CN109870707B - Pyramid-shaped laser synchronous scanning imaging device for underwater vehicle - Google Patents
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Abstract
本发明公开了一种用于水下航行器的棱锥形激光同步扫描成像装置，包括激光发射模块、棱锥形反射棱镜、电磁方位检测模块、主控制模块、激光接收模块、透光窗口和电机，透光窗口固定于水下航行器的舱体底面，电机通过电机支架固定于舱体内壁，棱锥形反射棱镜底面固连在电机的输出轴上，感应磁片镶嵌在电机的输出轴侧壁面上，磁传感器镶嵌在舱体内壁上，且磁传感器位于感应磁片的正上方。本发明实现系统小型化，同时减小水下介质扩散和衰减效应，提高水下激光扫描成像光学分辨率，提高系统的成像范围。
The invention discloses a pyramid-shaped laser synchronous scanning imaging device for underwater vehicles, comprising a laser emission module, a pyramid-shaped reflection prism, an electromagnetic orientation detection module, a main control module, a laser receiving module, a light-transmitting window and a motor, The light-transmitting window is fixed on the bottom surface of the cabin of the underwater vehicle, the motor is fixed on the inner wall of the cabin through the motor bracket, the bottom surface of the pyramid-shaped reflecting prism is fixed on the output shaft of the motor, and the induction magnetic sheet is embedded on the side wall of the output shaft of the motor. , the magnetic sensor is embedded on the inner wall of the cabin, and the magnetic sensor is located just above the induction magnetic sheet. The invention realizes the miniaturization of the system, reduces the diffusion and attenuation effects of the underwater medium at the same time, improves the optical resolution of underwater laser scanning imaging, and improves the imaging range of the system.
Description
Technical Field
The invention belongs to the field of scanning imaging, and particularly relates to a pyramid-shaped laser synchronous scanning imaging device for an underwater vehicle.
Background
The underwater vehicle is used as important equipment for observing the marine environment, and can measure the submarine topography by using photoelectric imaging equipment, wherein the optical detection technology comprises a laser synchronous scanning imaging technology. The laser synchronous scanning imaging technology is mainly characterized by high data sampling rate, high resolution, high precision and the like. The method utilizes the laser ranging principle, records coordinate information and reflectivity information of a large number of dense points on the surface of a measured object, and completely collects data into a computer, thereby quickly reconstructing the drawing data of the measured object.
Although the initial concept of laser synchronous scanning systems arose in the early 70 s of the 20 th century, real research began in a series of development contracts with the U.S. navy in the early 80 s and 90 s of the 20 th century. In 1988, spectrum engineering limited began to develop a bi-conical polyhedral mirror system as an underwater imaging device, which has a great progress in working distance, field of view and image quality over the conventional imaging systems. For 20 years, laser line scanner technology was widely recognized in the industry as the best method for obtaining optical identification quality images of underwater environments. The underwater laser line scanner imaging system can adopt a single-facet scanning reflector line scanner, a double-cone line scanner, a single-hexahedron reflector line scanner and the like. Each small reflecting surface of the rotating polygonal mirror reflects the laser beam toward the target area and a second larger sized rotating polygonal mirror reflects a portion of the returned beam to the detector.
The characteristic that must be possessed to obtain a high contrast image is that the illumination cone has a minimum amount of overlap with the instantaneous field of view of the receiver in front of the target surface. For this purpose, the receiver is kept constant over a defined instantaneous field of view. In addition, the collection aperture must be large enough to collect a sufficient number of photons to extend the imaging range of the system. Since the number of photons collected is proportional to the square of the diameter of the incident beam aperture, typical values for the actual aperture of the beam are on the order of more than 50 mm. Therefore, the mirrors required for the scanner can be large, affecting the overall size of the system.
The single hexahedron mirror line scanner corresponds to the change in target distance by adjusting two symmetrically disposed turning mirrors. The wide design specification is to be compatible with the requirement of a wide-width scanner on a small sensitive area detector and various target distances. The scanning system uses a single hexahedral mirror and two mirror steering assemblies to synchronize the laser transmission path with the path returned to the photomultiplier tube through the entire line scanning system. When the position of one small reflecting surface just enables the laser beam to propagate along the transmission light path, the position of the other small reflecting surface just enables the laser beam along the signal light path of the detector to be reflected to the telecentric condenser system and the aperture of the field diaphragm, and therefore the instantaneous field of view of the receiver is controlled.
