CN116538957A - Underwater laser three-dimensional scanning system and method with changeable laser stripes - Google Patents
Underwater laser three-dimensional scanning system and method with changeable laser stripes Download PDFInfo
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- CN116538957A CN116538957A CN202310756816.6A CN202310756816A CN116538957A CN 116538957 A CN116538957 A CN 116538957A CN 202310756816 A CN202310756816 A CN 202310756816A CN 116538957 A CN116538957 A CN 116538957A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims abstract description 55
- 238000003384 imaging method Methods 0.000 claims abstract description 29
- 238000009826 distribution Methods 0.000 claims abstract description 5
- 238000004148 unit process Methods 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 15
- 239000004973 liquid crystal related substance Substances 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 15
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- 238000005516 engineering process Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an underwater laser three-dimensional scanning system and method with variable laser stripes. The device consists of an underwater laser emission unit, an underwater imaging unit, a control unit and a sealed cabin. The laser device emits point laser, light spots or stripes with different shapes and distribution can be formed on an image surface through different diffraction optical elements on the rotating wheel, an image sequence of the laser light spots or stripes on the surface of the target object is collected through the underwater imaging unit, the control unit processes the image to extract the laser points in the image, and the three-dimensional space coordinates of the surface of the target object are calculated based on the laser triangulation principle, so that the contour extraction of the space object in the scanning range is completed. The invention can emit different laser stripes aiming at different underwater environments, effectively utilizes laser energy, improves the scanning efficiency and the detection distance of a laser scanning system, has stronger adaptability and applicability to the environment, and has very important engineering value and practical significance.
Description
Technical Field
The invention relates to an underwater laser three-dimensional scanning system and an underwater laser three-dimensional scanning method in the field of underwater three-dimensional scanning, in particular to an underwater laser three-dimensional scanning system and an underwater laser three-dimensional scanning method with changeable laser stripes.
Background
The underwater laser three-dimensional scanning technology can detect the three-dimensional profile shape of an underwater target object, more intuitively reflects the actual situation of the target object, has great technical advantages in the fields of ocean engineering safety detection, submarine pipeline detection, submarine resource exploration and development, underwater archaeology and the like, and is an important means of ocean intellectualization and informatization.
However, different laser scanning fringes are required to balance the scanning efficiency and detection distance of the laser in facing different underwater environments. Because the total power of the laser emitter is fixed, the larger the area of the laser stripe on the image surface is, the more the laser stripe covers the target object, so that the scanning efficiency is higher, but the smaller the energy of the laser stripe per unit area is, the weaker the penetrating power under turbid water is, and the smaller the detection distance is. Therefore, the multi-line laser stripes and the grid laser stripes are suitable for low-turbidity water areas, and the lattice laser and the single-line laser are suitable for high-turbidity water areas.
Aiming at underwater laser three-dimensional scanning, patent CN107907048A discloses a binocular stereoscopic vision three-dimensional measurement method based on line structure light scanning, and a three-dimensional scanning system based on line laser is provided. Patent CN112284294a discloses an underwater multiband cross linear array laser three-dimensional scanning system, which proposes a cross linear array laser-based three-dimensional scanning system. Patent CN113534183a discloses an underwater three-dimensional scanning device based on reticle scanning, which proposes an underwater three-dimensional scanning device based on reticle laser. However, the above methods are only single mode fixed laser stripes, and are difficult to adapt to various underwater environments.
Disclosure of Invention
Aiming at the problem of poor environmental applicability of the existing underwater three-dimensional scanning, the invention provides an underwater laser three-dimensional scanning system and method with variable laser stripes, different diffraction optical elements and rotating wheels are utilized to emit different laser stripes aiming at different underwater environments, the laser energy is effectively utilized, the scanning efficiency and the detection distance of the laser scanning system are improved, and the underwater target three-dimensional scanning is realized by combining an image processing algorithm. The method has stronger adaptability and applicability to the environment, and has very important engineering value and practical significance.
In order to realize the technical functions, the invention adopts the following technical scheme:
1. underwater laser three-dimensional scanning system with changeable laser stripes
Comprising the following steps:
the underwater laser emission unit is used for generating light spots or stripes with different shapes and distributions;
the underwater imaging unit is used for collecting an image sequence of the surface of the target object covering the light spots or the stripes;
the control unit is used for receiving the image sequence, calculating and obtaining the relative coordinates of each point on the surface of the target object and the underwater imaging unit according to the image sequence, and calculating and obtaining the three-dimensional space coordinates of the surface of the target object by combining the inertial navigation data obtained by the control unit and the relative coordinates;
the sealed cabin, the underwater laser emission unit, the underwater imaging unit and the control unit are all arranged in the sealed cabin.
