CN107241533B - A kind of battle array scanning laser imaging device and method under water - Google Patents

Abstract

The invention provides an underwater array scanning laser imaging device, said device comprising: a carrier (1), an electrical module (19) and an imaging module (18); said carrier (1) is the shell of the whole device, The electrical module (19) includes an illumination laser (15), a combined inertial navigation (16) and a control processing unit (17); each component of the electrical module (19) is fixed on both sides of the mounting plate (22), and is installed The plate (22) is fixed to the carrier (1); the imaging module (18) includes a pitch servo mechanism (5), a roll servo mechanism (6) and an optical imaging module (14), and the optical imaging module (14) comprises imaging lens (7), optical filter (8), gate imaging sensor (9) and illumination lens (10); The laser light that described illumination laser (15) emits is transmitted to Lighting lenses (10). The device of the invention has the characteristics of miniaturization and the ability to realize area array scanning under water.

Description

An underwater array scanning laser imaging device and method

technical field

The invention relates to the technical field of underwater imaging, in particular to an underwater array scanning laser imaging device and method.

Background technique

High-resolution, large-field underwater imaging is of great civil and military significance in the fields of underwater topography and geomorphology mapping, maintenance and survey of submarine oil pipelines and optical cables, search for underwater wreckage of ships and aircraft, and mine detection.

Sonar imaging uses sound waves to judge the existence, location and type of objects in the ocean, and has the advantages of wide field of view and large ranging range. However, due to the complexity of the underwater acoustic channel, which is greatly affected by the environment (such as the ocean thermocline), compared with the optical image, the resolution of the underwater acoustic image is low, the noise is serious, the image quality is not high, and there is a blind spot at a short distance, so it cannot Effective detection of small targets is not conducive to the identification of small targets such as oil pipelines and optical cables.

Optical imaging is to directly obtain the optical image of the target, which has the advantages of large amount of information, high sensitivity, high measurement accuracy, fast response, strong anti-electromagnetic field interference ability, non-contact detection, etc., and also has high resolution in a relatively short distance , the obtained information is rich, and the recognition accuracy is relatively high, which is beneficial to the detection and recognition of small targets.

At present, underwater optical imaging is mainly active imaging, that is, blue-green light or white light source is used for illumination, and CCD or CMOS is used as the imaging device to collect the information of the target in the illuminated field of view. There are two main types of underwater active optical imaging: one is the underwater imaging technology with continuous light illumination. It is a range-gated imaging technology for pulsed light illumination. For example, Beijing Institute of Technology proposed an underwater range-gated imaging method based on an electronic shutter (Chinese invention patent, patent number ZL201010238852.6). Underwater optical imaging with continuous light illumination has a relatively short working distance, generally 1 to 2 times the attenuation length. The main reason is that the backscattering of water affects the working distance. Through imaging can effectively suppress the backscattering of water, and increase the working distance by 5 to 7 times the attenuation length. Although underwater range-gated imaging improves the underwater detection distance, the imaging field of view is small, and it is easy to lose targets when carrying underwater vehicles and other dynamic platforms for underwater operations. When waiting for work, it is not conducive to large field of view work, which brings problems such as difficulty in scanning path planning and low work efficiency.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned defects existing in the current underwater scanning technology, and propose an underwater array scanning laser imaging device, which can solve the difficult problem of underwater long-distance and large-field optical imaging, and can realize underwater large-scale imaging. Field of view 3D imaging.

