Circuit structure of underwater laser scanning device and underwater target three-dimensional reconstruction system

Abstract

The utility model discloses a kind of circuit structure and underwater target three-dimensional reconstruction system of underwater laser scanning device, it is related to underwater measuring technical field, including main control board, multichannel laser control board, three line lasers, stabilized power supply, point cloud camera and texture camera;Main control board is connected with multichannel laser control board, point cloud camera, texture camera, stabilized power supply is connected with main control board, multichannel laser control board, three line lasers are connected with multichannel laser control board;Main control board drives three line lasers to project line laser beam to underwater target by multichannel laser control board;Point cloud camera, texture camera transmit image data to main control board, and image data includes the laser stripe signal of underwater target reflection that point cloud camera gathers, the high-order texture information of underwater target that texture camera gathers.This scheme can be used with three line lasers to complete signal transmission interaction and electric control operation, to realize three-dimensional measurement to underwater ladder type structure in the case of no blind area.

Description

Technical Field

[0001] This utility model relates to the field of underwater measurement technology, and in particular to a circuit structure of an underwater laser scanning device and an underwater target three-dimensional reconstruction system. Background Technology

[0002] With the implementation of the national maritime power strategy, the utilization and development of marine resources are gradually trending towards a green, transparent, and intelligent ocean. Addressing the diverse needs of underwater scenarios, such as detailed topographic mapping in seabed exploration, feature target identification in underwater search and rescue, equipment shape reconstruction in marine engineering maintenance, and object size measurement in marine ranching, 3D reconstruction and spatial reconstruction of underwater targets are pressing technical challenges. By employing underwater 3D shape reconstruction and spatial reconstruction technologies, underwater targets (seabed topography, search and rescue targets, engineering equipment, aquaculture objects, etc.) in real-world marine scenarios can be 3D scanned to obtain depth information. This information is then overlaid with scan pose data to convert it into 3D information. Combined with deep learning and data twin technologies, underwater virtual reality simulation can be achieved, providing visual, panoramic, three-dimensional, and real-time intelligent perception technologies for the utilization and development of marine resources.

[0003] Currently, underwater target shape 3D reconstruction and spatial reconstruction technologies mainly include two methods: underwater acoustic 3D measurement and underwater optical 3D measurement. Underwater acoustic 3D measurement primarily utilizes hardware forms such as 2D image sonar vertical arrays and 3D imaging sonars. It has the advantage of a long operating range but limitations such as inability to measure at close range and lower measurement accuracy. Underwater optical 3D measurement mainly utilizes hardware forms such as underwater binocular cameras and underwater laser scanners. The operating range of binocular cameras is limited by water turbidity, and obtaining a small depth estimation error requires a large distance between the imaging centers of the two cameras. Underwater laser scanners offer advantages such as moderate operating range, high signal resolution, high measurement accuracy, and low image data computation, making them suitable for the needs of refined near-field 3D measurement scenarios underwater.

[0004] However, existing underwater laser scanners primarily use single-line lasers or parallel linear array lasers as signal sources. When the underwater target being measured has a stepped structure, and this stepped structure contains interfaces parallel to the direction of the line laser, the step depth of this stepped structure cannot be measured. In other words, underwater laser scanners using single-line lasers or parallel linear array lasers as signal sources have a measurement blind zone when measuring stepped structures. To address this, engineers have attempted to use multi-line lasers as signal sources, utilizing the convergence of multiple line laser beams in space to eliminate the blind zone when measuring stepped structures. However, currently, there is a lack of circuitry systems compatible with the application architecture of multi-line lasers, resulting in difficulties in the smooth implementation of signal transmission, interaction, and electronic control operations related to multi-line lasers. Utility Model Content

[0005] The main purpose of this invention is to propose a circuit structure for an underwater laser scanning device, aiming to solve the technical problem that the lack of a circuit system adapted to the application architecture of multi-line lasers leads to the inability to smoothly realize signal transmission, interaction and electronic control operation related to multi-line lasers.

[0006] To achieve the above objectives, the circuit structure of the underwater laser scanning device proposed in this utility model includes a main control board, a multi-channel laser control board, three line lasers, a regulated power supply, a point cloud camera, and a texture camera; the main control board is electrically connected to the multi-channel laser control board, the point cloud camera, and the texture camera respectively; the regulated power supply is electrically connected to the main control board and the multi-channel laser control board respectively; and all three line lasers are electrically connected to the multi-channel laser control board.