The underwater laser emission unit comprises a point laser, a collimating mirror, a rotating wheel, a diffraction optical element, a rotating wheel driving structure and a rotating angle detection mechanism;
the rotating wheel is connected with the rotating wheel driving structure, the rotating wheel driving structure is connected with the rotating angle detecting mechanism, the rotating wheel driving structure, the rotating angle detecting mechanism and the point laser are connected with the control unit, a plurality of diffraction optical elements are installed on the rotating wheel, the diffraction optical elements are arranged at intervals along the circumference, and laser emitted from the point laser is emitted from the sealed cabin after passing through the collimating mirror and one of the diffraction optical elements.
The plurality of diffractive optical elements are different kinds of diffractive optical elements.
The diffractive optical element is an optical element that causes a laser to project a line laser, a reticle laser, a laser lattice, a multi-line laser, a multi-ring laser, and a grid laser pattern.
The underwater imaging unit comprises an optical lens, a liquid crystal tunable filter and a camera; the optical lens, the liquid crystal tunable filter and the camera are sequentially arranged on the same optical axis, the liquid crystal tunable filter and the camera are connected with the control unit, and the optical lens is arranged at the outlet of the sealed cabin.
The control unit comprises a storage module, a power module and a miniature industrial personal computer; the micro industrial personal computer is connected with the underwater laser emission unit and is used for controlling the emission of laser with different stripes; the micro industrial personal computer is also connected with the underwater imaging unit and used for controlling shooting and receiving image sequences;
the storage module is connected with the micro industrial personal computer; the micro industrial personal computer is connected with the underwater laser emission unit and the power supply module.
The underwater laser emission unit, the underwater imaging unit and the control unit are arranged in one sealed cabin or the underwater laser emission unit, the underwater imaging unit and the control unit are arranged in a plurality of sealed cabins separately.
The sealed cabin comprises a metal cylinder, a front end cover and a rear end cover, wherein the metal cylinder is connected with the front end cover and the rear end cover through O-shaped rings.
2. Underwater laser three-dimensional scanning method with changeable laser stripes
The underwater laser three-dimensional scanning system adopting the variable laser stripes comprises the following steps:
s1: placing an underwater laser three-dimensional scanning system in a water area near an underwater target, selecting an optimal laser stripe mode according to different water turbidity degrees and characteristics of the underwater target, and simultaneously sending a scanning instruction to a control unit by an upper computer of a carrier;
s2: the control unit sets a laser stripe mode of the underwater laser emission unit by rotating a rotating wheel of the underwater laser emission unit, the underwater laser emission unit emits laser, and the laser beam sequentially penetrates through a collimating mirror and a diffraction optical element on the rotating wheel to form a beam of a target stripe on an image plane;
s3: the underwater imaging unit shoots underwater images and transmits image data to the control unit;
s4: the control unit processes the image data in real time, specifically, the image data is enhanced, then the light point coordinate data of the laser is extracted based on the enhanced image data, and then the three-dimensional space coordinate of the surface of the target object is obtained by calculation according to the light point coordinate data of the laser based on the laser triangulation principle and is uploaded to the upper computer in real time;
s5: detecting the turbidity of the current water body and the characteristics of the underwater target object, judging whether the laser stripe mode needs to be changed, repeating S2-S4, and continuously scanning the whole view of the target object until the three-dimensional information of the surface of the target object is obtained.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the invention utilizes different diffraction optical elements and rotating wheels, can emit different laser stripes aiming at different underwater environments, effectively utilizes laser energy, improves the scanning efficiency and the detection distance of a laser scanning system, has stronger adaptability to the environment, for example, adopts linear laser stripes or grid laser stripes to obtain larger scanning efficiency in the face of a low turbid water area, and adopts dot matrix laser or single line laser to improve the laser penetration capacity in muddy water in the face of a high turbid water area;
according to the invention, the rotating angle of the rotating wheel is detected by adopting the rotating angle detection mechanism, and a negative feedback control system is formed by the rotating angle detection mechanism and the rotating wheel driving structure, so that the precision of the rotating wheel system is improved, and better imaging is facilitated;
the diffraction optical element in the rotating wheel can be selected or customized by itself to present various laser stripes, and is convenient to install and replace, so that better applicability is obtained;
the invention has the advantages of high precision and small volume, and is suitable for underwater installation, deployment and operation;
the invention adopts the laser three-dimensional scanning technology to directly obtain the three-dimensional space information corresponding to the shot target object, and can obtain the actual size of the high-precision target object.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic diagram of the overall structure of an underwater laser three-dimensional scanning system with variable laser stripes according to an embodiment of the present invention.