In order to achieve the above object, the present invention provides an underwater array scanning laser imaging device, said device comprising: a carrier 1, an electrical module 19 and an imaging module 18;

The carrier 1 is the shell of the entire device, and the electrical module 19 includes an illumination laser 15, a combined inertial navigation 16 and a control processing unit 17; each component of the electrical module 19 is fixed on both sides of the mounting plate 22, and through the mounting plate 22 is fixed with the carrier 1;

The imaging module 18 includes a pitch servo mechanism 5, a roll servo mechanism 6, and an optical imaging module 14. The pitch servo mechanism 5 is fixed to the carrier 1 through an adapter plate 24. The pitch servo mechanism 5 utilizes The rigid support 21 loads the rolling servo mechanism 6, and the rolling servo mechanism 6 directly loads the optical imaging module 14; the rolling servo mechanism 6 is used to realize horizontal scanning and lateral correction of the line of sight; the pitching servo mechanism 5 It is used to realize the functions of vertical scanning and longitudinal correction of the line of sight, and realize the switching between the front-sight mode and the down-sight mode by tilting different angles;

The optical imaging module 14 includes an imaging lens 7 , a filter 8 , a gate imaging sensor 9 and an illumination lens 10 ; the laser light emitted by the illumination laser 15 is transmitted to the illumination lens 10 through an energy transmission fiber 11 .

In the above technical solution, the carrier 1 is provided with a plug 2 to connect cables to realize information interaction and power supply with the unmanned submersible 25; the overall appearance of the carrier 1 is cylindrical, the head is spherical, and the head has a Front viewing optical window 4, abdomen has downward viewing optical window 3.

In the above technical solution, the combined inertial navigation 16 is used to obtain the attitude parameters of the vehicle 1, including the real-time translation vector of the center of mass, heading, pitch and roll attitude angle information, and transmit these information to the control processing unit 17 .

In the above technical solution, the control processing unit 17 includes: a communication subunit, an image processing subunit and a servo control subunit;

The communication subunit is used to receive the control command of the upper computer imported through the plug 2, and upload the image data information generated by the image processing subunit to the upper computer;

The servo control subunit is used to receive information sent by the integrated inertial navigation 16, and generate control commands for controlling the pitch servo mechanism 5 and the roll servo mechanism 6;

The image processing subunit is used to receive image information from the strobe imaging sensor 9, perform image stitching, three-dimensional image processing, and composite panorama.

In the above technical solution, the gate imaging sensor 9 is the imaging device of the entire device, which is composed of an image intensifier coupled to an area array image sensor through a light cone, and is used to convert the target laser echo signal received by the imaging lens 7 into electrical signal, and output the two-dimensional image to the image processing subunit of the control processing module 17; the area array image sensor adopted by the gate imaging sensor 9 is CCD or CMOS, and two kinds of gate imaging sensors ICCD and ICMOS are correspondingly formed, wherein, the selected The ICCD is formed by coupling the gated image intensifier to the CCD through the light cone, and the gated ICMOS is formed by coupling the gated image intensifier to the CMOS through the light cone.

In the above technical solution, the imaging module 18 also includes a mirror 20, which is loaded on the roll servo mechanism 6 and arranged in front of the optical imaging module 14 to reflect the laser light emitted by the illuminating lens 10 to a specified direction, and the laser beam from the target The reflected laser light is reflected on the imaging lens 7, that is, the optical axis of the optical imaging module is directed in a specified direction.

In the above technical solution, the imaging module 18 also includes a search guidance and ranging unit, which is used to search and detect the target in the laser irradiation area emitted by the illumination laser 15 and measure the distance of the target, and then feed back the distance information to the control processing unit 17. The search guidance and ranging unit includes a receiving lens 12 and a photodetector 13, and the illumination laser 15 provides nanosecond-level laser pulses for the search guidance and ranging unit, and performs ranging through time delay information;

The control processing unit 17 also includes a distance measurement processing subunit, which is used to receive the target distance information from the search guide and distance measurement unit, and convert the distance information into delay information to generate control gate imaging sensor 9 and illumination laser 15 working timings to achieve underwater range-gated imaging.