[0007] The main control board is used to drive the three line lasers to project line laser beams toward the underwater target through the multi-channel laser control board. The line laser beams emitted by the three line lasers converge at the same target point, and the optical axis of any one line laser is not located in the plane defined by the optical axes of the other two line lasers. The point cloud camera and the texture camera are used to transmit image data to the main control board. The image data includes the laser stripe signal reflected by the underwater target acquired by the point cloud camera and the high-order texture information of the underwater target acquired by the texture camera.

[0008] In one embodiment, the circuit structure further includes an edge computing board electrically connected to the main control board; the edge computing board is used to interact with the main control board to perform edge computing operations on the image data transmitted to the main control board.

[0009] In one embodiment, the edge computing operation includes image data preprocessing, keyframe filtering, frame orientation selection, stripe information processing, and texture information processing.

[0010] In one embodiment, the main control board is equipped with a lower-level system module, a storage management module, a communication protocol module, and an I / O interface module; the lower-level system module is used to generate trigger commands, the storage management module is used to store data, the communication protocol module is used to communicate with the upper-level computer, and the I / O interface module is used to perform signal input and signal output.

[0011] In one embodiment, the trigger command generated by the lower-level system module is transmitted to the multi-channel laser control board through the I / O interface module to control the three line lasers to start and stop serially or in parallel.

[0012] In one embodiment, the main control board supplies power to the point cloud camera and the texture camera via PoE.

[0013] In one embodiment, the image data acquired by the point cloud camera and the texture camera is transmitted to the main control board via an Ethernet protocol interface.

[0014] Correspondingly, this utility model also proposes an underwater laser scanning device, which includes the circuit structure described above.

[0015] In one embodiment, the underwater laser scanning device further includes a data acquisition chamber, a main watertight connector, and a main watertight cable; the main control board, the multi-channel laser control board, the point cloud camera, and the texture camera are encapsulated inside the data acquisition chamber, the main watertight connector is inserted into the rear end of the data acquisition chamber, the inner end of the main watertight connector is connected to the main control board, and the outer end of the main watertight connector is connected to the host computer through the main watertight cable.

[0016] In one embodiment, the underwater laser scanning device further includes a signal compartment tube, a secondary watertight connector, and a secondary watertight cable; the three line lasers are encapsulated one-to-one inside the signal compartment tube, the secondary watertight connector is inserted into the rear end of the signal compartment tube, the inner end of the secondary watertight connector is connected to the line laser, and the outer end of the secondary watertight connector is connected to the multi-laser control board through the secondary watertight cable.

[0017] In one embodiment, the underwater laser scanning device is mounted on a stepper motor of an underwater fixed platform. The stepper motor is electrically connected to the main control board, which is used to acquire the stroke parameters of the stepper motor.

[0018] In one embodiment, the underwater laser scanning device is mounted on an underwater mobile platform, which is electrically connected to the main control board. The main control board is used to acquire the pose parameters of the underwater mobile platform.

[0019] Correspondingly, this utility model also proposes an underwater target three-dimensional reconstruction system, which includes the underwater laser scanning device as described above.

[0020] The circuit structure of the underwater laser scanning device provided by this utility model, when measuring an underwater target with a stepped structure, can send commands from the main control board to the multi-laser control board to trigger the multi-laser control board to drive three line lasers to emit line laser beams. Due to the optical axis setting of the three line lasers, regardless of the interface direction of the stepped structure, at least one line laser beam can be guaranteed to intersect with it, thereby accurately measuring its step depth. The point cloud camera is used to collect the laser stripe signal reflected by the underwater target, and the texture camera is used to collect the high-order texture information of the underwater target. These image data are transmitted to the main control board to provide basic data for subsequent three-dimensional reconstruction, thereby realizing blind-zone-free measurement of underwater targets and improving measurement accuracy. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 A schematic diagram of the circuit structure of an underwater laser scanning device provided in an embodiment of this utility model;

[0023] Figure 2 This is a three-dimensional structural diagram of an underwater laser scanning device provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of a linear laser beam projected onto the surface of an underwater stepped structure in an underwater laser scanning device according to an embodiment of the present invention.

