102 results about "Underwater light" patented technology

The invention discloses an end-to-end underwater three-dimensional reconstruction method and system based on an underwater imaging model, and belongs to the technical field of underwater image processing. According to the method, deep learning pose estimation is combined with an underwater imaging model; firstly, a multi-frame underwater image sequence is collected as input, a deep neural network is constructed, and the network mainly comprises two core sub-modules: a pose estimation network; secondly, a three-dimensional reconstruction network is adopted, dense point cloud or voxel reconstruction is completed according to the predicted pose and image content, pose estimation and the three-dimensional reconstruction process are integrated in the same system, and overall joint optimization is achieved; and in combination with a self-adaptive underwater imaging model, modeling is performed on physical processes such as underwater illumination attenuation and scattering, so that the reality sense and the accuracy of a reconstruction result are improved. According to the method, high-quality three-dimensional reconstruction of images in a complex underwater environment is realized, and the method can be widely applied to ocean engineering, underwater robots, submarine topography surveying and mapping and underwater cultural relic protection.

The invention discloses a monocular and binocular cooperative localization and mapping method and device for underwater refraction compensation, and the method comprises the steps: extracting checkerboard angular points, compensating an underwater light path through employing a two-time vector correction model based on a Snell law, and precisely calibrating the internal and external parameters of a binocular camera. According to the method, an underwater real light path is effectively restored, and calibration errors caused by medium refraction are remarkably reduced. Then epipolar correction is performed on the corrected left and right images, so that the geometric consistency of stereo matching is ensured; and finally, monocular and binocular poses are fused, and seven-degree-of-freedom similarity transformation global alignment is applied, so that the problem of monocular scale uncertainty is effectively solved, and high-precision and high-robustness three-dimensional mapping is realized by means of binocular real scale introduction. Key links such as camera pre-calibration, refraction compensation, image correction, monocular tracking, binocular depth measurement, scale alignment and the like are connected in series to form an integrated process, so that the underwater vision positioning and mapping precision is improved.

The invention provides an underwater target detection method and system based on deep learning. The method comprises the following steps: acquiring an underwater image sequence; depth information is generated based on the underwater image sequence, and boundary contours of different underwater objects are extracted through a deep learning algorithm in combination with the depth information; constructing a reflection mode of underwater light according to the surface roughness of various underwater objects, and then performing semantic division according to the reflection mode to obtain mask regions corresponding to different semantic levels of each image frame; for each image frame, determining texture direction features, determining main reflection directions of underwater light in different mask areas, and further determining semantic coordination degree of each mask area according to all the texture direction features and all the main reflection directions; and generating confidence semantic tags of different underwater objects in the underwater image sequence based on all semantic coordination degrees. By adopting the scheme provided by the invention, the anti-distortion detection can be performed on the underwater target under the interference of the underwater environment.

The invention discloses an underwater target identification and positioning method based on fusion of a physical model and deep learning, and belongs to the technical field of computer vision, and the method comprises the steps: carrying out the transmissivity estimation and physical restoration of a collected underwater monocular image according to an underwater light propagation model, and carrying out the image correction; key feature points are extracted, and high-quality matching point pairs are screened in combination with the joint similarity; further deriving a basic matrix through the high-quality matching point pairs meeting the epipolar geometric constraint relation, solving an essential matrix, and obtaining relative attitude parameters between the cameras in combination with weighted re-projection-LM optimization; and finally, refraction correction triangulation is carried out according to the Snell's law, pixel-level fusion is carried out after scale normalization and space alignment are carried out on the refraction correction triangulation and dense depth output by the MiDaS, three-dimensional space coordinates of the target are inverted, and high-precision recognition and positioning of the underwater target are achieved. The system is light in structure, efficient in calculation, suitable for being integrated on various underwater autonomous or remote control robot platforms and used for tasks such as target recognition, tracking and positioning.