Based on the above-mentioned underwater array scanning laser imaging device, the present invention also provides an underwater array scanning laser imaging method, the method comprising:

Step 1) The control processing unit 17 receives the control command of the unmanned submersible 25, and sets the working mode according to the control command; the type of the working mode is a front-sight mode or a rear-sight mode;

Step 2) If the working mode is forward-sight mode, go to step 3); if the working mode is back-sight mode, go to step 4);

Step 3) The pitch servo mechanism 5 adjusts the optical axis direction of the optical imaging module 14 loaded by the roll servo mechanism 6 to the heading direction of the carrier 1 through the rigid bracket 21, and the horizontal area array is realized by the roll servo mechanism 6. scanning imaging;

Step 4) The pitch servo mechanism 5 directs the optical axis of the optical imaging module 14 loaded by the roll servo mechanism 6 to the center of the earth through the rigid bracket 21; the pitch servo mechanism 5 and the roll servo mechanism 6 cooperate to perform area scan imaging;

Step 5) control the image processing sub-unit of the processing unit 17 to receive the image sent by the gate imaging sensor 9, and splicing and synthesizing the image into a panorama with a swath width of n×a;

Step 6) Control the communication subunit of the processing unit 17 to upload image data information to the unmanned submersible vehicle 25 .

In the above technical solution, the specific process of the roll servo mechanism 6 in the step 3) to realize the transverse area scan imaging is as follows:

The roll servo mechanism 6 steps n-1 times in the horizontal direction, and the amount of each horizontal step is α. The horizontal scanning of n frames is realized through horizontal scanning, and the scanning swath width is n×α, where α is the underwater range-gated imaging unit. In this process, the pitch servo mechanism 5 and the roll servo mechanism 6 generate a control torque equal to the disturbance torque and opposite in direction according to the attitude parameters of the vehicle 1 given by the combined inertial navigation 16. The longitudinal and lateral degrees of freedom are compensated to counteract the disturbance of ocean currents and surges, so that the line of sight can maintain a given orientation within the 9 integration time of the gating imaging sensor, so as to realize the continuous splicing of n frames of images obtained by lateral scanning, and then realize Wide-field scan with swath width nα in front of vehicle 1.

In the above technical solution, the specific process for the cooperation of the pitch servo mechanism 5 and the roll servo mechanism 6 in the step 4) to perform area scan imaging is as follows:

The roll servo mechanism 6 steps nl times along the horizontal direction, and the amount of each horizontal step is α. Through horizontal scanning, n frames of horizontal scanning are realized, and the scanning swath width is n×α. The pitch servo mechanism 5 performs carrier speed compensation. Compensate nl times along the longitudinal step, and the compensation amount of each longitudinal step is β/(n-1); wherein β is the longitudinal field of view of the underwater range-gated imaging single imaging; The horizontal scanning of the roll servo mechanism 6 completes the step synchronously. After reaching the designated line of sight position, it stays at t _{e ;} 6 The sum of the mechanical stepping time and the integration time of the strobe imaging sensor 9; the pitch servo mechanism 5 and the roll servo mechanism 6 produce the attitude parameters of the vehicle 1 given by the combined inertial navigation 16 and the interference torque is equal in magnitude and opposite in direction The control torque is used to compensate the longitudinal and lateral degrees of freedom, offset the disturbance of ocean currents and swells, and enable the line of sight to maintain a given orientation within 9 integration times of the strobe imaging sensor, so that n frames obtained by lateral scanning can be realized The continuous splicing of the images further realizes wide-field scanning with a swath width of n×α under the carrier 1 .

The advantages brought by the present invention are:

1. In the device of the present invention, the lighting lens is separated from the lighting laser, and the servo mechanism is not equipped with a larger-sized lighting laser, which greatly reduces the load requirements of the pitch servo mechanism and roll servo mechanism, and the servo mechanism is easier to achieve high-precision servo Control accuracy and scan control speed, enabling area scan to be realized;

2. In the device of the present invention, the lighting lens is separated from the lighting laser, and the servo mechanism is not equipped with a larger-sized lighting laser, which greatly reduces the turning radius and quality of the pitch servo mechanism and roll servo mechanism, and not only effectively reduces the servo The power consumption required by the mechanism, more importantly, can effectively reduce the volume and weight of the entire system, which is conducive to the manufacture of pressure-resistant shells, and is conducive to the integration and promotion of use in small and medium-sized unmanned submersibles;

3. The imaging lens, lighting lens and receiving lens in the device of the present invention are closely arranged together, which not only expands the observation range of the device, but also greatly reduces the size and thickness of the pressure-resistant optical window; the thickness of the pressure-resistant optical window The reduction of the pressure-resistant optical window reduces the absorption of the emitted laser light and the laser light reflected back to the lens, and improves the detection performance of the entire device; The pressure-resistant structure and the pressure-resistant optical window make the engineering more feasible.