Fig. 2 is a schematic plan view of a rotor wheel according to an embodiment of the present invention.
Fig. 3 is a schematic view showing different laser stripes projected on an imaging surface by laser beams passing through different diffractive optical elements according to an embodiment of the present invention.
Fig. 4 is a flow chart illustrating a method of underwater laser three-dimensional scanning of variable laser stripes according to an embodiment of the present invention.
In the figure: 1. a rotating wheel; 2. a collimator lens; 3. a rotation angle detection mechanism; 4. a wheel driving structure; 5. a spot laser; 6. an optical lens; 7. a liquid crystal tunable filter; 8. a camera; 9. a storage module; 10. a power module; 11. a miniature industrial personal computer; 12. sealing the cabin; 13. a mounting groove; 14. positioning a sensor; 15. a diffractive optical element.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical solution of the present invention will be further described below, but the scope of the present invention is not limited to the embodiment examples.
As shown in fig. 1 and 2, the underwater laser three-dimensional scanning system includes:
the underwater laser emission unit is used for generating light spots or stripes with different shapes and distributions; the laser emits point laser, and light spots or stripes with different shapes and distribution are formed on the image surface through different diffraction optical elements on the rotating wheel to scan the surface of a target object;
the underwater imaging unit is used for collecting an image sequence of covered light spots or stripes on the surface of the target object;
the control unit is used for receiving the image sequence, calculating and obtaining the relative coordinates of each point on the surface of the target object and the underwater imaging unit according to the image sequence, and calculating and obtaining the three-dimensional space coordinates of the surface of the target object by combining the inertial navigation data and the relative coordinates obtained by the control unit;
the sealed cabin 12, the underwater laser emitting unit, the underwater imaging unit and the control unit are all disposed inside the sealed cabin.
The underwater laser emission unit comprises a point laser 5, a collimating mirror 2, a rotating wheel 1, a diffraction optical element 15, a rotating wheel driving structure 4 and a rotation angle detection mechanism 3;
the rotating wheel 1 is connected with the rotating wheel driving structure 4, the rotating wheel driving structure 4 is connected with the rotating angle detecting mechanism 3, the rotating wheel driving structure 4, the rotating angle detecting mechanism 3 and the point laser 5 are connected with the micro industrial personal computer 11 of the control unit, a plurality of diffraction optical elements 15 are arranged on the rotating wheel 1 at equal intervals along the circumference, laser emitted from the point laser 5 passes through the collimating lens 2 and one of the diffraction optical elements 15 and then is emitted from the transparent front end cover of the sealed cabin 12, and the point laser 5, the collimating lens 2 and the current diffraction optical element are sequentially arranged along the optical axis. Rotating the wheel 1 by the wheel drive structure 4 to switch different diffractive optical elements 15; the rotation angle of the rotating wheel 1 is detected by the rotation angle detection mechanism 3, and the rotating wheel driving structure 4 is feedback controlled, so that the rotating wheel can rotate accurately. The rotating wheel is arranged on the rotating wheel driving structure and consists of a positioning sensor, a plurality of mounting grooves and diffraction optical elements arranged in the mounting grooves; the positioning sensor acquires and transmits the angle information of the rotating wheel to the rotation angle detection mechanism.
The plurality of diffractive optical elements 15 are different kinds of diffractive optical elements. The collimated laser beam can be changed into a beam which can form different light spots or stripes on the image plane through different types of diffraction optical elements, and the beam is projected onto the target object to form different light spots or stripes.
The underwater imaging unit comprises an optical lens 6, a liquid crystal tunable filter 7 and a camera 8; the optical lens 6, the liquid crystal tunable filter 7 and the camera 8 are sequentially arranged on the same optical axis, the liquid crystal tunable filter 7 and the camera 8 are connected with a micro industrial personal computer 11 of the control unit, the optical lens 6 is arranged at the outlet of the sealed cabin 12, and the optical axis of the camera 8 is parallel to the point laser 5.