The invention discloses an underwater high-speed three-dimensional measurement method based on stripe structured light, and relates to the technical field of underwater optical three-dimensional imaging, in an underwater operation scene of an FPP system, projecting a three-step phase shift sine stripe and a Gray code pattern to an object to be measured, and respectively calculating a wrapped phase 1, a wrapped phase 2 and an auxiliary order phase; analyzing the light intensity information received by the camera, and carrying out water body influence analysis in combination with an underwater light transmission model; the initial wrapped phase divides the order phase into a stable region and a non-stable region, the stable region is combined with the wrapped phase 1 to calculate a preliminary absolute phase, and the non-stable region is combined with the wrapped phase 2 to calculate an absolute phase through an island processing method. According to the method, a phase bisection complementary decoding strategy is adopted, a jump error region in an order phase is effectively identified and corrected by constructing complementary wrapped phase information, a wrong order phase is corrected by using a noise correction algorithm, and the measurement stability in a dynamic scene is remarkably improved.

The utility model relates to a kind of pool underwater lamps, including lamp body, waterproof joint, adjusting rubber ring and locking ring.Lamp body includes shell, circuit device with lamp pearl sealed in shell by pouring glue and lampshade installed in the front of shell by sealing ring, and fastener is arranged on the tail of shell;Glue ring groove and external thread are arranged on the outer wall of the front of shell;The fastener is connected to realize the electrically connectable connection of lamp by waterproof joint;Adjusting rubber ring is sleeved in the glue ring groove of shell, locking taper is arranged on the outer wall thereof;Internal thread is arranged in the central hole of locking ring, and lamp installation locking flange and multiple notch grooves are arranged on the outer wall of inner end;Notch groove divides lamp installation locking flange into multiple arc-shaped elastic straining flanges;When the internal thread of locking ring is screwed on the external thread of shell and is screwed in, under the action of adjusting rubber ring, elastic straining flange is straining outward.The utility model has more reasonable structure, is installed quickly and easily, more widely, and is applicable to the pipe of certain size of different national standards.

The utility model discloses a kind of irradiation resistance underwater light supplementing lamps, belong to underwater light supplementing lamp technical field, solve the irradiation range of the underwater light supplementing lamp of multiple lamp body becomes larger, but condensing effect is obviously worse, so cannot condensing clear irradiation certain object, affect the visibility when actual underwater operation problem. Including circular arc lamp panel, the lamp body of several fixed connections in lamp panel, and the light-reflecting plate of the rotation connection in lamp panel outer circle, several light-reflecting plate can be relative lamp panel flip, several light-reflecting plate synchronous rotation setting. The utility model uses, when needing large range illumination, traction electromagnet pulls connection rope, makes light-reflecting plate deflect, torsional spring accumulates elastic potential energy, turns wire pole and prevents connection rope scratch breakage. When needing condensing irradiation, traction electromagnet is powered off, release connection rope, torsional spring releases potential energy and drives light-reflecting plate reverse deflection, forms spotlight cover, makes light concentration, clear irradiation object, does not affect underwater operation visibility.

The utility model discloses a straight line outgoing type underwater lamp belt, which comprises waterproof boxes, a lamp body and an FPC (flexible printed circuit) board, the waterproof boxes are mounted at two ends of the lamp body, the FPC board is positioned in the lamp body and extends along the length direction of a bottom plate, the two ends of the FPC board and the lamp body extend into the waterproof boxes, each waterproof box comprises a base and a cover plate, and the cover plate is mounted on the base. A fixing plate is arranged on the base, the bottom face of the end, extending into the waterproof box, of the lamp body is attached to and fixed to the fixing plate, the bottom end, the left end and the right end of the cover plate are open, and the opening in the bottom end of the cover plate is in sealed connection with the base. The left end opening and the right end opening of the cover plate are respectively enclosed with the cover plate to form a first socket and a second socket, the first socket is used for the end part of the lamp body to extend into the cover plate, and the second socket is provided with a waterproof wire assembly. According to the utility model, the current access of the lamp body is safer, and the overall waterproof sealing performance is good.