4. In the device of the present invention, the search guidance and ranging module is used to provide target distance information for range gating imaging, so that the gating imaging module automatically sets the working sequence of range gating imaging according to the distance information, and does not require sliding selection of the gating imaging module. The target search is carried out through time, therefore, the present invention can realize the large-scale search and automatic gating imaging to the target, obtain the high-resolution three-dimensional image of the target and the three-dimensional space position of the target, improve the efficiency of search and imaging, and also improve the System availability and utility.

Description of drawings

Figure 1a is a schematic diagram of an underwater array scanning laser imaging device according to Embodiment 1 of the present invention;

Figure 1b is a schematic diagram of an underwater array scanning laser imaging device according to Embodiment 2 of the present invention;

Figure 1c is a schematic diagram of an underwater array scanning laser imaging device according to Embodiment 3 of the present invention;

Fig. 2a is a side view cutaway view of the underwater array scanning laser imaging device in the forward view mode of the present invention;

Figure 2b is a front cross-sectional view of the underwater array scanning laser imaging device in the front view mode of the present invention;

Fig. 3 is the scanning schematic diagram of the underwater array scanning laser imaging device under the front view mode of the present invention;

Fig. 4a is a scanning schematic diagram of the underwater array scanning laser imaging device in the rear view mode of the present invention;

Fig. 4b is the motion compensation scanning scheme of the present invention;

Fig. 4c is the image mosaic scheme of the present invention.

Drawing logo:

1. Carrier 2. Plug 3. Downward-viewing optical window 4. Front-viewing optical window

5. Pitch servo mechanism 6. Roll servo mechanism 7. Imaging lens

8. Optical filter 9. Gating imaging sensor 10. Illumination lens

11. Energy transmitting optical fiber 12. Receiving lens 13. Photoelectric detector

14. Optical imaging module 15. Illumination laser 16. Combined inertial navigation

17. Control processing module 18. Imaging module 19. Electrical module

20. Mirror 21. Rigid bracket 22. Mounting plate

23. Working cable 24. Adapter plate 25. Unmanned submersible

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Example 1

As shown in Figure 1a, an underwater array scanning laser imaging device, the device includes: a carrier 1, an electrical module 19 and an imaging module 18;

The carrier 1 is the shell of the whole device, which meets the pressure-resistant requirements of underwater work, and can perform information exchange and power supply with the unmanned submersible 25 through the plug 2 connection cable; the overall appearance of the carrier 1 is cylindrical, and the head The head is spherical, the head has a forward-looking optical window 4, and the abdomen of the carrier has a downward-looking optical window 3;

The electrical module 19 includes an illumination laser 15, a combined inertial navigation unit 16 and a control processing unit 17; as shown in FIG. The shell of device 1 is fixed;

The imaging module 18 includes a pitch servo mechanism 5, a roll servo mechanism 6 and an optical imaging module 14, wherein the optical imaging module 14 includes an imaging lens 7, an optical filter 8, a gate imaging sensor 9 and an illumination lens 10 ; As shown in Figure 2b, the pitch servo mechanism 5 is fixed to the carrier 1 through the adapter plate 24, the pitch servo mechanism 5 utilizes a rigid bracket 21 to load the roll servo mechanism 6, and the roll servo mechanism 6 The optical imaging module 14 is directly loaded.