The control unit comprises a storage module 9, a power supply module 10 and a micro industrial personal computer 11; the miniature industrial personal computer 11 is connected with the rotating wheel driving structure 4, the rotating angle detecting mechanism 3 and the point laser 5 of the underwater laser emitting unit and is used for controlling the emission of laser with different stripes; the micro industrial personal computer 11 is also connected with the liquid crystal tunable filter 7 and the camera 8 of the underwater imaging unit and is used for controlling shooting and receiving image sequences;
the storage module 9 is connected with the micro industrial personal computer 11 and is used for storing three-dimensional information and the like on the surface of a target object; the micro industrial personal computer 11 is connected with the underwater laser emission unit and the power module 10 and is used for controlling the laser stripe mode and the laser power. The power module 10 provides power for the underwater laser emission unit, the underwater imaging unit, the micro industrial personal computer 11 and the storage module 9.
The underwater laser emitting unit, the underwater imaging unit, the control unit are installed in one sealed cabin 12 or the underwater laser emitting unit, the underwater imaging unit, the control unit are installed separately in a plurality of sealed cabins 12.
Further, the sealed cabin 12 comprises a metal cylinder, a front end cover and a rear end cover, the metal cylinder is connected with the front end cover and the rear end cover through O-shaped rings to realize static sealing, a water-tight connector is arranged on the rear end cover and used for realizing signal transmission or power transmission between the inside and the outside of the sealed cabin, and an optical glass window is distributed on the front end cover to enable laser energy emitted by the point laser 5 to reach a target object.
In one embodiment of the invention, the wheel 1 is mounted on the wheel drive structure 4, the wheel 1 being composed of a positioning sensor 14 and a number of mounting grooves 13 and a diffractive optical element 15 mounted in the mounting grooves 13; the positioning sensor 14 acquires and transmits the angle information of the wheel 1 to the rotation angle detection mechanism 3.
Further, the rotating wheel 1 is uniformly provided with six equally-sized equidistant diffractive optical elements 15, and the diffractive optical elements 15 are respectively used for dividing the collimated laser beams into beams capable of projecting line lasers, cross line lasers, laser lattices, multi-line lasers, multi-ring lasers and grid lasers on an image plane, as shown in fig. 3 (a) -3 (f).
In another embodiment, the rotating wheel 1 is uniformly provided with three equally-sized and equally-spaced diffractive optical elements 15, and the diffractive optical elements 15 are beams for dividing the collimated laser beam into a speckle structure light, a grating structure light and a line laser light, respectively, which can be projected on the image plane.
As shown in fig. 4, the method comprises the steps of:
s1: placing an underwater laser three-dimensional scanning system in a water area near an underwater target, selecting an optimal laser stripe mode according to different water turbidity degrees and characteristics of the underwater target, and simultaneously sending a scanning instruction to a control unit by an upper computer of a carrier;
s2: the control unit sets a laser stripe mode of the underwater laser emission unit by rotating a rotating wheel of the underwater laser emission unit, the underwater laser emission unit emits laser, and the laser beam sequentially penetrates through a collimating mirror and a diffraction optical element on the rotating wheel to form a beam of a target stripe on an image plane;
s3: the underwater imaging unit shoots underwater images and transmits image data to the control unit;
s4: the control unit processes the image data in real time, specifically, the image data is enhanced, then the light point coordinate data of the laser is extracted based on the enhanced image data, and then the three-dimensional space coordinate of the surface of the target object is obtained by calculation according to the light point coordinate data of the laser based on the laser triangulation principle and is uploaded to the upper computer in real time;
s5: detecting the turbidity of the current water body and the characteristics of the underwater target object, judging whether the laser stripe mode needs to be changed, repeating S2-S4, and continuously scanning the whole view of the target object until the three-dimensional information of the surface of the target object is obtained.
Of course, the above is only a specific application example of the present invention, and other embodiments of the present invention are also possible, and all technical solutions formed by equivalent substitution or equivalent transformation are within the scope of protection claimed by the present invention.
Claims (9)
1. An underwater laser three-dimensional scanning system of variable laser stripes, characterized by comprising:
the underwater laser emission unit is used for generating light spots or stripes with different shapes and distributions;
the underwater imaging unit is used for collecting an image sequence of the surface of the target object covering the light spots or the stripes;
the control unit is used for receiving the image sequence, calculating and obtaining the relative coordinates of each point on the surface of the target object and the underwater imaging unit according to the image sequence, and calculating and obtaining the three-dimensional space coordinates of the surface of the target object by combining the inertial navigation data obtained by the control unit and the relative coordinates;
and the sealed cabin (12) is provided with an underwater laser emission unit, an underwater imaging unit and a control unit.
