Underwater three-dimensional reconstruction image acquisition equipment with binocular camera fused with line laser

Abstract

The utility model provides an underwater three-dimensional reconstruction image acquisition device with binocular camera fused with line laser, comprising a binocular cabin and an aviation plug, the binocular cabin is internally provided with a camera and a laser emitter, and the aviation plug is used for realizing electrical connection between an external power supply and rear-end imaging processing equipment and between the camera and the laser emitter; the two camera cabin bodies are arranged on the two sides of the middle cabin body, the laser transmitter is arranged in the middle cabin body, and the cameras are arranged in the camera cabin bodies, so that a binocular camera and a line laser technology are integrated on one set of equipment, the binocular camera is fused with line laser to realize an underwater image shooting function, and high-precision and high-stability underwater three-dimensional reconstruction is realized; therefore, the requirements of the fields of ocean engineering, ocean science and the like for underwater three-dimensional data acquisition are met, and the problem that the effect and the application range of underwater three-dimensional reconstruction are limited due to the fact that existing underwater camera equipment cannot achieve the functions of a binocular camera and a line laser at the same time is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater laser image shooting, in particular to an underwater three-dimensional reconstruction image acquisition device that integrates a binocular camera with a line laser. Background Art

[0002] Three-dimensional reconstruction of underwater environments has long been a critical issue in fields such as ocean engineering, marine science, and underwater resource development. Traditional underwater 3D reconstruction methods rely primarily on sonar technology or monocular camera image processing techniques, but these methods have limitations, such as low resolution, limited accuracy, and susceptibility to water quality.

[0003] In recent years, binocular camera technology and laser scanning technology have gradually gained widespread application in underwater applications, providing new ideas for underwater 3D reconstruction. Binocular cameras can provide more perspective information, thereby improving the accuracy and stability of reconstruction; while laser scanning technology can provide precise depth information, thereby enhancing the stereoscopic perception and accuracy of reconstruction.

[0004] However, there's currently no image acquisition device on the market that can fully leverage the combined capabilities of binocular cameras and line laser technology for underwater 3D reconstruction. Existing underwater camera systems typically only offer binocular or line laser capabilities, but not both, limiting the effectiveness and scope of underwater 3D reconstruction.

[0005] Therefore, it is necessary to provide a new type of underwater 3D reconstruction image acquisition equipment, which can fully utilize the advantages of binocular cameras and line laser technology to achieve high-precision and high-stability underwater 3D reconstruction, thereby meeting the needs of marine engineering, marine science and other fields for underwater 3D data acquisition.

[0006] Therefore, it is worth focusing on designing an underwater 3D reconstruction image acquisition device based on a binocular camera fused with a line laser, ensuring a stable and reliable structure, adjustable local installation, and a reasonable overall layout. Using an underwater 3D reconstruction image acquisition device based on a binocular camera fused with a line laser is essential for capturing the images required for high-precision 3D reconstruction of underwater objects. This design uses a binocular camera fused with a line laser to achieve underwater image capture. Utility Model Content

[0007] In response to the above-mentioned problems in the prior art, the utility model aims to provide an underwater three-dimensional reconstruction image acquisition device that integrates a binocular camera and a line laser, which solves the problem that existing underwater camera equipment cannot simultaneously realize the functions of a binocular camera and a line laser, thereby limiting the effect and application scope of underwater three-dimensional reconstruction.

[0008] In order to achieve the above-mentioned utility model purpose, the technical solution adopted by the utility model is as follows:

[0009] Provided is an underwater three-dimensional reconstruction image acquisition device using a binocular camera fused with a line laser. The device comprises a binocular cabin and an aviation plug. The binocular cabin comprises a middle cabin, and two camera cabins are arranged symmetrically on both sides of the middle cabin. A camera front view glass is provided at the front end of each camera cabin. A camera is provided in each camera cabin, and a lens is provided at the front end of each camera with a shooting direction facing the camera front view glass.

[0010] A laser front-view glass is provided in the middle of the front of the middle cabin, and a laser emitter is provided inside the middle cabin to emit laser light in the direction of the laser front-view glass; the angle between the emission direction of the laser emitter and the shooting direction of each camera is an acute angle;

[0011] The aviation plug is sealed and connected to the bulkhead of the middle cabin. The aviation plug inside the middle cabin is electrically connected to the laser emitter and the camera. The aviation plug outside the middle cabin is electrically connected to the power supply and the back-end imaging processing equipment.