The application discloses an end-to-end underwater three-dimensional reconstruction method and system based on an underwater imaging model, and belongs to the technical field of underwater image processing.The application combines deep learning pose estimation with an underwater imaging model; firstly, a plurality of underwater image sequences are collected as input to construct a deep neural network, the network mainly comprises two core sub-modules: one is a pose estimation network; and the other is a three-dimensional reconstruction network, according to the predicted pose and image content, dense point cloud or voxel reconstruction is completed, the pose estimation and the three-dimensional reconstruction process are integrated in the same system to realize overall joint optimization; and the adaptive underwater imaging model is combined to model the physical processes such as underwater light attenuation and scattering, so that the realism and accuracy of the reconstruction result are improved.The application realizes high-quality three-dimensional reconstruction of images in a complex underwater environment, and can be widely applied to ocean engineering, underwater robots, seabed topographic mapping and underwater cultural relic protection.

The utility model discloses a split type LED underwater lamp, belongs to the technical field of LED underwater lamps, and solves the problems that when an underwater motor is controlled on the ground, the underwater motor can not receive signals due to the problem of water environment, and finally the condition that the motor has no feedback is influenced. Comprising a mounting shaft, a rotating seat capable of coaxially rotating relative to the mounting shaft and arranged at the lower end of the mounting shaft, connecting seats fixedly connected to the two sides of the rotating seat, a lamp holder hinged between the connecting seats on the two sides, and a lamp body fixedly connected to the lamp holder. The underwater lamp is fixed through the mounting shaft, the buoy is put to enable the wireless receiving module to float on the liquid level, receives wireless remote control signals and transmits the wireless remote control signals to the microcontroller, the controller generates PWM signals and direction level, the upper servo motor and the lower servo motor are driven through the double-H-bridge chip, the position and the angle of the lamp body are adjusted, and the buoy and the signal transmission line ensure that the underwater lamp can receive water surface signals. And the position and angle adjustment of the underwater LED lamp body can be wirelessly and remotely controlled by a user.

The invention relates to the technical field of underwater guidance, in particular to a self-adaptive exposure method for an underwater guidance recovery task, which is used for solving the problems of light spot overexposure, underexposure or insufficient contrast and the like caused by dynamic change of ambient light, water body scattering interference and target distance adjustment in an underwater environment in the existing exposure control method. According to the method, parameter convergence in an initial deployment stage and dynamic adjustment in a conventional operation stage are combined, statistical characteristics and connected domain information of a grayscale image are analyzed in real time, a multi-dimensional error term model is constructed to adjust camera exposure parameters, and clear imaging of an underwater light source target is achieved. According to the method, external sensor data is not needed, full-process self-adaption from cold start to stable operation can be completed only by depending on image features, different water quality, distance and illumination conditions can be adapted, optimal exposure parameters can be adapted in real time, and the real-time and robustness requirements of underwater guide recovery are met.

The present application relates to the field of eutrophication lake water ecological restoration, and discloses a device and system for improving underwater light conditions of a lake. Natural light on the water surface is introduced into the underwater area near the device through refraction and reflection by using a light path system, effectively improving the underwater light intensity. A wave dissipation system is arranged below the light path system to prevent disturbance of the water body and sediments by small waves, to a certain extent, reducing the influence of sediments and resuspension on water transparency, and further improving the underwater light conditions. The light path system, the wave dissipation system and the underwater fixing system are sequentially fixed and connected from top to bottom, and the height of the light path system and the wave dissipation system is adjusted through the underwater fixing system with the rise and fall of the water surface, improving the applicability of the device. The device has the characteristics of simple structure, convenient operation, good performance, easy installation and recycling, etc. It can effectively reduce the adverse effects of insufficient underwater light of the lake and wave disturbance on the growth of submerged plants.