[0025] Explanation of icon numbers:

[0026] 1. Main control board; 101. Lower-level system module; 102. Storage management module; 103. Communication protocol module; 104. I / O interface module;

[0027] 2. Multi-channel laser control board; 3. Line laser; 4. Regulated power supply; 5. Point cloud camera; 6. Texture camera; 7. Edge computing board; 8. Acquisition chamber tube; 9. Main watertight connector; 10. Main watertight cable; 11. Signal chamber tube; 12. Secondary watertight connector; 13. Secondary watertight cable.

[0028] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0030] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0032] With the implementation of the national maritime power strategy, the utilization and development of marine resources are gradually trending towards a green, transparent, and intelligent ocean. Addressing the diverse needs of underwater scenarios, such as detailed topographic mapping in seabed exploration, feature target identification in underwater search and rescue, equipment shape reconstruction in marine engineering maintenance, and object size measurement in marine ranching, 3D reconstruction and spatial reconstruction of underwater targets are pressing technical challenges. By employing underwater 3D shape reconstruction and spatial reconstruction technologies, underwater targets (seabed topography, search and rescue targets, engineering equipment, aquaculture objects, etc.) in real-world marine scenarios can be 3D scanned to obtain depth information. This information is then overlaid with scan pose data to convert it into 3D information. Combined with deep learning and data twin technologies, underwater virtual reality simulation can be achieved, providing visual, panoramic, three-dimensional, and real-time intelligent perception technologies for the utilization and development of marine resources.

[0033] Currently, underwater target shape 3D reconstruction and spatial reconstruction technologies mainly include two methods: underwater acoustic 3D measurement and underwater optical 3D measurement. Underwater acoustic 3D measurement primarily utilizes hardware forms such as 2D image sonar vertical arrays and 3D imaging sonars. It has the advantage of a long operating range but limitations such as inability to measure at close range and lower measurement accuracy. Underwater optical 3D measurement mainly utilizes hardware forms such as underwater binocular cameras and underwater laser scanners. The operating range of binocular cameras is limited by water turbidity, and obtaining a small depth estimation error requires a large distance between the imaging centers of the two cameras. Underwater laser scanners offer advantages such as moderate operating range, high signal resolution, high measurement accuracy, and low image data computation, making them suitable for the needs of refined near-field 3D measurement scenarios underwater.

[0034] However, existing underwater laser scanners primarily use single-line lasers or parallel linear array lasers as signal sources. When the underwater target being measured has a stepped structure, and this stepped structure contains interfaces parallel to the direction of the line laser, the step depth of this stepped structure cannot be measured. In other words, underwater laser scanners using single-line lasers or parallel linear array lasers as signal sources have a measurement blind zone when measuring stepped structures. To address this, engineers have attempted to use multi-line lasers as signal sources, utilizing the convergence of multiple line laser beams in space to eliminate the blind zone when measuring stepped structures. However, currently, there is a lack of circuitry systems compatible with the application architecture of multi-line lasers, resulting in difficulties in the smooth implementation of signal transmission, interaction, and electronic control operations related to multi-line lasers.

[0035] To address the aforementioned issues, this invention provides a circuit structure for an underwater laser scanning device that can be used in conjunction with a three-line laser to complete related signal transmission, interaction, and electronic control operations, thereby enabling three-dimensional measurement of underwater stepped structures without blind spots.

[0036] Please see Figures 1 to 3 The circuit structure of the underwater laser scanning device provided by this utility model includes a main control board 1, a multi-channel laser control board 2, three line lasers 3, a regulated power supply 4, a point cloud camera 5, and a texture camera 6; the main control board 1 is electrically connected to the multi-channel laser control board 2, the point cloud camera 5, and the texture camera 6 respectively; the regulated power supply 4 is electrically connected to the main control board 1 and the multi-channel laser control board 2 respectively; and the three line lasers 3 are all electrically connected to the multi-channel laser control board 2.

[0037] The main control board 1 is used to drive three line lasers 3 to project line laser beams onto the underwater target through the multi-channel laser control board 2. The line laser beams emitted by the three line lasers 3 converge at the same target point, and the optical axis of any one line laser 3 is not located in the plane defined by the optical axes of the other two line lasers 3. The point cloud camera 5 and the texture camera 6 are used to transmit image data to the main control board 1. The image data includes the laser stripe signal reflected by the underwater target collected by the point cloud camera 5 and the high-order texture information of the underwater target collected by the texture camera 6.