[0012] The underwater 3D reconstruction image acquisition equipment of this scheme combines binocular camera and line laser technology in one set of equipment by arranging two camera cabins on both sides of the middle cabin, and arranging a laser transmitter in the middle cabin and a camera in the camera cabin. The binocular camera is integrated with the line laser to realize the underwater image capture function and achieve high-precision and high-stability underwater 3D reconstruction, thereby meeting the needs of marine engineering, marine science and other fields for underwater 3D data acquisition, and solving the problem that existing underwater camera equipment cannot realize the binocular camera and line laser functions at the same time, thereby limiting the effect and application scope of underwater 3D reconstruction.

[0013] Furthermore, the middle cabin is connected to the two camera cabins. A removable, sealed rear cover is installed on the back of the middle cabin, to which the aviation plug is sealed. Each camera cabin also has a removable, sealed rear cover installed on the rear end. The rear cover and rear sealing cover facilitate assembly of the laser transmitter and camera, as well as subsequent disassembly and maintenance.

[0014] Furthermore, the camera front view glass and the laser front view glass are sealed and connected to the front end of the camera cabin and the front face of the middle cabin respectively through mounting parts.

[0015] Furthermore, the mounting piece is in a circular ring structure, and a plurality of bolt connectors are evenly arranged on the mounting piece at annular intervals with the mounting piece's own axis as the center.

[0016] Furthermore, each camera pod is equipped with a camera fixing block. Each camera fixing block is a hollow square column structure with an opening at one end and a seal at the other end. The open end of the camera fixing block is positioned toward the camera's front view glass, while the other end is fixedly connected to the inner wall of the rear sealing cover. The camera is fixedly mounted within the camera fixing block. The provision of the camera fixing block can better secure the camera within the camera pod, improving the camera's operational stability.

[0017] Furthermore, the camera is flexibly engaged with the camera mounting block. The sidewall of the mounting block is provided with an elongated hole extending along the length of the camera chamber. A bolt locking member for locking the camera is located within the elongated hole. This arrangement allows for adjustment of the camera's position within the mounting block, adjusting the distance between the camera's upper lens and the camera's front glass. After the distance is adjusted, the current position of the camera and lens can be fixed by tightening the bolt locking member. This allows for adaptability to different camera models and enhances the flexibility of the entire underwater 3D reconstruction image acquisition device.

[0018] Furthermore, a laser fixing block for fixing the laser emitter is provided inside the middle cabin, and the rear end of the laser fixing block is sealed and connected to the rear cover plate, thereby improving the stability of laser installation and laser use.

[0019] Furthermore, waterproof strips are provided on the connection end surfaces of the rear cover plate and the rear end sealing cover. The waterproof strips are used for waterproofing to prevent water from entering the device and causing malfunctions when the underwater 3D reconstruction image acquisition device is shooting underwater.

[0020] The beneficial effects of the utility model are as follows: 1. The utility model is an underwater 3D reconstruction image acquisition device integrating a binocular camera and a line laser, which realizes the integration of binocular camera and line laser technology in a set of equipment by arranging two camera cabins on both sides of a middle cabin, arranging a laser emitter in the middle cabin, and arranging a camera in the camera cabin. The binocular camera is fused with the line laser to realize the underwater image shooting function and realize high-precision and high-stability underwater 3D reconstruction, thereby meeting the needs of marine engineering, marine science and other fields for underwater 3D data acquisition, and solving the problem that existing underwater camera equipment cannot realize the binocular camera and line laser functions at the same time, thereby limiting the effect and application scope of underwater 3D reconstruction.

[0021] 2. The utility model is an underwater 3D reconstruction image acquisition device that integrates a binocular camera and a line laser. The device can adjust the position of the camera in the camera fixing block, adjust the distance between the camera lens and the camera front glass, and fix the current position of the camera and lens by tightening the bolt locking member after the distance adjustment. This can adapt to the use of different models of cameras and improve the flexibility of the entire underwater 3D reconstruction image acquisition device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the outer structure of an underwater 3D reconstruction image acquisition device that integrates a binocular camera and a line laser.

[0023] Figure 2 This is a schematic diagram of the internal structure of an underwater 3D reconstruction image acquisition device that integrates a binocular camera and a line laser.

