Design Of Observation Class ROV Vision System

Underwater Vision Technology has a wide and far-reaching value in themilitary, underwater exploration， marine engineering and many otherfields. One of the important issues in the underwater optical detectionfield is to overcome backward scattering effect which results in backwardscattered background noise.The subject comes from the national “863” project--“The researchof underwater cluster-light and the difference frequency scanning laser”.On the basis of summarizing and analyzing the research status at home andabroad of observation ROV, the thesis analysis the status of observationtechnology using Remote Operated Vehicle in imaging seabed and marineorganism. On the base of the analysis of the inhomogeneous illuminationfield theory, this thesis puts forward a method to build theinhomogeneous illumination field using underwater cluster-lightsaccording to the actual situation of the project. Combiningwith inhomogeneous illumination field, synchronized cameras cancarry out either monocular underwater image acquisitionor binocular stereo detection on target. This thesis design aunderwater light system basing on inhomogeneous illumination fieldtheory and a underwater image acquisition system basing on MultiCCD.Inhomogeneous illumination field is applied to image acquisitionsystem. Combined with the inhomogeneous illumination field,synchronization camera can overcome backscatter background noise, withdetectable distance and clarity increasing.Employers can getthree-dimensional image data of underwater target by using synchronizedcameras. In the front of the thesis, the status of the research status at homeand abroad of observation ROVs are discussed and analyzed. Then the thesisget a general knowledge of the current level of underwater imagingtechnology development. Based on the research of existing maturetechnologies as well as new technology, a multi CCD vision system mountedon Observation Class ROV is presented, which relying on the inhomogeneousillumination field theory.Underwater lighting system of the inhomogeneous illumination fieldtheory includes two sets of cluster-light sources, each light sourcebundle includes two down lights. In this thesis, underwater vision systemconsists of two parts: synchronization camera imaging part and ordinarycamera imaging part. One pair of synchronized cameras use two sets ofinhomogeneous illumination field down lights array, and four ordinaryunderwater camera use matched lights. In the transmission mode, thesynchronous cameras use matching supply and data transmission control box.The ordinary cameras use twisted pair transmission scheme aftercontrasting network transmission scheme and twisted pair transmissionscheme. Finally, experiments carried out to verify the feasibility of theimaging system. The effects to video quality by using long-distancetwisted pair transmission scheme are also been analyzed.In the thesis, the thesis combines the three-dimensional photographictechnology with underwater imaging technology, and combine thesynchronize cameras with ordinary underwater cameras. Because of thedesign, explorers can proceed to explore ordinarily or carry outthree-dimensional detection. In order to ensure the reliability andflexibility of the system, different transmission schemes are adoptedbetween synchronized cameras and ordinary cameras.On the basis of the inhomogeneous illumination field theory, thisthesis presents a new method to construct underwater light field, with a matching visual system. In other words, the thesis comes to the coretechnology of the inhomogeneous illumination field and combines withunderwater multi CCD imaging techniques.