[0038] The main control board 1, as the core control unit, is connected to the multi-channel laser control board 2 and is used to send commands to the multi-channel laser control board 2 to control the start and stop of the three line lasers 3.

[0039] Three line lasers 3 are electrically connected to a multi-channel laser control board 2. The main control board 1 drives the three line lasers 3 to project line laser beams towards the underwater target through the multi-channel laser control board 2. The line laser beams emitted by the three line lasers 3 converge at the same target point, and the optical axis of any one line laser 3 is not located in the plane defined by the optical axes of the other two line lasers 3. In specific implementation, the three line lasers 3 adopt a three-dimensional spatial intersecting layout, and the optical axes of the three line lasers 3 form a spatial structure of "two axes coplanar and the third axis orthogonal"; for example, the optical axis of the first line laser 3 intersects the optical axis of the second line laser 3 at 90° in a plane, and the optical axis of the third line laser 3 is perpendicular to this plane. The beneficial effect of this three-line laser layout is that when the underwater target being measured has a stepped structure, regardless of the direction of the stepped interface, it can be guaranteed that at least one line laser beam will intersect with the stepped interface; for example, as Figure 3 As shown, when the stepped interface X of the underwater target is parallel to the direction of the first line laser beam a1, the second line laser beam a2 or the third line laser beam a3 will inevitably intersect with the stepped interface X. Based on the above setting, the problem of blind spots in step depth measurement caused by the parallel direction of traditional single-line or parallel linear array lasers can be avoided, and all-directional depth information can be captured for complex underwater stepped structures.

[0040] Point cloud camera 5 and texture camera 6 are used to acquire laser stripe signals and high-order texture information reflected from underwater targets, respectively, and transmit the image data to the main control board 1 to provide basic data for subsequent 3D reconstruction. Through the collaborative work of point cloud camera 5 and texture camera 6, high-precision 3D reconstruction of underwater targets can be achieved. Specifically, point cloud camera 5 is dedicated to acquiring the three-line laser stripe signals reflected from the underwater target being measured, and generating 3D point cloud data through deformation analysis of the laser stripes, enabling accurate measurement of the geometric structure of the underwater target; texture camera 6 is responsible for acquiring high-order texture information (such as surface color and texture) of the underwater target being measured, and providing a texture mapping data source for the 3D point cloud by recording the visual features of the underwater target surface. Through the spatial synchronization and feature matching of the above 3D point cloud data and high-order texture information, the reconstruction result can be upgraded from a simple geometric structure to a three-dimensional model with realistic visual features, thereby significantly improving the realism and application value of 3D reconstruction of underwater targets (such as seabed topography, engineering equipment, aquaculture equipment, etc.), meeting the requirements for refined and visualized measurement in scenarios such as marine exploration and search and rescue identification.

[0041] The regulated power supply 4 is electrically connected to the main control board 1 and the multi-channel laser control board 2, respectively, which can provide stable power support for the entire circuit and ensure the normal operation of each component.

[0042] Therefore, the circuit structure of the underwater laser scanning device provided in this embodiment can send commands to the multi-laser control board 2 via the main control board 1 when measuring a target with a stepped structure underwater. This triggers the multi-laser control board 2 to drive three line lasers 3 to emit line laser beams. Due to the optical axis setting of the three line lasers 3, regardless of the interface direction of the stepped structure, at least one line laser beam can be guaranteed to intersect with it, thereby accurately measuring its step depth. The point cloud camera 5 is used to collect the laser stripe signal reflected by the underwater target, and the texture camera 6 is used to collect the high-order texture information of the underwater target. These image data will be transmitted to the main control board 1 to provide basic data for subsequent three-dimensional reconstruction, thereby realizing blind-zone-free measurement of underwater targets and improving measurement accuracy.

[0043] In one embodiment, refer to Figure 1 The circuit structure also includes an edge computing board 7, which is electrically connected to the main control board 1. The edge computing board 7 is used to interact with the main control board 1 to perform edge computing operations on the image data transmitted to the main control board 1.