[0024] Among them, 1. Binocular cabin; 101. Middle cabin; 102. Camera cabin; 2. Aviation plug; 3. Camera front view glass; 4. Camera; 5. Lens; 6. Laser front view glass; 7. Laser emitter; 8. Rear cover; 9. Rear sealing cover; 10. Mounting parts; 11. Camera fixing block; 12. Long hole; 13. Laser fixing block. DETAILED DESCRIPTION

[0025] The specific implementation methods of the present invention are described below to facilitate understanding of the present invention by those skilled in the art. However, it should be clear that the present invention is not limited to the scope of the specific implementation methods. For those skilled in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the appended claims, these changes are obvious, and all inventions and creations conceived using the present invention are protected.

[0026] like Figure 1 and Figure 2 As shown, the present invention provides an underwater 3D reconstruction image acquisition device using a binocular camera fused with a line laser. The device comprises a binocular cabin 1 and an aviation plug 2. The binocular cabin 1 includes a middle cabin 101, with two camera cabins 102 disposed obliquely on either side of the middle cabin 101, and the two camera cabins 102 are symmetrically arranged. Each camera cabin 102 is provided with a camera front view glass 3 at the front end, and each camera cabin 102 is provided with a camera 4. Each camera 4 is provided with a lens 5 at the front end, with the shooting direction facing the camera front view glass 3. The camera 4 uses the lens 5 and the camera front view glass 3 to achieve waterproof photography in underwater environments.

[0027] A laser front-view glass 6 is provided in the middle of the front of the intermediate cabin 101, and a laser emitter 7 is provided inside the intermediate cabin 101 for emitting laser lines toward the laser front-view glass 6; the angle between the emission direction of the laser emitter 7 and the shooting direction of each camera 4 is an acute angle.

[0028] The aviation plug 2 is sealed and connected to the wall of the intermediate cabin 101. The aviation plug 2 located inside the intermediate cabin 101 is electrically connected to the laser emitter 7 and the camera 4. The aviation plug 2 located outside the intermediate cabin 101 is electrically connected to the power supply and the back-end imaging processing equipment.

[0029] Specifically, the middle cabin 101 is connected to the two camera cabins 102. A rear cover plate 8 is removably and sealed on the back of the middle cabin 101. The aviation plug 2 is securely fastened to the rear cover plate 8 via threads and a waterproof ring. The rear end of each camera cabin 102 is removably and sealed with a rear sealing cap 9. The rear cover plate 8 and rear sealing cap 9 facilitate assembly of the laser emitter 7 and camera 4, as well as subsequent disassembly and maintenance.

[0030] The camera front view glass 3 and the laser front view glass 6 are sealedly connected to the front end of the camera cabin 102 and the front end of the intermediate cabin 101 respectively through the mounting member 10. The mounting member 10 is a circular ring structure, and a plurality of bolt connectors are evenly arranged on the mounting member 10 at annular intervals with its own axis as the center. Specifically, a circular hole is opened at the front end of the camera cabin 102 and the front end of the intermediate cabin 101, and the camera front view glass 3 or the laser front view glass 6 is placed in the circular hole. Then, by setting the mounting member 10 on the front end of the camera front view glass 3 or the laser front view glass 6, the back of the mounting member 10 is tightly pressed against the front end of the camera front view glass 3 or the laser front view glass 6, and is fixedly connected to the front end of the camera cabin 102 and the front end of the intermediate cabin 101 through a plurality of bolt connectors, and finally a sealed connection between the camera front view glass 3 and the laser front view glass 6 is achieved.

[0031] Preferably, but not rectangularly, each camera chamber 102 is provided with a camera fixing block 11. Each camera fixing block 11 is a hollow square column structure with an opening at one end and a sealed end at the other. The open end of the camera fixing block 11 is arranged toward the camera front view glass 3, and the other end of the camera fixing block 11 is fixedly connected to the inner wall of the rear sealing cover 9. The camera 4 is fixedly disposed within the camera fixing block 11. The provision of the camera fixing block 11 can better secure the camera 4 within the camera chamber 102, improving the stability of the camera 4 during use.

[0032] The camera 4 is flexibly engaged with the camera mounting block 11. The sidewall of the mounting block 11 is provided with an elongated hole 12 extending along the length of the camera chamber 102. A bolt lock is located within the hole 12, securing the camera 4. This arrangement allows for adjustment of the position of the camera 4 within the mounting block 11, adjusting the distance between the upper lens 5 and the front view glass 3. After the distance is adjusted, the camera 4 and lens 5 can be fixed in their current positions by tightening the bolt lock. This allows for adaptability to different camera models and enhances the flexibility of the entire underwater 3D reconstruction image acquisition device.