The present application relates to a kind of underwater lighting lamp assembly for microalgae culture, further relates to the photobioreactor comprising using the underwater lighting lamp assembly.The underwater lighting lamp assembly of the present application can realize 360 ° light source layout, and also can integrate stirring and aeration device, realize the illumination, stirring and aeration of photobioreactor and other functions.The underwater lighting lamp assembly of the present application can promptly take away the heat generated by lamp, reduce the temperature of lamp tube, reduce the influence of high temperature on light emitting and its service life, also can reduce the heat transfer of lamp tube heat to microalgae culture solution, reduce the temperature rise of microalgae culture system.The hyperboloid stirring paddle and its paddle face gas distribution hole used, mixing is uniform, gas-liquid contact is sufficient, reduce the damage of stirring shear to algal cell, and stirring energy consumption is low.In addition, the underwater lamp assembly of the present application is simple in structure, can be directly applied to large microalgae culture container, form photobioreactor, and easily remove, scale expansion and component replacement.

The invention provides an underwater near-field sensing method and system based on a mechanical scanning sonar and an optical camera, and the method comprises the steps: obtaining echo data of the mechanical scanning sonar, and carrying out the preprocessing of the echo data, and obtaining sonar image data; after sonar image data is processed, a near-field acoustic boundary is obtained by combining near-field environment acoustic reflection propagation characteristics, and a real near-field boundary is further obtained; acquiring an optical image, and acquiring a near-field optical enhancement image based on an underwater light propagation model compensation and weight fusion image enhancement method; and synchronizing and outputting the near-field acoustic boundary and the near-field optical enhancement image by using a timestamp. Different sensing modes of acoustics and optics are combined, sonar focuses on geometric boundary and scale measurement, optics provides visual details and textures through double-branch multi-scale fusion of underwater light propagation compensation and non-blind sharpening, two paths of information are clear in positioning and do not interfere with each other, the system can obtain the sensing ability of structure contours and texture details at the same time, and the accuracy of the system is improved. Therefore, the identifiability and integrity of the near-field environmental elements are improved.

1. The name of the design product: underwater lamp. 2. The use of the design product: the design product is used for underwater lighting and decoration. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

1. Name of the designed product: underwater lamp (G1.5). 2. Use of the designed product: for underwater lighting. 3. Design points of the designed product: in shape. 4. Picture or photo best showing the design points: perspective view 1.

The utility model discloses a kind of high radiation-tolerant underwater lamps, belong to underwater lamp technical field, solve when needing to the environment of different positions below water surface is clearly collected, then it needs to adjust the irradiation angle of underwater lamp, and ensure that the angle of underwater lamp cannot appear the situation of shaking due to the impact of water flow, otherwise it can cause the problem of influence to the environment collection below water surface. Including lamp shell, and a plurality of lamp bodies are set on lamp shell, the back of the lamp shell is fixedly connected with a set of hinged frame. When the utility model adjusts the angle of underwater lamp, traction electromagnet is powered off, elastic push-pull rod pushes away limit rod from tooth groove, friction strip is displaced under waterproof electric push rod control, the convex of friction sleeve and friction wheel increases friction coefficient, realizes that transmission ratio increases, friction wheel drives hinged frame and lamp body to rotate, completes angle adjustment. After adjustment, traction electromagnet is powered on, pull limit rod and embed tooth groove, fixed turntable, prevent underwater lamp from being affected by water flow and shaking.

The utility model relates to the technical field of buoys, and particularly discloses a novel noctilucent seven-star buoy which comprises a buoy body, a light-emitting part and a needle type battery, the buoy body is made of light-proof materials, a transverse wire passing hole and a vertical assembling hole are formed in the buoy body, and the light-emitting part and the needle type battery are installed on the upper side and the lower side of the assembling hole respectively. The light-emitting part of the light-emitting part and the lower end of the needle type battery are exposed out of the buoy body, when the needle type battery is inserted into the assembling hole, the positive electrode and the negative electrode of the needle type battery make contact with the positive electrode pin and the negative electrode pin of the light-emitting part respectively, and the gravity center of the buoy body is located on the lower half portion of the buoy body. The underwater light pollution is effectively avoided while visual guidance is provided for a fisherman, disturbance to fish schools is reduced, the fishing success rate is increased, and the fishing experience of the fisherman is ensured.