[0044] The edge computing board 7 is a hardware component deployed on the main control board 1 to perform edge computing functions. Edge computing is a computing paradigm whose core idea is to place computing tasks and data processing as close as possible to the data source to reduce data transmission latency and bandwidth consumption, and improve the system's real-time performance and response speed. In this embodiment, the main function of the edge computing board 7 is to perform preliminary processing on the image data acquired by the point cloud camera 5 and the texture camera 6, specifically including image data preprocessing, keyframe filtering, frame orientation selection, stripe information processing, and texture information processing. This processing method can effectively reduce the amount of data and improve the efficiency of subsequent data processing by the main control board 1.

[0045] Edge computing board 7 is electrically connected to main control board 1, capable of receiving control commands from main control board 1 and feeding back processed data results to main control board 1. For example, during underwater laser scanning, a large amount of image data acquired by point cloud camera 5 and texture camera 6 is first transmitted to edge computing board 7. Edge computing board 7 preprocesses this data, such as removing noise and enhancing image contrast, to improve image quality. Then, keyframe filtering is performed to extract the most representative frames from a continuous image sequence, reducing the amount of data for subsequent processing. Next, frame orientation selection is performed, dividing the image into regions according to the direction of the laser stripes to extract stripe information more accurately. Stripe information processing involves the extraction and analysis of laser stripes to obtain key data such as depth information. Texture information processing performs feature extraction on the texture image for subsequent texture mapping and 3D reconstruction.

[0046] Through the processing of edge computing board 7, main control board 1 can acquire effective image data more quickly, thereby accelerating the 3D reconstruction process. This method is particularly suitable for underwater environments because underwater communication bandwidth is limited and data transmission speed is slow. Edge computing can effectively reduce the data processing burden of main control board 1 and improve the real-time performance and efficiency of the entire system.

[0047] In practical implementation, the edge computing board 7 can employ various hardware architectures, such as those based on Field-Programmable Gate Arrays (FPGAs), Graphics Processing Units (GPUs), or Application-Specific Integrated Circuits (ASICs). FPGAs offer high flexibility and programmability, enabling customized designs based on different image processing algorithms; GPUs excel in parallel computing and are suitable for processing large volumes of image data; ASICs provide higher performance and energy efficiency, making them suitable for large-scale production applications. The choice of different hardware architectures requires a trade-off based on actual application needs, cost budget, and performance requirements.

[0048] The software portion of Edge Computing Board 7 typically runs specific image processing algorithms, which are optimized for different application scenarios and objectives. For example, in underwater target detection, deep learning-based target detection algorithms, such as YOLO and Faster R-CNN, can be used to analyze texture images in real time for rapid target object identification. In 3D reconstruction, structured light coding and decoding algorithms can be used to process laser stripe images and accurately extract depth information. The collaborative work of the software and hardware of Edge Computing Board 7 ensures the efficiency and accuracy of image processing.

[0049] As can be seen, the edge computing board 7 significantly improves the real-time performance and data processing efficiency of the system by performing preliminary processing near the data source, providing high-quality data support for subsequent 3D reconstruction.

[0050] In one embodiment, refer to Figure 1 The main control board 1 is equipped with a lower-level system module 101, a storage management module 102, a communication protocol module 103, and an I / O interface module 104. The lower-level system module 101 is used to generate trigger commands, the storage management module 102 is used to store data, the communication protocol module 103 is used to communicate with the upper-level computer, and the I / O interface module 104 is used to perform signal input and signal output.

[0051] Specifically, the lower-level system module 101 is responsible for generating trigger commands. Based on the preset program and scanning strategy, it triggers corresponding operations at the corresponding time, such as starting or stopping the line laser 3, controlling the rhythm of data acquisition, etc. These commands precisely coordinate the operation steps of the entire device through specific control signal forms.

[0052] The storage management module 102 is mainly used for storing data. It provides storage space for image data, intermediate processing results, and the final 3D reconstruction model. It has an efficient storage management mechanism that can quickly store and retrieve data, ensuring the security and integrity of the data.

[0053] The communication protocol module 103 is responsible for communicating with the host computer. It follows specific communication protocols, such as TCP / IP and USB, to realize bidirectional data transmission between the device and the host computer, enabling operators to remotely control the underwater laser scanning device and acquire image scanning and measurement results of underwater targets.

