along the optical axis. Without moving the microscope objective and imaging device, rapid scanning of different imaging depth positions is achieved, thereby obtaining images of multiple different focal planes. The light modulated by the electronically adjustable lens then enters the relay lens group for optical transmission and image quality correction of different focal plane images, so that each focal plane image is accurately imaged onto the photosensitive surface of the camera module. Finally, the camera module collects and transmits the data to the host system, thereby achieving fine imaging of the target area. This enables in-situ, real-time, and long-term microscopic observation in the underwater environment, and thus obtains continuous and reliable observation data.

[0035] A second aspect of the present invention provides an imaging control method for an underwater in-situ biological monitoring imaging device as described in the first aspect, comprising: The S100, with its wide-angle lens, performs large-scale imaging of a predetermined underwater area to search for and locate the target area to be monitored.

[0036] During the monitoring process, depending on the depth of the water area, the imaging device can be transported by underwater transport equipment or by a floating platform equipped with a lifting mechanism on the water surface, which controls the imaging device to enter the corresponding water area. Understandably, before imaging, the imaging device must first be transported to the designated water area. Wide-angle lenses, due to their large field of view, can achieve wide-area imaging. When the wide-angle lens is performing wide-area imaging, the relay lens group performs magnification matching and image quality correction on the image plane before transmitting the image to the camera module to complete image acquisition. After processing by the relay lens group, the image becomes clearer. The acquired images can be compared and processed in the upper system to determine whether there is a target area to be monitored, or they can be manually screened and located.

[0037] S200, the lens switching component controls the movement of the lens module to switch the microscope objective to be aligned with the relay lens group. Typically, after determining that the target area has been located, the host system sends a switching signal. The lens switching component responds to the switching signal and controls the movement of the lens module to switch the microscope objective to the wide-angle lens, so that the microscope objective is aligned with the relay lens group for microscopic imaging. In this embodiment, the switching between the microscope group and the wide-angle lens group is achieved by controlling the sliding of the lens module through the lens switching component.

[0038] The S300 microscope objective performs microscopic imaging of the target area to obtain two-dimensional image information with micron-level spatial resolution. During the formation of the microscope objective, optical transmission and image quality correction are performed through a relay lens group.

[0039] S400: Continuously adjust the diopter parameters of the electronically adjustable lens according to the preset adjustment parameters so that the imaging focal plane moves dynamically along the optical axis and scans different imaging depth positions to obtain image information of multiple different focal planes.

[0040] Taking an electronically adjustable lens using a liquid polymer lens as an example, the electronically adjustable lens controls the continuous change of the refractive power parameter through an electrical signal. When the refractive power parameter changes, it changes the pressure of the optical liquid in its sealed cavity, causing the curvature of the elastic polymer film to change, thereby changing the optical focal position of the electronically adjustable lens and forming different imaging focal planes. During the continuous change, the focal plane moves dynamically along the optical axis. During the movement of the focal plane, different depth positions can be scanned and imaged to obtain image information from multiple different focal planes.

[0041] During continuous focusing of the electronically adjustable lens, the camera module acquires image information at a preset frame rate that matches the preset adjustment parameters, forming an image stack arranged along the imaging depth direction. In order to adapt to the focal plane changes of the electronically adjustable lens, the preset frame rate of the camera module is configured according to the preset adjustment parameters for adjusting the diopter parameters of the electronically adjustable lens, so that a set of images can be acquired after each focal plane change. After acquiring images of all focal planes, an image stack arranged along the imaging depth direction can be formed, which can serve as the basis for subsequent image processing.

[0042] The S600 uses an image fusion algorithm to synthesize the image stack to obtain a clear two-dimensional image, and combines the imaging depth information to construct a three-dimensional model reflecting the underwater environment.

[0043] Specifically, the image fusion algorithm is used to synthesize the image stack to obtain a clear two-dimensional image, including: S601, Define each frame image in the image stack as... Where I is the image stack, I1~I N For each frame of an image, it can be understood that this image stack contains all images after the focal plane changes.

[0044] S602. Perform Gaussian filtering on each frame of the image to obtain the blur stack I. B And calculate the unsharpened mask stack based on the fuzzy stack. Among them, the unsharpened mask stack is calculated based on the fuzzy stack. At that time, according to the formula Perform the calculation.

[0045] Gaussian filtering utilizes a convolution kernel conforming to a Gaussian (normal) distribution to perform a weighted average on each pixel and its neighborhood in each frame of the image. The core of this process lies in the weight allocation: neighboring pixels closer to the center pixel receive higher weights, while those farther away receive lower weights. Weighted averaging effectively smooths the image, suppressing noise and details while preserving the overall image contour better than mean filtering.

