The invention discloses an underwater target measuring device based on line structured light. Theunderwater target measuring device comprises a main control computer, an underwater vehicle, an underwater binocular camera arranged at the front upper part of the underwater vehicle, a line structured light system and an underwater lighting system; optical filters are arranged in front of two lenses of the underwater binocular camera; a linear structured light system is arranged between the two lenses, the linear structured light system comprises at least one linear laser and a point laser which are arranged in parallel, and the underwater lighting system adopts a blue-green light lighting lamp. The underwater binocular camera, the line structure light system and the underwater lighting system are all in communication connection and electric connection with the main control computer through data lines. The blue-green light supplement lamp is adopted to overcome the difficulty that an underwater target in a dark water environment is difficult to identify, the linear structured light is utilized to solve the problem of accurate attitude determination and positioning of the underwater operation target, the blue-green light supplement lamp and the linear structured light supplement each other, and finally, the underwater mechanical arm can autonomously grab the target.
本发明公开一种基于线结构光的水下目标测量装置,包括主控计算机、水下航行器,布置在水下航行器的前上方的水下双目相机、线结构光系统和水下照明系统,所述水下双目相机的两个镜头前安装滤光片,所述两个镜头之间安装线结构光系统,所述线结构光系统包括并列排布的至少一个一字线激光器和一个点激光器,所述水下照明系统采用蓝绿光照明灯,所述水下双目相机、线结构光系统和水下照明系统均通过数据线与主控计算机通信连接和电连接。本发明该采用蓝绿补光灯克服了昏暗的水环境中水下目标难以识别的困难,利用线结构光解决了水下作业目标精确定姿定位问题,两者相辅相成,最终可以实现水下机械臂对目标的自主抓取。
Underwater target measuring device and method based on linear structured light
一种基于线结构光的水下目标测量装置及方法
2022-02-25
Patent
Electronic Resource
Chinese
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