[0054] The I / O interface module 104 is used for signal input and signal output. It provides a variety of interface types, such as digital I / O and analog I / O, to meet the needs of connecting with different types of devices and realize signal interaction between the device and other external devices, such as receiving signals from external sensors or sending control signals to actuators.

[0055] In one embodiment, refer to Figure 1 The trigger command generated by the lower-level system module 101 is transmitted to the multi-channel laser control board 2 through the I / O interface module 104 to control the three line lasers 3 to start and stop serially or in parallel.

[0056] Specifically, serial start-stop refers to the sequential starting or stopping of the three line lasers 3. This method is suitable for scenarios where different areas or targets are scanned sequentially. It avoids mutual interference between line laser beams and ensures that each line laser 3 can independently and accurately complete its scanning task. For example, when scanning multiple independent targets in a complex scene, one line laser 3 can be started first to scan the first target, and then stopped. The other line lasers 3 can then be started sequentially to scan the other targets.

[0057] Parallel start-stop refers to the simultaneous start-up or stop of three line lasers. It is suitable for situations where multiple angles and all directions of scanning the same target need to be performed simultaneously, enabling the rapid acquisition of complete three-dimensional information of the target and improving scanning efficiency.

[0058] In one embodiment, refer to Figure 1 The main control board 1 supplies power to the point cloud camera 5 and the texture camera 6 via PoE (Power over Ethernet). PoE utilizes Ethernet cables to transmit power and data simultaneously, simplifying the power supply lines for the cameras, reducing the wiring complexity of the device, and improving the reliability and maintainability of the system.

[0059] In one embodiment, refer to Figure 1 Image data acquired by point cloud camera 5 and texture camera 6 is transmitted to main control board 1 via Ethernet protocol interface. Ethernet protocol has advantages such as fast transmission speed, long transmission distance, and good compatibility, which can ensure stable and fast transmission of image data and meet the high requirements of underwater laser scanning device for data transmission.

[0060] Correspondingly, please refer to Figure 1 and Figure 2 This utility model embodiment also provides an underwater laser scanning device, which includes the circuit structure of any of the above embodiments.

[0061] For details regarding the specific connection configuration of the circuit structure and the signal transmission interaction process, please refer to the above embodiments. Since this underwater laser scanning device employs all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments. That is, when measuring an underwater target with a stepped structure, the main control board 1 can send a command to the multi-channel laser control board 2 to trigger the multi-channel laser control board 2 to drive three line lasers 3 to emit line laser beams. Due to the optical axis setting method of the three line lasers 3, regardless of the interface direction of the stepped structure, at least one line laser beam can be guaranteed to intersect with it, thereby accurately measuring its step depth. The point cloud camera 5 is used to collect the laser stripe signal reflected by the underwater target, and the texture camera 6 is used to collect the high-order texture information of the underwater target. These image data will be transmitted to the main control board 1 to provide basic data for subsequent three-dimensional reconstruction, thereby achieving blind-zone-free measurement of underwater targets and improving measurement accuracy.

[0062] In one embodiment, refer to Figure 2 The underwater laser scanning device also includes a data acquisition chamber 8, a main watertight connector 9, and a main watertight cable 10; the main control board 1, the multi-channel laser control board 2, the point cloud camera 5, and the texture camera 6 are encapsulated inside the data acquisition chamber 8. The main watertight connector 9 is plugged into the rear end of the data acquisition chamber 8. The inner end of the main watertight connector 9 is connected to the main control board 1, and the outer end of the main watertight connector 9 is connected to the host computer through the main watertight cable 10.

[0063] Specifically, the acquisition chamber 8 can be a cylindrical structure as shown in the figure. The point cloud camera 5 and the texture camera 6 are encapsulated inside the acquisition chamber 8, which can prevent damage to the point cloud camera 5 and the texture camera 6 caused by the complex underwater environment. A light-transmitting structure can be provided at the front end of the acquisition chamber 8. The light-transmitting structure can be made of light-transmitting materials such as quartz glass. In this way, while sealing the acquisition chamber 8 and protecting the point cloud camera 5 and the texture camera 6, it can also ensure that the point cloud camera 5 and the texture camera 6 can normally acquire external image data through the light-transmitting structure.