2. The underwater laser three-dimensional scanning system of the variable laser stripe according to claim 1, characterized in that the underwater laser emitting unit comprises a point laser (5), a collimator lens (2), a rotating wheel (1), a diffraction optical element (15), a rotating wheel driving structure (4) and a rotating angle detecting mechanism (3);
the rotating wheel (1) is connected with the rotating wheel driving structure (4), the rotating wheel driving structure (4) is connected with the rotating angle detecting mechanism (3), the rotating wheel driving structure (4), the rotating angle detecting mechanism (3) and the point laser (5) are connected with the control unit, a plurality of diffraction optical elements (15) are installed on the rotating wheel (1), the diffraction optical elements (15) are arranged at intervals along the circumference, and laser emitted from the point laser (5) is emitted from the sealed cabin (12) after passing through the collimating mirror (2) and one of the diffraction optical elements (15).
3. An underwater laser three-dimensional scanning system of variable laser stripes according to claim 2, characterized in that the plurality of diffractive optical elements (15) are different kinds of diffractive optical elements.
4. An underwater laser three-dimensional scanning system of variable laser stripes according to claim 2, characterized in that the diffractive optical element (15) is an optical element for laser projection line laser, reticle laser, laser lattice, multi-line laser, multi-ring laser and grid laser pattern.
5. The underwater laser three-dimensional scanning system of variable laser stripe according to claim 1, characterized in that the underwater imaging unit comprises an optical lens (6), a liquid crystal tunable filter (7) and a camera (8); the optical lens (6), the liquid crystal tunable filter (7) and the camera (8) are sequentially arranged on the same optical axis, the liquid crystal tunable filter (7) and the camera (8) are connected with the control unit, and the optical lens (6) is arranged at the outlet of the sealed cabin (12).
6. The underwater laser three-dimensional scanning system of the variable laser stripe according to claim 1, characterized in that the control unit comprises a storage module (9), a power supply module (10) and a micro industrial control computer (11); the micro industrial personal computer (11) is connected with the underwater laser emission unit and is used for controlling the emission of laser with different stripes; the micro industrial personal computer (11) is also connected with the underwater imaging unit and is used for controlling shooting and receiving image sequences;
the storage module (9) is connected with the micro industrial personal computer (11); the micro industrial personal computer (11) is connected with the underwater laser emission unit and the power supply module (10).
7. A variable laser stripe underwater laser three-dimensional scanning system according to claim 1 characterized in that the underwater laser emitting unit, the underwater imaging unit, the control unit are installed in one of the sealed cabins (12) or the underwater laser emitting unit, the underwater imaging unit, the control unit are installed separately in a plurality of the sealed cabins (12).
8. The underwater laser three-dimensional scanning system of variable laser stripes according to claim 1, characterized in that the sealed cabin (12) comprises a metal cylinder, a front end cover and a rear end cover, wherein the metal cylinder is connected with the front end cover and the rear end cover through O-rings.
9. An underwater laser three-dimensional scanning method of variable laser stripes, which is characterized in that the underwater laser three-dimensional scanning system of the variable laser stripes is adopted in any one of claims 1 to 8, and the method comprises the following steps:
s1: placing an underwater laser three-dimensional scanning system in a water area near an underwater target, selecting an optimal laser stripe mode according to different water turbidity degrees and characteristics of the underwater target, and simultaneously sending a scanning instruction to a control unit by an upper computer of a carrier;
s2: the control unit sets a laser stripe mode of the underwater laser emission unit by rotating a rotating wheel of the underwater laser emission unit, the underwater laser emission unit emits laser, and the laser beam sequentially penetrates through a collimating mirror and a diffraction optical element on the rotating wheel to form a beam of a target stripe on an image plane;
s3: the underwater imaging unit shoots underwater images and transmits image data to the control unit;
s4: the control unit processes the image data in real time, specifically, the image data is enhanced, then the light point coordinate data of the laser is extracted based on the enhanced image data, and then the three-dimensional space coordinate of the surface of the target object is obtained by calculation according to the light point coordinate data of the laser based on the laser triangulation principle and is uploaded to the upper computer in real time;
s5: detecting the turbidity of the current water body and the characteristics of the underwater target object, judging whether the laser stripe mode needs to be changed, repeating S2-S4, and continuously scanning the whole view of the target object until the three-dimensional information of the surface of the target object is obtained.
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| CN118274741A (en) * | 2024-05-31 | 2024-07-02 | 北京嘉盛智检科技有限公司 | Laser measurement method, system, device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118274741A (en) * | 2024-05-31 | 2024-07-02 | 北京嘉盛智检科技有限公司 | Laser measurement method, system, device and storage medium |
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