Since only a small portion of the laser beam returns to the detector during its transmission from the source to the target area, the performance of the underwater laser scanning imaging device is affected by the effects of medium particle diffusion and attenuation. To minimize the common scattering range, the design of the laser line scanner system requires a small depth of field (DOF), typically less than a few meters. The depth of field is generally a function of the following parameters: the spacing of the light source and the receiver; the optical path length from the light source to the target and back again; beam divergence; receiver acceptance angle.
The laser scanner scheme is applied to the scanning and imaging process of an underwater vehicle, the working space required by the double-cone-shaped polyhedron or the single-hexahedron reflecting prism is large, and the light source and the receiver cannot avoid certain distance, so that the length of an emission light path and a return light path is increased, medium diffusion and attenuation effects are large, and the performance of the underwater laser scanning and imaging device is affected. Therefore, it is of great significance to find a laser scanning device structure which can reduce the working space and shorten the distance between the light source and the receiver so as to reduce the diffusion and attenuation effects of the underwater medium.
Disclosure of Invention
The invention aims to provide a pyramid laser synchronous scanning imaging device for an underwater vehicle, which adopts a pyramid polyhedral laser synchronous scanning imaging device to realize laser scanning imaging for the underwater vehicle, realizes system miniaturization, reduces diffusion and attenuation effects of an underwater medium, improves the optical resolution of underwater laser scanning imaging and improves the imaging range of the system.
The technical solution for realizing the purpose of the invention is as follows: a pyramid laser synchronous scanning imaging device for an underwater vehicle comprises a laser emitting module, a pyramid reflecting prism, an electromagnetic azimuth detection module, a main control module, a laser receiving module, a light-transmitting window and a motor, wherein the electromagnetic azimuth detection module comprises a magnetoelectric sensor and an induction magnetic sheet; the light-transmitting window is fixed on the bottom surface of a cabin body of the underwater vehicle to ensure the cabin body to be sealed, the laser emission module, the pyramid-shaped reflecting prism, the electromagnetic azimuth detection module, the main control module, the laser receiving module and the motor are all arranged in the cabin body of the underwater vehicle, and the laser emission module, the electromagnetic azimuth detection module, the main control module, the laser receiving module and the motor do not shield the light-transmitting window; the motor is fixed on the inner wall of the cabin body through a motor support, the bottom surface of the pyramid-shaped reflecting prism is fixedly connected to an output shaft of the motor, the sensing magnetic sheet is embedded on the side wall surface of the output shaft of the motor, the magnetic sensor is embedded on the inner wall of the cabin body and is positioned right above the sensing magnetic sheet to detect the azimuth angle information of a target, and the magnetic sensor, the laser emitting module, the laser receiving module and the motor are respectively connected with the main control module; the laser emission module is fixed right in front of the vertex of the pyramid-shaped reflection prism, so that emitted laser can be irradiated on each triangular side face of the pyramid-shaped reflection prism, and laser beams can be emitted and received through the light-transmitting window after being reflected by the pyramid-shaped reflection prism; the laser receiving module is positioned right below the laser transmitting module, and the main control module is fixed in front of the receiving module and at the front end of the cabin body and is used for processing signals.
Compared with the prior art, the invention has the remarkable advantages that:
(1) the invention adopts the pyramid laser synchronous scanning imaging device, and the pyramid reflecting prism realizes the reflection of the emitted laser and the reflection of the echo, reduces the distance between the light source and the receiver, simplifies the system volume and is beneficial to the realization of the miniaturization of the system.
(2) A single laser and a single photoelectric detector are matched with a pyramid-shaped reflecting prism to realize the emission and the reception of laser, the inclination angle of each surface of the pyramid-shaped reflecting prism is 45 degrees, a single periodic scanning light spot is a straight line segment, and the scanning track is simplified.
Drawings
Fig. 1 is a schematic structural diagram of a pyramid-shaped laser synchronous scanning imaging device for an underwater vehicle.