The application discloses a solar landscape ultrasonic atomization light-shielding and algae-inhibiting floating island, which comprises a floating island body, a plurality of circumferential array arranged ultrasonic atomization nozzles, solar panels and winding mechanisms are installed on the outer side of the floating island body, and integrated control modules and propellers are respectively installed on the upper and lower sides of the floating island body; the ultrasonic atomization nozzles, the solar panels, the propellers and the winding mechanisms are electrically connected with the integrated control modules. The application utilizes solar energy to continuously provide power for the ultrasonic atomization nozzles, carries out ultrasonic atomization, and the atomized water droplets shield light, so that the underwater light intensity decreases and the photosynthesis intensity of algae is weakened, thereby achieving the purpose of inhibiting the growth of algae, and the application also has a certain landscape effect. When the counterweight balancing block is controlled by the winding mechanism and is wound by water grass, the rising pressure will push the folding piece to pop out the cross-shaped cutter, the cross-shaped cutter is cut off near the water grass in an instant, and the counterweight balancing block is conveniently recycled above the water surface.

This invention discloses an underwater target reflectance inversion method based on an underwater transmission model, comprising: acquiring the original digital values ​​of the underwater target collected by a hyperspectral camera; combining the built-in radiometric calibration parameters of the hyperspectral camera; converting the original digital values ​​into radiance based on the sensor pre-calibration response characteristics; physically modeling the water absorption effect, scattering effect, and path radiation effect during underwater light propagation to determine the linear mapping relationship between radiance and target reflectance; constructing a training radiative transmission model using a non-negative linear regression model; using a calibrated target with known reflectance as a sample to train the radiative transmission model between the original digital values ​​and the target reflectance, and solving for the mapping parameters between the two; and based on the original digital values ​​and mapping parameters of the underwater target to be reconstructed, using the trained radiative transmission model to invert and obtain the true reflectance of the target, thus completing the spectral reconstruction.

1. The name of the design product: underwater illuminating lamp (HS-YD060-F). 2. The use of the design product: the design product is used for underwater illumination. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The invention discloses a Bluetooth underwater lamp control system based on power line carrier waves, relates to the technical field of Bluetooth underwater lamps, and solves the problem that different types of interference sources such as power frequency harmonic interference and electromagnetic interference, multipath interference and the like cannot be accurately distinguished. According to the method, a calibration method of standard waveform generation-multi-position translation comparison-optimal coincidence ratio screening is adopted, non-coincident clutter bands of associated waveforms and standard waveforms are extracted, and accurate calculation of clutter frequencies is combined, so that power frequency harmonic interference and other types of interference can be accurately distinguished; the alarm signal is directly output for power frequency interference, and the frequency debugging process is triggered for non-power frequency interference, so that the limitation of a traditional one-cut anti-interference scheme is avoided, and the pertinence and efficiency of interference processing are improved.

1. Name of the designed product: pool underwater lamp (KK-UT90-SP). 2. Use of the designed product: pool underwater lighting. 3. Design points of the designed product: in shape. 4. Picture or photo that best shows the design points: perspective view.

The application discloses an underwater high-speed three-dimensional measurement method based on a stripe structured light, and relates to the technical field of underwater optical three-dimensional imaging. In the underwater operation scene of the FPP system, three-step phase shift sinusoidal fringes and a Gray code pattern are projected to a measured object, wrapped phase 1, wrapped phase 2 and an auxiliary order phase are calculated respectively, light intensity information received by a camera is analyzed, and water body influence analysis is conducted in combination with an underwater light transmission model. The initial wrapped phase divides the order phase into a stable region and a non-stable region, the stable region is combined with the wrapped phase 1 to calculate a preliminary absolute phase, and the non-stable region is combined with the wrapped phase 2 to calculate an absolute phase through an island processing method. The application adopts a phase two-division complementary decoding strategy, effectively identifies and corrects a jump error region in the order phase by constructing complementary wrapped phase information, corrects the error order phase by using a noise correction algorithm, and significantly improves the measurement stability in a dynamic scene.

