Underwater laser scanning reconstruction system and method based on manned submersible

Abstract

The invention discloses an underwater laser scanning reconstruction system based on a manned submersible and a method thereof. The system comprises a blue laser, a CCD camera, a control unit, an imageprocessing unit, a manned submersible attitude information acquisition unit and a data fusion unit. The blue laser and CCD camera are connected with the control unit. The input end of the image processing unit is connected with the control unit, and the output end of the image processing unit is connected with the data fusion unit. The data fusion unit fuses the coordinate information of pixel points and attitude information of manned submersible vehicle sent by the image processing unit so as to realize the accurate three-dimensional reconstruction. As the laser is taken as a starting point,laser line light source and image processing technology are used, at the same time, it can greatly reduce the influence of laser scattering and refraction phenomena on detection. At the same time, itcan realize the precise detection of submarine micro-topography by data fusion with attitude sensor of manned submersible. It can be widely used in military and scientific research fields.

Description

technical field [0001] The invention relates to an underwater laser scanning reconstruction system and method based on a manned submersible, which is applied to the field of detection and detection of underwater carrying equipment such as a manned submersible. Background technique [0002] The 21st century is the century of the ocean. Faced with a series of problems related to human survival and development, such as population expansion, shortage of land resources, deterioration of the ecological environment, and climate change, the importance of the ocean is becoming more and more obvious. Strengthening research on oceans and global changes, marine environment and ecology, doing a good job in marine protection, and promoting the sustainable development and utilization of marine energy and resources are the inevitable choices for human beings to expand their living space and maintain their survival and development. [0003] As an important scientific research tool for deep-s...

AI Technical Summary

Problems solved by technology

At present, in the process of deep sea exploration, the close-range detection capability of manned submersibles is poor. At present, side-scan sonar is mostly used for seabed detection and reconstruction. Not enough, only the general appearance of the seabed terrain can be drawn, resulting in the lack of many details

[0004]The existing relatively mature laser scanning system is based on the principle of laser ranging for 3D reconstruction. Although it has a high level of accuracy on land, due to the following reasons : (1) The underwater environment is complex, and it is very difficult to set parameters such as laser light source and camera; (2) The laser will have scattering and refraction in water, which will greatly reduce its accuracy and even fail to work (3) Devices designed for 3D reconstruction based on the principle of laser ranging are generally expensive, have higher requirements for light sources, cameras, etc., and have higher costs; existing laser scanning reconstruction devices cannot Positive effect and impact of underwater detection and reconstruction

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