Fig. 2 is an electrical connection diagram of the modules of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
With reference to fig. 1, a pyramid laser synchronous scanning imaging device for an underwater vehicle comprises a laser emitting module 1, a pyramid reflecting prism 2, an electromagnetic azimuth detecting module, a main control module 4, a laser receiving module 5, a light-transmitting window 6 and a motor 8, wherein the electromagnetic azimuth detecting module comprises a magnetoelectric sensor 3 and an induction magnetic sheet 7. The light-transmitting window 6 is fixedly connected to the bottom surface of a cabin body of the underwater vehicle through threads to ensure the cabin body to be sealed, the laser emitting module 1, the pyramid reflecting prism 2, the electromagnetic azimuth detection module, the main control module 4, the laser receiving module 5 and the motor 8 are all arranged in the cabin body of the underwater vehicle, and the laser emitting module 1, the electromagnetic azimuth detection module, the main control module 4, the laser receiving module 5 and the motor 8 do not shield the light-transmitting window 6. The motor 8 is fixed on the inner wall of the cabin body through a motor support, the bottom surface of the pyramid-shaped reflecting prism 2 is fixedly connected to an output shaft of the motor 8, and the revolution of the motor 8 loaded with the pyramid-shaped reflecting prism 2 is more than or equal to 30000 r/min. The induction magnetic sheet 7 is inlaid on the side wall surface of the output shaft of the motor 8, the magnetic sensor 3 is inlaid on the inner wall of the cabin body, the magnetic sensor 3 is positioned right above the induction magnetic sheet 7 and is used for detecting the azimuth angle information of a target, and the magnetic sensor 3, the laser emitting module 1, the laser receiving module 5 and the motor 8 are respectively connected with the main control module 4. Laser emission module 1 is fixed in the positive place ahead in the summit of pyramid reflecting prism 2, guarantees that the transmission laser can shine on each triangle-shaped side of pyramid reflecting prism 2, and the laser beam can be through the back of pyramid reflecting prism 2 reflection, transmits and receives through light-transmitting window 6. The laser receiving module 5 is positioned right below the laser emitting module 1, and the main control module 4 is fixed in front of the receiving module 5 and at the front end of the cabin body for processing signals.
The bottom surface of the pyramid-shaped reflecting prism 2 is a regular polygon, the inclination angle of each triangle side surface is 45 degrees, the central axis of the pyramid-shaped reflecting prism 2 is parallel to the axis of the light-transmitting window 6, the structural parameters of the pyramid-shaped reflecting prism 2 comprise the number k of the triangle side surfaces, the side length l (mm) of the regular polygon and the prism inclination angle α (rad), the wide scanning angle of the conical polyhedron laser synchronous scanning imaging device for the underwater vehicle is within 70 degrees, and meanwhile, the scanning angle theta and the number k of the prism side surfaces have the following relation:
θ＝2π/k(2)
when α is 45 °, the reflected beam of the emitted laser beam reflected by the prism 2 forms a series of scanning points arranged in a straight line on the detection plane perpendicular to the central axis of the prism 2, the side length l of the regular polygon of the prism 2 needs to be set in cooperation with the structures of the laser emitting module 1 and the laser receiving module 5, so as to ensure that the reflecting surface of the prism 2 can reflect the emitted laser beam of the laser emitting module 1 and reflect the echo beam to the laser receiving module 5.
Combine fig. 2, laser emission module 1 includes collimating lens, solid laser and laser emission circuit, and solid laser and laser emission circuit are connected, and laser emission circuit is connected with main control module 4, and collimating lens is located between solid laser and pyramid reflecting prism 2, and solid laser, collimating lens are parallel with pyramid reflecting prism 2's center pin, can shine on each triangle-shaped side of pyramid reflecting prism 2 after guaranteeing the laser of solid laser emission through collimating lens.
The laser receiving module 5 comprises a laser receiving circuit, a photoelectric detector and a receiving lens, the laser receiving circuit is respectively connected with the photoelectric detector and the main control module 4, the receiving lens is positioned between the photoelectric detector and the pyramid reflecting prism 2, the photoelectric detector and the receiving lens are parallel to the central axis of the pyramid reflecting prism 2, and the target reflected light beam is guaranteed to be detected by the photoelectric detector after being reflected by the pyramid reflecting prism 2 and then passing through the receiving lens.
The main control module 4 mainly controls the working states of the laser emitting circuit, the laser receiving circuit and the electromagnetic azimuth detection module, processes signals output by the receiving circuit and the electromagnetic azimuth detection module to obtain target azimuth information, and combines azimuth information of a series of scanning points to obtain a scanning image of the underwater terrain.