An underwater LED light for use in high ambient pressure environments having a housing, a transparent pressure-bearing window, an MCPCB having one or more LEDS, and a multilayer stack of spacers for carrying loads applied to the window to the MCPCB and to the housing.

The present disclosure provides a positioning method of an autonomous underwater vehicle and an underwater beacon positioning system. The positioning method comprises the following steps: receiving positioning code information sent by a positioning beacon, and analyzing a beacon clock pulse and beacon position information included in the positioning code information; determining a target time difference between each beacon clock pulse and a clock signal corresponding to a data receiving device; determining a target distance between the autonomous underwater vehicle and a positioning beacon corresponding to the target time difference according to the target time difference; and determining target position information corresponding to the autonomous underwater vehicle according to each target distance and the beacon position information of the corresponding positioning beacon. The present disclosure can realize high-precision and wide-coverage real-time positioning of the autonomous underwater vehicle, effectively eliminate drift errors of an inertial navigation system, and improve the real-time performance and reliability of acoustic positioning.

1. The name of the design product: lamp cover (K300). 2. The use of the design product: for swimming pool underwater lamp. 3. The design points of the design product: in the combination of shape and pattern. 4. The picture or photo that best shows the design points: perspective view.

An underwater light device is disclosed. The underwater light device comprises at least one source of white light and at least one source of colored light. The light produced by the combination of the at least one source of white light and the at least one source of colored light has an altered color temperature value compared to the light produced by only the at least one source of white light. For example, the combination of the at least one source of white light and the at least one source of colored light may have a color temperature value that is decreased by about 1,000 kelvin to about 2,000 kelvin compared to light produced only by the at least one source of white light.

The invention provides an anti-electric shock fountain system and a management method. The system comprises a water spraying unit in a fountain pool, a power supply of the water spraying unit, and an active protection chain composed of an underwater laser detection unit, a laser emission terminal, a control unit and a power supply control unit. The underwater laser detection unit is arranged below the water surface around the water spraying unit, and laser signals emitted by the underwater laser detection unit are folded back through the pool wall laser emission terminal to form an annular closed detection light path surrounding the water spraying unit; the control unit monitors the on-off state of the light path and outputs a control signal when the light path is blocked; the power supply control unit responds to the signal and immediately cuts off a water spraying unit power supply loop. Personnel invasion is actively perceived through an underwater light path, a power supply is quickly cut off before an electric shock risk occurs, and the problem of lagging of traditional leakage protection is solved; water mist interference is avoided through underwater detection, dead-corner-free protection is achieved through annular layout, and safe anti-electric-shock measures are provided for a fountain area.

The application discloses a railway bridge structure underwater image enhancement and color correction method, based on a multiscale retina enhancement and color recovery algorithm combined with histogram equalization, through multi-module collaborative processing, realizing integrated optimization of detail enhancement, contrast improvement and color correction, comprising the following steps: S1, acquiring an underwater image of a railway bridge structure and performing multiscale decomposition and fusion on the underwater image of the railway bridge structure to obtain a multiscale decomposition and fusion image; S2, performing histogram equalization fusion on the multiscale decomposition and fusion image; S3, based on an underwater light attenuation physical model, performing color recovery, compensation and correction on the reflection component in the equalized histogram; S4, performing dynamic scale selection, so as to adaptively adjust the weight of the multiscale decomposition and fusion in the S1 step according to the turbidity index of the image itself; and S5, performing light spot suppression processing. Corresponding systems, electronic devices and computer readable storage media are also disclosed.