[0064] By setting the main watertight connector 9, the electrical connection between the main control board 1 and the host computer can be achieved, ensuring normal signal transmission between the main control board 1 and the host computer, while preventing water from seeping into the acquisition chamber 8 and causing circuit failure. The host computer refers to an external computing device electrically connected to the main control board 1. The host computer can send control commands (such as laser emission frequency, image acquisition parameters, etc.) to the main control board 1 via the main watertight cable 10, and supply power to the line laser 3 through the main control board 1. The main control board 1 can also send pre-processed image data to the host computer via the main watertight cable 10 for subsequent 3D reconstruction algorithm processing.

[0065] In one embodiment, refer to Figure 2The underwater laser scanning device also includes a signal compartment tube 11, a secondary watertight connector 12, and a secondary watertight cable 13; three line lasers 3 are encapsulated inside the signal compartment tube 11 in a one-to-one correspondence, the secondary watertight connector 12 is inserted into the rear end of the signal compartment tube 11, the inner end of the secondary watertight connector 12 is connected to the line laser 3, and the outer end of the secondary watertight connector 12 is connected to the multi-laser control board 2 through the secondary watertight cable 13.

[0066] Specifically, the signal tube 11 can be a cylindrical structure as shown in the figure, with three line lasers 3 encapsulated inside each of the three signal tubes 11, thus preventing damage to the line lasers 3 from the complex underwater environment. Each of the three signal tubes 11 can have a light-transmitting structure at its front end. This light-transmitting structure can be made of light-transmitting materials such as quartz glass, thus ensuring that the line lasers 3 can emit their beams normally through the light-transmitting structure while simultaneously protecting the signal tubes 11 and the line lasers 3.

[0067] Each of the three signal tubes 11 has a secondary watertight connector 12 and a secondary watertight cable 13 at its rear end. By using the secondary watertight connectors 12 and 13, electrical connection between the line laser 3 and the multi-channel laser control board 2 can be achieved, ensuring normal signal transmission between them, while preventing water from seeping into the signal tubes 11 and causing circuit malfunctions.

[0068] In one embodiment, refer to Figure 1 and Figure 2 The underwater laser scanning device is mounted on a stepper motor (not shown in the figure) on an underwater fixed platform (not shown in the figure). The stepper motor is electrically connected to the main control board 1, which is used to obtain the stroke parameters of the stepper motor.

[0069] In one embodiment, refer to Figure 1 and Figure 2 The underwater laser scanning device is installed on the underwater mobile platform (not shown in the figure). The underwater mobile platform is electrically connected to the main control board 1, which is used to acquire the pose parameters of the underwater mobile platform.

[0070] Specifically, the underwater laser scanning device has the two installation and usage methods mentioned above. When the underwater laser scanning device is installed on a stepper motor on an underwater fixed platform, the stepper motor is electrically connected to the main control board 1, and the main control board 1 can obtain the stroke parameters of the stepper motor. By precisely controlling the lateral, longitudinal, and rotational movements of the stepper motor, the underwater laser scanning device can be driven to perform precise displacement and attitude adjustments in three-dimensional space, realizing omnidirectional scanning of the target, and can determine the scanning position according to the stroke parameters, thereby improving the accuracy of the scanning.

[0071] When the underwater laser scanning device is mounted on an underwater mobile platform such as an AUV (Autonomous Underwater Vehicle) or ROV (Remote Operated Vehicle), the underwater mobile platform is electrically connected to the main control board 1. The main control board 1 can acquire its pose parameters, including position and attitude information. Utilizing the flexible movement of the mobile platform, the scanning device can move freely in more complex underwater environments to track and scan targets. Simultaneously, it can combine the pose parameters of the underwater mobile platform acquired by the main control board 1 to compensate and correct the scanning data, ensuring the accuracy of subsequent 3D reconstruction.

[0072] Correspondingly, please refer to Figure 1 and Figure 2 This utility model embodiment also provides an underwater target three-dimensional reconstruction system, which includes the underwater laser scanning device in any of the above embodiments.

[0073] The underwater target 3D reconstruction system in this embodiment can acquire image data transmitted from point cloud camera 5 and texture camera 6 to main control board 1 via host computer, and perform subsequent 3D reconstruction algorithm processing based on the image data to establish a 3D digital model of the underwater target, providing visualized, high-precision intelligent perception technology support for marine resource development and utilization.