The illumination laser 15 is a blue-green pulse laser, capable of generating nanosecond laser pulses to illuminate underwater objects, and the laser emitted by the illumination laser 15 is transmitted to the illumination lens 10 through the energy transmission optical fiber 11;

The combined inertial navigation 16 is used to obtain the attitude parameters of the vehicle 1, including the real-time translation vector of the center of mass, heading, pitch and roll attitude angle information, and transmit these information to the control processing unit 17;

The control processing unit 17 includes: a communication subunit, an image processing subunit and a servo control subunit;

The communication subunit is used to receive the control command of the upper computer imported through the plug 2, and upload the image data information generated by the image processing subunit to the upper computer;

The servo control subunit is used to receive information sent by the integrated inertial navigation 16, and generate control commands for controlling the pitch servo mechanism 5 and the roll servo mechanism 6;

The image processing subunit is used to receive image information from the strobe imaging sensor 9, and perform image splicing to synthesize a panorama;

The roll servo mechanism 6 is used to load the optical imaging module 14 to realize horizontal scanning and lateral correction of the line of sight;

As shown in Figure 2b, the pitch servo mechanism 5 is loaded with a roll servo mechanism 6 by a rigid bracket 21 to realize the functions of longitudinal scanning and longitudinal correction of the line of sight, and realize the front view mode and the downward view through different angles of pitch. mode switching.

The imaging lens 7 is used to receive the laser echo signal from the target, and collect the optical signal to the gate imaging sensor 9;

The optical filter 8: used to filter out background light and interference light other than the laser echo signal, so as to improve the signal-to-noise ratio of the image.

The gate imaging sensor 9 is the imaging device of the entire device, which is composed of a gate image intensifier coupled to the area array image sensor gate through the light cone, and is used to convert the target laser echo signal received by the imaging lens 7 into an electrical signal , and output the two-dimensional image to the image processing subunit of the control processing module 17; the area array image sensor adopted by the gate imaging sensor 9 is CCD or CMOS, correspondingly forming two kinds of gate imaging sensors ICCD and ICMOS, wherein the gate The ICCD is formed by coupling the gated image intensifier to the CCD through the light cone, and the gated ICMOS is formed by coupling the gated image intensifier to the CMOS through the light cone.

The illumination lens 10 is used to shape the laser light to achieve target illumination.

Example 2

The structural diagram of the device is shown in Figure 1b, which is similar to the device in Embodiment 1, except that the imaging module 18 also includes a mirror 20, which is loaded on the roll servo mechanism 6 and arranged on the optical imaging module 14 Before, reflect the laser light emitted by the illumination lens 10 to the specified direction, and reflect the laser light reflected from the target to the imaging lens 7, that is, point the optical axis of the optical imaging module to the specified direction.

Example 3

The structural diagram of the device is shown in Figure 1c, which is similar to Embodiment 1, except that the imaging module 18 also includes a search guidance and ranging unit, which is used to measure the distance of the target and feed back the distance information to the device. The control processing unit 17; the search guidance and ranging unit includes a receiving lens 12 and a photodetector 13, and the illumination laser 15 provides nanosecond laser pulses for the search guidance and ranging unit, and performs ranging through time delay information;

The control processing unit 17 also includes a distance measurement processing subunit, which is used to receive the target distance information from the search guide and distance measurement unit, and convert the distance information into delay information to generate control gate imaging sensor 9 and illumination laser 15 working timings to achieve underwater range-gated imaging.

Based on the device of Embodiment 1, the present invention provides an underwater array scanning laser imaging method, the method comprising:

Step 1) The control processing unit 17 receives the control command of the unmanned submersible 25, and sets the working mode according to the control command; the type of the working mode is a front-sight mode or a rear-sight mode;

Step 2) If the working mode is forward-sight mode, go to step 3); if the working mode is back-sight mode, go to step 4);

Step 3) The pitch servo mechanism 5 adjusts the optical axis direction of the optical imaging module 14 loaded by the roll servo mechanism 6 to the heading direction of the carrier 1 through the rigid bracket 21, and the horizontal area array is realized by the roll servo mechanism 6. scanning imaging;