[0046] S603. After Gaussian filtering to reduce noise in the unsharpened mask stack, the maximum value along the imaging depth direction is taken to obtain the sharpness map. and layer index depth map .

[0047] In obtaining the sharpness map, sharpness evaluation functions such as grayscale variance, Laplacian gradient, and Tenengrad function can usually be used to compare sharpness. Finally, the index of the image with the highest sharpness can be found, which determines which focal plane each pixel is sharpest on, thus obtaining the sharpness map. The layer index depth map records which focal plane each pixel is sharpest on, and it contains three-dimensional spatial information.

[0048] S604. Adaptive smoothing is performed based on the sharpness map to obtain an optimized depth map. .

[0049] Specifically, S604 includes: S6041. Reverse the brightness and darkness relationships of the sharpness map and perform normalization processing to obtain a normalized image. ,in, .

[0050] It refers to the maximum pixel intensity in the entire image. The processing step is used to invert the image, which means subtracting the value of each pixel from the value of the brightest pixel in the image, thereby making the bright areas of the image darker and the dark areas brighter, generating an image with a negative effect. Normalization is then performed on the inverted result, with the aim of adjusting the processed data to a specific, comparable range.

[0051] S6042. Enhance or extract specific features from the normalized image to generate a mask, wherein, K represents the maximum blur kernel size.

[0052] The inversion process makes dark and inconspicuous areas in the original image brighter and thus stand out. K is usually a filter or convolution kernel, which is represented as a matrix (such as 3x3, 5x5). The specific value determines which features to extract or enhance from the image, such as edges, lines, specific textures, etc. This step can effectively detect dark but specific features in the original image.

[0053] S6043. Apply Gaussian blur to the layer index depth map based on a mask to obtain a smoothed optimized depth map. ,in, .

[0054] The principle behind Gaussian blur processing is that the new value of each pixel in the image is determined by a weighted average of its own value and the values ​​of its neighboring pixels. Pixels closer to the center point have a higher weight, while those farther away have a lower weight. This weight distribution conforms to a Gaussian distribution (normal distribution) in statistics. This allows Gaussian blur to effectively smooth images and suppress noise while preserving the overall contours of the image better than simple mean filtering. By applying Gaussian blur to the layer index depth map using a mask, a new, smoothed output image is obtained.

[0055] S605. Extract sharp pixels from the unsharpened mask stack based on the optimized depth map to synthesize a fully sharp image I. f Specifically, by optimizing the depth map, it can indicate which focal plane each pixel is sharpest on. Based on the index of the optimized depth map, it iterates through the coordinates of each pixel, retrieves the pixel value from the corresponding sharpest image, and assigns it to the fully sharp image I. f The synthesis process can then be completed.

[0056] The specific steps for constructing a 3D model reflecting the underwater environment by combining imaging depth information are as follows: S606. Obtain the layer index depth map containing imaging depth information in the unsharpened mask stack. And combined with full-resolution image I f A 3D coordinate transformation is performed to construct a 3D model reflecting the underwater environment. The core of this method is to utilize full-resolution images (I...). f It provides rich surface texture and color information, while relying on layer index depth maps. It provides spatial depth information for each pixel, thereby enabling 3D coordinate transformation and reconstruction of the 3D model.

[0057] Each pixel value in the layer indexed depth map represents the distance of that point from the camera in 3D space, while the full-resolution image I... f This provides the visual appearance of the corresponding location; through the camera model, the (x, y) coordinates and depth value Z of each pixel in the depth map can be converted into coordinates (X, Y, Z) in three-dimensional space, and then a three-dimensional model can be constructed based on the three-dimensional coordinates.

[0058] This invention first uses a wide-angle lens for imaging to achieve rapid, large-scale search and positioning, and then uses a microscope objective for microscopic imaging to achieve fine imaging of the target area. This enables in-situ, real-time, and long-term microscopic observation in the underwater environment, thereby obtaining continuous and reliable observation data. At the same time, by acquiring image stacks from different focal planes and performing multi-focal fusion and depth reconstruction, it generates fully clear two-dimensional images with micron-level resolution and high-precision three-dimensional models, significantly improving the amount of information in underwater microscopic observation.