[0074] For the specific structure and working principle of the underwater laser scanning device, please refer to the above embodiments. Since this underwater target 3D reconstruction system adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be elaborated upon here.

[0075] It should be noted that the circuit structure of the underwater laser scanning device and other contents of the underwater target three-dimensional reconstruction system disclosed in this utility model can be found in the prior art, and will not be repeated here.

[0076] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A circuit structure for an underwater laser scanning device, characterized in that, It includes a main control board, a multi-channel laser control board, three line lasers, a regulated power supply, a point cloud camera, and a texture camera; the main control board is electrically connected to the multi-channel laser control board, the point cloud camera, and the texture camera respectively; the regulated power supply is electrically connected to the main control board and the multi-channel laser control board respectively; and the three line lasers are all electrically connected to the multi-channel laser control board. The main control board is used to drive the three line lasers to project line laser beams toward the underwater target through the multi-channel laser control board. The line laser beams emitted by the three line lasers converge at the same target point, and the optical axis of any one line laser is not located in the plane defined by the optical axes of the other two line lasers. The point cloud camera and the texture camera are used to transmit image data to the main control board. The image data includes the laser stripe signal reflected by the underwater target acquired by the point cloud camera and the high-order texture information of the underwater target acquired by the texture camera.

2. The circuit structure according to claim 1, characterized in that, The circuit structure also includes an edge computing board, which is electrically connected to the main control board. The edge computing board is used to interact with the main control board to perform edge computing operations on the image data transmitted to the main control board.

3. The circuit structure according to claim 2, characterized in that, The edge computing operations include image data preprocessing, keyframe filtering, frame orientation selection, stripe information processing, and texture information processing.

4. The circuit structure according to claim 1, characterized in that, The main control board is equipped with a lower-level system module, a storage management module, a communication protocol module, and an I / O interface module. The lower-level system module is used to generate trigger commands, the storage management module is used to store data, the communication protocol module is used to communicate with the upper-level computer, and the I / O interface module is used for signal input and signal output.

5. The circuit structure according to claim 4, characterized in that, The trigger command generated by the lower-level system module is transmitted to the multi-channel laser control board through the I / O interface module to control the three line lasers to start and stop serially or in parallel.

6. The circuit structure according to claim 1, characterized in that, The main control board supplies power to the point cloud camera and the texture camera via PoE. And / or, the image data acquired by the point cloud camera and the texture camera are transmitted to the main control board via an Ethernet protocol interface.

7. An underwater laser scanning device, characterized in that, The underwater laser scanning device includes the circuit structure as described in any one of claims 1 to 6.

8. The underwater laser scanning device according to claim 7, characterized in that, The underwater laser scanning device also includes a data acquisition chamber, a main watertight connector, and a main watertight cable; the main control board, the multi-channel laser control board, the point cloud camera, and the texture camera are encapsulated inside the data acquisition chamber, the main watertight connector is inserted into the rear end of the data acquisition chamber, the inner end of the main watertight connector is connected to the main control board, and the outer end of the main watertight connector is connected to the host computer through the main watertight cable; And / or, the underwater laser scanning device further includes a signal compartment tube, an auxiliary watertight connector, and an auxiliary watertight cable; The three line lasers are encapsulated one-to-one inside the signal compartment tube. The auxiliary watertight connector is inserted into the rear end of the signal compartment tube. The inner end of the auxiliary watertight connector is connected to the line laser, and the outer end of the auxiliary watertight connector is connected to the multi-laser control board through the auxiliary watertight cable.

9. The underwater laser scanning device according to claim 7, characterized in that, The underwater laser scanning device is mounted on a stepper motor on an underwater fixed platform. The stepper motor is electrically connected to the main control board, which is used to acquire the stroke parameters of the stepper motor. Alternatively, the underwater laser scanning device is mounted on an underwater mobile platform, which is electrically connected to the main control board, and the main control board is used to acquire the pose parameters of the underwater mobile platform.

10. A three-dimensional reconstruction system for underwater targets, characterized in that, The underwater target 3D reconstruction system includes an underwater laser scanning device as described in any one of claims 7 to 9.

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