As shown in Figure 3, the specific process is: the roll servo mechanism 6 steps horizontally n-1 times, each time the horizontal step is α, and realizes horizontal n-frame scanning through horizontal scanning, and the scanning swath width is n×α, where α is the single imaging lateral field of view of the underwater range-gated imaging. During this process, the pitch servo mechanism 5 and the roll servo mechanism 6 generate and interfere with the torque according to the attitude parameters of the vehicle 1 given by the integrated inertial navigation 16. The control moment of equal magnitude and opposite direction compensates the longitudinal and lateral degrees of freedom, counteracts the disturbance of ocean currents and surges, and enables the line of sight to maintain a given orientation within the 9-integration time of the strobe imaging sensor, thereby achieving lateral scanning acquisition The continuous splicing of n frames of images can realize wide-field scanning with a width of n×α in front of the carrier 1.

Step 4) The pitch servo mechanism 5 directs the optical axis of the optical imaging module 14 loaded by the roll servo mechanism 6 to the center of the earth through the rigid bracket 21; the pitch servo mechanism 5 and the roll servo mechanism 6 cooperate to perform area scan imaging;

As shown in Fig. 4a, Fig. 4b and Fig. 4c, the specific process is as follows: the roll servo mechanism 6 steps n-1 times in the horizontal direction, and the amount of each horizontal step is α, and realizes horizontal n-frame scanning through horizontal scanning. The swath width is n×α, and the pitch servo mechanism 5 compensates the speed of the vehicle, making n-1 times of longitudinal step compensation, and the compensation amount of each longitudinal step is β/(n-1); where β is the underwater distance Gated imaging single imaging longitudinal field of view; the speed compensation of the pitch servo mechanism 5 and the lateral sweep of the roll servo mechanism 6 complete stepping synchronously. After reaching the designated line of sight position, stay at t _e ; t _e is the gated imaging sensor 9 integration time, the line of sight stepping cycle is the sum of the mechanical stepping time of the pitch servo mechanism 5 and the roll and roll servo mechanism 6 and the integration time of the gate imaging sensor 9; the pitch servo mechanism 5 and the roll servo mechanism 6 are based on The attitude parameters of the vehicle 1 given by the combined inertial navigation 16 generate a control moment equal to the disturbance moment and opposite in direction, which compensates the two degrees of freedom in the longitudinal and lateral directions, offsets the disturbance of ocean currents and swells, and enables the line of sight to be in the selected position. By maintaining a given orientation within the integration time of the imaging sensor 9, the continuous splicing of n frames of images obtained by horizontal scanning can be realized, and then the wide-field scanning with a swath width of n×α under the carrier 1 can be realized;

Step 5) control the image processing sub-unit of the processing unit 17 to receive the image sent by the gate imaging sensor 9, and stitch the image to synthesize a panorama with a swath width of n×α;

Step 6) Control the communication subunit of the processing unit 17 to upload image data information to the unmanned submersible vehicle 25 .

In order to illustrate the implementation of the present invention, the above specific embodiments are described, but other changes and modifications of the present invention will be obvious to those skilled in the art, and the present invention is not limited to the described specific embodiments. Therefore, any/all modifications, changes or equivalent transformations within the scope of the true essence and copy principle of the content disclosed in the present invention do not belong to the protection scope of the claims of the present invention.

Claims (10)

1. a kind of battle array scanning laser imaging device under water, described device includes: vehicle (l), electrical module (19) and imaging Module (18)；

The vehicle (1) is the shell of whole device, and the electrical module (19) includes illumination laser (15), combined inertial nevigation (16) and processing unit (17) are controlled；Each component of the electrical module (19) is fixed on mounting plate (22) two sides, passes through installation Plate (22) and vehicle (1) are fixed；