[0059] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. An imaging device for underwater in-situ biological monitoring, characterized in that, include: A sealed housing with a light-transmitting window at the front; The lens module, housed within the sealed housing, includes: a wide-angle lens for large-area imaging to locate the target area to be monitored, and a microscope objective for microscopic imaging of the target area. The microscope objective is connected to an electronically adjustable lens, which obtains images of multiple different focal planes by adjusting the diopter parameter. The relay lens assembly, housed within the sealed housing, is used to transmit and correct the image quality of the images acquired by the lens module. A lens switching mechanism connected to the lens module is used to drive the lens module to rotate so that the wide-angle lens and the microscope objective are respectively switched to be in contact with the relay lens group; and, The camera module connected to the relay lens group is used to acquire image information transmitted from the relay lens group and transmit it to the host system.

2. The underwater in-situ biological monitoring imaging device according to claim 1, characterized in that, The sealed housing is provided with a mounting plate. The rear end of the relay lens group is fixed to the mounting plate, and the front end of the relay lens group is fixed with a support plate. The wide-angle lens and the microscope objective are fixed to a loading plate, and the lens switching mechanism is disposed between the loading plate and the support plate.

3. The underwater in-situ biological monitoring imaging device according to claim 2, characterized in that, The loading plate is slidably mounted on the support plate, and the lens switching mechanism drives the loading plate to slide so as to enable the wide-angle lens and the microscope objective to complete the switching action.

4. The underwater in-situ biological monitoring imaging device according to claim 3, characterized in that, The support plate is provided with a first detection sensor and a second detection sensor, and the loading plate is provided with a first identification element and a second identification element. When the first detection sensor detects the first identification element, the wide-angle lens is connected to the relay lens group. When the second detection sensor detects the second identification element, the microscope objective is connected to the relay lens group.

5. The imaging control method of the underwater in-situ biological monitoring imaging device as described in any one of claims 1-4, characterized in that, include: The wide-angle lens can image a large area of ​​the predetermined underwater region to search for and locate the target area to be monitored. The lens switching component controls the movement of the lens module to switch the microscope objective to be aligned with the relay lens group; Microscopic objectives are used to perform microscopic imaging of the target area to obtain two-dimensional image information with micron-level spatial resolution; The diopter parameters of the electronically adjustable lens are continuously adjusted according to preset adjustment parameters to make the imaging focal plane move dynamically along the optical axis, and image information of multiple focal planes are obtained by scanning different imaging depth positions. During the continuous focusing process of the electronically adjustable lens, the camera module acquires image information at a preset frame rate that matches the preset adjustment parameters to form an image stack arranged along the imaging depth direction; An image fusion algorithm is used to synthesize the image stack to obtain a clear two-dimensional image, and a three-dimensional model reflecting the underwater environment is constructed by combining the imaging depth information.

6. The imaging control method according to claim 5, characterized in that, When the wide-angle lens performs large-scale imaging of a predetermined underwater area, the relay lens group performs magnification matching and image quality correction on the image plane before transmitting the image to the camera module to complete image acquisition.

7. The imaging control method according to claim 5, characterized in that, The process of using an image fusion algorithm to synthesize the image stack to obtain a clear two-dimensional image specifically includes: Define each frame in the image stack as... Where I is the image stack, I1~I N For each frame of the image; Gaussian filtering is applied to each frame of the image to obtain the blur stack I. B And calculate the unsharpened mask stack based on the fuzzy stack. ; After Gaussian filtering to reduce noise in the unsharpened mask stack, the sharpness map is obtained by taking the maximum value along the imaging depth direction. and layer index depth map ; An optimized depth map is obtained by performing adaptive smoothing based on the resolution map. ; Based on the optimized depth map, sharp pixels are extracted from the unsharpened mask stack to synthesize a fully sharp image I. f .

8. The imaging control method according to claim 7, characterized in that, The unsharpened mask stack is calculated based on the aforementioned fuzzy stack. At that time, according to the formula Perform the calculation.

9. The imaging control method according to claim 7 or 8, characterized in that, The adaptive smoothing process based on the sharpness map yields an optimized depth map. Specifically, it includes: Reverse the brightness and darkness relationships of the sharpness map and perform normalization processing to obtain a normalized image. ,in, ; Specific features are enhanced or extracted from the normalized image to generate a mask, wherein, K represents the maximum blur kernel size; Gaussian blurring is applied to the layer index depth map based on the mask to obtain a smoothed optimized depth map. ,in, .

10. The imaging control method according to claim 9, characterized in that, The specific steps for constructing a three-dimensional model reflecting the underwater environment by combining imaging depth information are as follows: Obtain the layer index depth map containing imaging depth information in the unsharpened mask stack. And combined with full-resolution image I f Perform 3D coordinate transformation to construct a 3D model that reflects the underwater environment.

Images