[0033] A laser fixing block 13 for fixing the laser emitter 7 is provided inside the intermediate cabin 101. The rear end of the laser fixing block 13 is sealed with the rear cover plate 8, thereby improving the stability of the laser installation and the use of the laser.

[0034] Preferably, waterproof strips are provided on the connecting end surfaces of the rear cover plate 8 and the rear sealing cover 9. The waterproof strips are used for waterproofing to prevent water from entering the device and causing malfunctions when the underwater 3D reconstruction image acquisition device is shooting underwater.

[0035] The utility model discloses an underwater three-dimensional reconstruction image acquisition device integrating binocular camera and line laser, which realizes the integration of binocular camera and line laser technology into one set of equipment by arranging two camera cabins 102 on both sides of an intermediate cabin 101, arranging a laser emitter 7 in the intermediate cabin 101, and arranging a camera in the camera cabin 102. The binocular camera is fused with line laser to realize underwater image shooting function and high-precision and high-stability underwater three-dimensional reconstruction, thereby meeting the needs of marine engineering, marine science and other fields for underwater three-dimensional data acquisition, and solving the problem that existing underwater camera equipment cannot realize binocular camera and line laser functions at the same time, thereby limiting the effect and application scope of underwater three-dimensional reconstruction.

Claims

1. An underwater 3D reconstruction image acquisition device that combines a binocular camera with a line laser, characterized in that: The system comprises a binocular cabin and an aviation plug, wherein the binocular cabin comprises a middle cabin, and two camera cabins are arranged symmetrically on both sides of the middle cabin. The front end of each camera cabin is provided with a camera front view glass, and each camera cabin is provided with a camera, and the front end of each camera is provided with a lens with a shooting direction facing the camera front view glass. A laser front-view glass is provided in the middle of the front of the middle cabin, and a laser emitter is provided inside the middle cabin for emitting laser lines in the direction of the laser front-view glass; the angle between the emission direction of the laser emitter and the shooting direction of each camera is an acute angle; The aviation plug is sealed and connected to the wall of the middle cabin. The aviation plug inside the middle cabin is electrically connected to the laser emitter and the camera, and the aviation plug outside the middle cabin is electrically connected to the power supply and the back-end imaging processing equipment.

2. The underwater 3D reconstruction image acquisition device using a binocular camera fused with a line laser according to claim 1, characterized in that: The middle cabin is connected to the two camera cabins. The back of the middle cabin is sealed and detachably provided with a rear cover plate, and the aviation plug is sealed and connected to the rear cover plate; the rear end of each camera cabin is sealed and detachably provided with a rear end sealing cover.

3. The underwater 3D reconstruction image acquisition device using a binocular camera fused with a line laser according to claim 2, characterized in that: The camera front view glass and the laser front view glass are both sealed and connected to the front end of the camera cabin body and the front face of the middle cabin body respectively through mounting parts.

4. The underwater 3D reconstruction image acquisition device using a binocular camera fused with a line laser according to claim 3, characterized in that: The mounting piece is in a circular ring structure, and a plurality of bolt connectors are evenly arranged on the mounting piece in an annular direction with the mounting piece's own axis as the center.

5. The underwater 3D reconstruction image acquisition device using a binocular camera fused with a line laser according to claim 4, characterized in that: Each of the camera cabins is provided with a camera fixing block, and each of the camera fixing blocks is a hollow square column structure with an opening at one end and a sealed end at the other end. The end of the camera fixing block with the opening is arranged toward the camera front view glass, and the other end of the camera fixing block is fixedly connected to the inner wall of the rear end sealing cover; the camera is fixedly arranged inside the camera fixing block.

6. The underwater 3D reconstruction image acquisition device using a binocular camera fused with a line laser according to claim 5, characterized in that: The camera is movably fitted with the camera fixing block. A long hole is provided on the side wall of the camera fixing block. The long hole is arranged along the length direction of the camera cabin. A bolt locking member for locking the camera is provided in the long hole.

7. The underwater 3D reconstruction image acquisition device using a binocular camera fused with a line laser according to claim 6, characterized in that: A laser fixing block for fixing the laser emitter is provided inside the intermediate cabin, and a rear end of the laser fixing block is sealed and connected to the rear cover plate.

8. The underwater three-dimensional reconstruction image acquisition device using a binocular camera fused with a line laser according to claim 7, characterized in that: The connecting end surfaces of the rear cover plate and the rear end sealing cover are both provided with waterproof adhesive strips.

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