The image-forming module (18) includes pitching servo mechanism (5), roll servo mechanism (6) and optical imagery mould group (14), institute It states pitching servo mechanism (5) to fix by pinboard (24) and vehicle (1), the pitching servo mechanism (5) utilizes rigidity branch Frame (21) loads roll servo mechanism (6), and the roll servo mechanism (6) directly loads optical imagery mould group (14)；The cross Servo mechanism (6) are rolled for realizing transversal scanning and lateral aiming off line；The pitching servo mechanism (5) is for realizing longitudinal direction Scanning and longitudinal aiming off line function, and pass through the switching of pitching different angle realization forward-looking mode and look-down mode；

The optical imagery mould group (14) includes imaging lens (7), optical filter (8), gated imaging sensor (9) and illumination camera lens (l0)；The laser of illumination laser (15) transmitting is transmitted to illumination camera lens (10) by energy-transmission optic fibre (11).

2. the scanning laser imaging device of battle array under water according to claim 1, which is characterized in that on the vehicle (1) Equipped with plug (2) connection cables, realizes and carry out information exchange and power supply with nobody latent device (25)；Vehicle (1) is whole outer See cylindrical, head is spherical in shape, and head has forward sight optical window (4), and abdomen has lower optometry window (3).

3. the scanning laser imaging device of battle array under water according to claim 1, which is characterized in that the combined inertial nevigation (16), for obtaining the attitude parameter of vehicle (1), real-time translation vector, course, pitching and roll attitude angle including mass center Information, and transmit the information to control processing unit (17).

4. the scanning laser imaging device of battle array under water according to claim 1, which is characterized in that the control processing unit It (17) include: communication subelement, image procossing subelement and SERVO CONTROL subelement；

The communication subelement uploads image to host computer for receiving the control command for the host computer being passed to by plug (2) Handle the image data information that subelement generates；

The SERVO CONTROL subelement generates control pitching servo mechanism (5) for receiving the information of combined inertial nevigation (16) transmission With the control command of roll servo mechanism (6)；

Described image handles subelement, for receiving the image information of gated imaging sensor (9), carries out image mosaic, three-dimensional Image procossing and synthesis panorama sketch.

5. the scanning laser imaging device of battle array under water according to claim 1, which is characterized in that the gated imaging sensing Device (9) is the image device of whole device, is made of gating image intensifier through light-cone QCD sum rules to array image sensor, and being used for will The received target laser echo-signal of imaging lens (7) is converted into electric signal, and exports two dimensional image to controlling processing unit (17) image procossing subelement；Array image sensor used by gated imaging sensor (9) is CCD or CMOS, corresponding Form two kinds of gated imaging sensor ICs CD and ICMOS, wherein gating ICCD is by gating image intensifier through light-cone QCD sum rules to CCD It constitutes, gating ICMOS is made of gating image intensifier through light-cone QCD sum rules to CMOS.

6. battle array scanning laser imaging device under water described in one of -5 according to claim 1, which is characterized in that the imaging mould Block (18) further includes reflective mirror (20), is carried on roll servo mechanism (6), before being arranged in optical imagery mould group (14), will be shone On the laser reflection to assigned direction that bright mirror head (10) issues, by the laser reflection being reflected back from target to imaging lens (7), Namely the optical axis of optical imagery mould group is directed toward on assigned direction.

7. battle array scanning laser imaging device under water described in one of -5 according to claim 1, which is characterized in that the imaging mould Block (18) further includes search index and distance measuring unit, is used for the laser-irradiated domain that reconnaissance probe illumination laser (15) issue Then range information is fed back to the control processing unit (17) by target and the distance for measuring target；Described search guidance with Distance measuring unit includes receiving camera lens (12) and photodetector (13), and illumination laser (15) is that search index is mentioned with distance measuring unit For nano second laser pulse, ranging is carried out by Delay；

The control processing unit (17) further includes ranging processing subelement, is passed to for receiving search index and distance measuring unit Target range information, and range information is converted into delayed data, generate control gated imaging sensor (9) and illumination laser (15) working sequence realizes underground distance gated imaging.

