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摘要:深海光学成像系统分为4个子系统：照明系统、相机系统、图像处理系统以及数据存储与传输系统，本文对深海光学成像系统化研究与发展趋势展开分析。文中有针对性地对深海光学成像最前端的两个子系统-照明系统与相机系统进行了较为详细地阐述。其中，深海照明系统进一步细分为3个更小的系统：光源系统、配光系统以及灯阵系统；对于深海相机系统则根据其应用领域及技术特点细分为水下普通成像、 成像、偏振光成像、3D/全景成像、显微成像以及光谱成像6类。从近年来国内外深海光学成像的发展历史及现状来看，其未来的发展趋势可以归结为以下几点：更高的分辨率，更深的工作深度，更大的观测范围以及更多样的成像方式。Abstract:The deep-sea optical imaging system is divided into four subsystems:illumination system, camera system, image processing system and data storage and transmission system. On the basis of above, a systematic study and development trend analysis of deep-sea optical imaging is conducted in this paper. Then, the two sub-systems of the forefront of deep-sea optical imaging, illumination system and camera system, are described in detail. Among them, the deep-sea illumination system is further subdivided into three smaller systems:light source system, light distribution system and lamp array system; and for the deep-sea camera system, according to its application areas and technical characteristics, it can be subdivided into 6 categories, namely, normal imaging, laser imaging, polarized light imaging, 3D/panoramic imaging, microscopic imaging and spectral imaging. Based on the history and current situation of deep-sea optical imaging both at home and abroad in recent years, its future development trend can be summarized as follows:higher resolution, deeper working depth, larger observation range and more diverse imaging method.
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Key words:
- deep-sea optics/
- deep-sea lighting system/
- deep-sea camera system/
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图 5 成像距离示意图：(a)普通成像方式，照明灯与摄像机在同一位置，散射光最多；(b)改进的普通成像，照明角度与成像角度成一定夹角，照明区域与成像区域重叠部分变小，后向散射光也同时减少；(c)和(d)则采用 照明，散射光得到很好的抑制，成像距离最大达到6个衰减长度
Figure 5.Sketch diagram of laser imaging distance. (a)Usual imaging:the lamp and camera are fixed in the same place; (b)the advanced imaging:the lamp and camera are fixed in different place and the overlap area of illumination and imaging is smaller. So the scattering light is decreased. (c) and (d)Laser illumination:the scattering light is decreased to a great extent. The work distance is about 6 attenuation length
图 7(a) 连续 扫描与(b)脉冲 扫描成像对比
Figure 7.Comparison of continuous laser scanning imagery(a) and pulse laser scanning imagery(b)
图 9加拿大2G robotics公司研制结构光脉冲扫描成像仪
Figure 9.Structured pulse scanning imager made by 2G robotics company in Canada
图 10以色列理工大学的水下偏振成像仪：(a)原理图(b)实物图(c)普通成像效果(d)偏振成像效果(e)散射光造成的噪声
Figure 10.Polarization imager of Israel Institute of Technology:(a)schematic diagram; (b)physical map; (c)original imaging results; (d)polarization imaging results; (e)noise of scattering
图 113D/全景相机代表产品:(a)所示为卡梅隆拍摄影片时乘坐的深渊挑战者号载人潜器，上面搭载了其团队和Scripps海洋研究所共同研制的3D相机；(b)是WHOI研制的3D深海深海相机；(c)是俄罗斯公司研制的水下全景相机，工作深度为200 m；(d)是美国公司研制的水下全景相机，工作深度为2 000 m
Figure 11.Representative products of 3D/Panorama camera:(a)3D camera of "Challenger " manned submersible which is manufactured by Scripps; (b)deep-sea 3D camera system of WHOI; (c)underwater panorama camera of Russia, working depth is 200 m; (d)underwater panorama camera of America, working depth is 2 000 m
图 13Scripps海洋研究所研制的原位显微镜
Figure 13.In-situ underwater microscope in Scripps oceanographic institute
图 14水下光谱成像仪：(a)原理图; (b)实际拍摄图; (c)光谱曲线; (d)光谱成像图
Figure 14.Underwater spectral imager:(a)schematic diagram; (b)actual images; (c)spectrum diagram; (d)spectral images
表 1国内外典型深海光学相机设备性能
Table 1.Performances of the most developed deep-sea cameras in the world
厂家 视场角/(°) 分辨率/(p) 工作深度/km 变焦比 灵敏度/lx 备注 Kongsberg 230 1 080 6 000 36：1 1×10-6 Deep-sea power & light 185 1 080 11 000 30：1 4.5×10-4 Sub C 142 2 160 11 000 20：1 0.02 通过光纤可传4K视频 西光所 / 1 080 11 000 / / 自容式 上海恒生 80 1 080 7 000 / 可调 
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