The main control module 4 controls the motor 8 to start working, and the output shaft of the motor 8 drives the pyramid-shaped reflecting prism 2 to rotate at a high speed. The main control module 4 drives the laser emission circuit to control the solid laser to emit laser beams which are collimated by the collimating lens and then irradiate the triangular side face of the rotating pyramid-shaped reflecting prism 2, the laser beams reflected by the pyramid-shaped reflecting prism 2 pass through the light-transmitting window 6, so that a series of laser points are reflected and then irradiate the seabed or the surface of a target, and the laser scanning light can cover an area with the width of D and the angle of theta along with the rotation of the motor 8. The target reflected light beam irradiates the triangular side surface of the pyramid-shaped reflecting prism 2 through the light-transmitting window 6, the reflected laser beam is converged on the photosensitive surface of the photoelectric detector through the receiving lens, is converted into an electric signal in the photoelectric detector, and is amplified and shaped through the laser receiving circuit and transmitted to the main control module 4. In the aspect of azimuth angle detection, a magnetoelectric detection method provided in the applied patent wind energy-driven laser azimuth detection device for simple guidance missile introduction (patent application number 201010050277.7) is adopted, an induction magnetic sheet 7 rotates along with an output shaft of a motor 8 to generate an alternating magnetic field, a magnetic sensor 3 is used for measuring a magnetic field change signal, a magnetoelectric signal is output and is input to a main control module 4 to record a rotation period, and current azimuth angle information is judged.
The detection width D of the synchronous scanning is determined by the scanning angle theta and the flying height h of the underwater vehicle, and has the following relationship:
detection speed S (m) of laser synchronous scanning detection system2/S) is related to the synchronous sweep frequency f and the speed v of the aircraft, satisfying the relationship S ═ vD/n. The detection resolution d of the laser synchronous scanning detection system is determined by the number of laser points in a single line scanning, and satisfies d-DZ/f with the synchronous scanning frequency f and the pulse repetition frequency Z.
The laser synchronous scanning working process comprises the following steps:
when the underwater vehicle reaches a certain depth of field, the motor 8 starts to work, and the output shaft of the motor 8 drives the induction magnetic sheet 7 and the pyramid-shaped reflecting prism 2 to rotate. The solid-state laser of the laser transmitter module 1 generates a pulsed laser signal with a frequency of 10Khz and a pulse width of 20 ns. Pulse laser signals emitted by the solid laser are collimated by the collimating lens to form laser beams with small divergence angles (the divergence angle in the horizontal direction is 2mrad, and the divergence angle in the vertical direction is 4.5 mrad). The laser beam is emitted to the pyramid-shaped reflecting prism 2 rotating with the motor 8. As the reflecting prism 2 rotates at high speed, a series of laser spots are reflected and pass through the transparent window 6 to the sea floor or target surface, and the reflecting prism 2 scans a row of spots on the target surface for each side of the rotating prism. The scanning light spot generates an echo light beam through target diffuse reflection, the echo light beam is transmitted for a certain distance through an underwater environment, passes through the light-transmitting window 6 and then falls on the pyramid-shaped reflecting prism 2, and is converged on the photosensitive surface of the photoelectric detector of the laser receiving module 5 after being reflected, and the reflected echo light beam is converted into an electric signal in the photoelectric detector. The magnetic sensor 3 outputs a magneto-electric signal. And after the azimuth angle signal and the echo signal are processed in the main control module, obtaining target azimuth information, and combining the azimuth information of a series of scanning points to obtain a scanning image of the underwater terrain.
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| WO2021031207A1 (en) * | 2019-08-22 | 2021-02-25 | SZ DJI Technology Co., Ltd. | Motors for driving multi-element optical scanning devices, and associated systems and methods |
| CN111678507B (en) * | 2020-08-12 | 2020-11-20 | 上海彩虹鱼海洋科技股份有限公司 | Underwater laser coordinate device, system and operation method thereof |
| CN112462512B (en) * | 2020-11-11 | 2022-11-22 | 山东科技大学 | Airborne lidar scanning mirror device, system and scanning method |
| CN115585808B (en) * | 2022-06-10 | 2025-05-27 | 电子科技大学 | A laser-guided underwater autonomous vehicle positioning and docking method |
| CN115407362B (en) * | 2022-11-01 | 2023-02-14 | 中国科学院西安光学精密机械研究所 | An underwater synchronous scanning imaging system and method with coaxial transmission and reception |
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| US7219032B2 (en) * | 2002-04-20 | 2007-05-15 | John Louis Spiesberger | Estimation algorithms and location techniques |
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|---|---|---|---|---|
| CN1677050A (en) * | 2004-03-31 | 2005-10-05 | 株式会社电装 | Object detector of vehicle |
| CN108445498A (en) * | 2018-03-15 | 2018-08-24 | 中国工程物理研究院电子工程研究所 | A kind of laser circumferential direction Non-scanning mode target detection unit |
Non-Patent Citations (2)
| Title |
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| 同步扫描水下激光成像的工作范围;何大华;《舰船科学技术》;20180630;第40卷(第6期);正文第113-116页 * |
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