8. a kind of battle array scanning laser imaging method under water, based on the scanning laser of battle array under water described in claim 1 imaging dress Set realization, which comprises

Step 1) control processing unit (17) receives the control command of nobody latent device (25), and work is arranged according to control command Mode；The type of the operating mode is forward-looking mode or backsight mode；

If step 2) operating mode is forward-looking mode, it is transferred to step 3)；If operating mode is backsight mode, it is transferred to step 4)；

Step 3) pitching servo mechanism (5) passes through the optical imagery mould group that rigid support (21) load roll servo mechanism (6) (14) optical axis direction is adjusted on the course direction of vehicle (1), is swept by the realization transverse direction face battle array of roll servo mechanism (6) Retouch imaging；

Step 4) pitching servo mechanism (5) passes through the optical imagery mould group that rigid support (21) load roll servo mechanism (6) (14) optical axis is directed toward the earth's core；Pitching servo mechanism (5) and roll servo mechanism (6) cooperation carry out planar array scanning imaging；

The image procossing subelement that step 5) controls processing unit (17) receives the image that gated imaging sensor (9) are sent, right Image carries out splicing synthesis and cuts the panorama sketch that width is n × α；N is the lateral stepping number of the roll servo mechanism (6), and α is Lateral stepping-in amount；

Step 6) control processing unit (17) communication subelement to nobody dive device (25) upload image data information.

9. the scanning laser imaging method of battle array under water according to claim 8, which is characterized in that the cross in the step 3) Roll the detailed process of the lateral planar array scanning imaging of realization of servo mechanism (6) are as follows:

Roll servo mechanism (6) transversely stepping n-1 times, transverse direction stepping-in amount is α every time, realizes transverse direction n frame by transversal scanning Scanning, it is n × α that width is cut in scanning, and wherein α is underground distance gated imaging single imaging transverse visual field, in the process, pitching The attitude parameter for the vehicle (1) that servo mechanism (5) and roll servo mechanism (6) are provided according to combined inertial nevigation (16) is generated and is done The control moment that torque is equal in magnitude, contrary is disturbed, two freedom degrees of vertical and horizontal are compensated, offset ocean current and is gushed Disturbance, so that sight line is kept given within gated imaging sensor (9) time of integration and be directed toward, to realize transversal scanning The continuous splicing of the n frame image of acquisition, and then realize that the wide field that width is n × α is cut in front of vehicle (1) to be scanned.

10. the scanning laser imaging method of battle array under water according to claim 8, which is characterized in that in the step 4) Pitching servo mechanism (5) and roll servo mechanism (6) cooperation carry out the detailed process of planar array scanning imaging are as follows:

Roll servo mechanism (6) transversely stepping n-l times, transverse direction stepping-in amount is α every time, and lateral n is realized by transversal scanning Frame scan, it is n × α that width is cut in scanning, and pitching servo mechanism (5) carries out the compensation of the vehicle speed of a ship or plane, and stepping compensates n-l along longitudinal direction Secondary, longitudinal direction stepping compensation rate is β/(n-1) every time；Wherein β is that longitudinal visual field is imaged in underground distance gated imaging single；Pitching is watched The transverse direction of the speed of a ship or plane compensation and roll servo mechanism (6) that take mechanism (5), which sweeps to catch, synchronously completes stepping, reaches specified aiming line position After stop t_e；t_wFor gated imaging sensor (9) time of integration, sight line stepping period is that pitching servo mechanism (5) and roll are watched Take mechanism (6) mechanical the sum of stepping time and gated imaging sensor (9) time of integration；Pitching servo mechanism (5) and roll are watched The attitude parameter for taking the vehicle (1) that mechanism (6) is provided according to combined inertial nevigation (16) generates and disturbance torque is equal in magnitude, direction Opposite control moment compensates two freedom degrees of vertical and horizontal, and the disturbance offsetting ocean current and gushing enables sight line It keeps given within gated imaging sensor (9) time of integration to be directed toward, so that the company for the n frame image that transversal scanning obtains can be realized Continuous splicing, and then realize that the wide field that width is n × α is cut below vehicle (l) to be scanned.