CN105607641A - Laser guiding device for underwater docking - Google Patents
Laser guiding device for underwater docking Download PDFInfo
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- CN105607641A CN105607641A CN201610079242.3A CN201610079242A CN105607641A CN 105607641 A CN105607641 A CN 105607641A CN 201610079242 A CN201610079242 A CN 201610079242A CN 105607641 A CN105607641 A CN 105607641A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000013011 mating Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Lasers (AREA)
Abstract
The invention discloses a laser guiding device for underwater docking. The device comprises a can-be-modulated laser module, a parallel collimation module, a high speed two-dimensional scanning galvanometer, a central processing module and a laser reception module, wherein the high speed two-dimensional scanning vibrating mirror is controlled by the central processing module for making the can-be-modulated laser module emit laser to form a spatial conic scanning laser beam, an angle code of the spatial conic scanning laser beam is acquired through a photoelectric detector, the angle code acquired by the photoelectric detector is read and analyzed by an underwater navigation device end, and then the angle information relative to a docking platform can be acquired through querying the pre-set information, self attitude is continuously adjusted according to the angle information, the underwater navigation device end moves to the docking platform to accomplish docking, and the underwater searching success rate is improved.
Description
Technical field
The present invention relates to a kind of laser guiding device, specifically a kind of guiding of the laser for underwater matingDevice.
Background technology
Along with scientific and technological development, the exploitation of ocean is more and more come into one's own, owing to being subject to human physiology conditionRestriction, the overwhelming majority work of exploitation under water need complete by underwater installation, and submarine navigation device must as oneIndispensable instrument, is more and more taken seriously, and is with a wide range of applications and important scientific research value. ButBe subject to volume and quality limitations, the entrained energy of submarine navigation device is very limited, must be with when long workingDocking platform connects with makeup energy exchange message. Conventional underwater mating guide mode has two at presentKind, a kind of is that integral method is docked in navigation---guiding---based on sonar, this method is directly utilizedThe navigator of submarine navigation device self is guided location. Although this method operating distance is far away, sonarThe precision of guiding is lower, needs complicated frame for movement ensure to dock obtaining reliability in dock closely.Another kind is the guiding docking calculation based on visual servo, and this method need to be to the high-quality imaging of markAs technical support, therefore implementation cost is higher, resolve more complicated with high accuracy data Measurement Algorithm etc.
Therefore design a kind of flexibly, be very important for the laser guiding device of underwater mating reliably,Be conducive to promote the development of ocean development and Underwater Engineering.
Summary of the invention
Laser guiding device for underwater mating provided by the invention, ROV is sailed the side coming under waterUpwards produce the scanning guide laser bundle of space taper, increased the success rate to submarine navigation device search, andThis guide laser band has angular coding, and submarine navigation device can pass through to process the angular coding of guide laser bundle,Obtain its spatial positional information with respect to docking platform, constantly adjust self attitude and drive towards docking platform.
In order to solve above-mentioned technical problem, the present invention adopts following technical proposals: this device comprises that taper swashsOptical scanning module and laser pick-off module;
Described taper laser scanning module is arranged on docking platform, comprises and can modulate laser module, parallel standardStraight module, high speed two-dimension scanning galvanometer and central processing module, described collimate in parallel module is with the fixing peace of optical axisBe contained in the front that can modulate laser module, described high speed two-dimension scanning galvanometer is fixedly mounted on collimate in parallel moduleFront, described central processing module control can modulate laser module send with emission angle information coding swashLight beam, described central processing module control high speed two-dimension scanning galvanometer makes to modulate the laser that laser module sendsForm space conical scan laser beam.
Described laser pick-off module is fixedly installed to the nose bow position of underwater hiding-machine, comprises ecto-entad same successivelyThe hard-wired optics of optical axis receives camera lens and photodetector.
Photodetector is that photomultiplier can be also photodiode, completes guide laser bundle angle is compiledObtaining of code.
The described laser module of modulating is external modulation laser module, comprises the laser of installing with optical axis from inside to outsideDevice, and optical modulator module, the laser beam that described central processing module control optical modulator module sends laser instrument entersRow emission angle information coding; Can modulate laser module can be also internal modulation laser module, described centreReason module controls can be modulated laser module pulsed illumination and be realized laser beam emission angle information coding.
Employing the invention has the beneficial effects as follows, adopts the scanning of high speed two-dimension scanning galvanometer generation space taper to swashLight beam, has improved the success rate of search, guide laser Shu Jinhang modulation is made it have to the angle of departure in this momentDegree coded message, under water in ROV preset guide laser bundle coded message corresponding its with respect to dockingThe angle of platform, after submarine navigation device end is to the guide laser Shu Jinhang interpretation obtaining, preset by inquiring aboutInformation just can draw the angle information with respect to docking platform, as the foundation of adjusting self attitude, adoptThe laser beam of high energy has increased distance and the effect of imaging.
Brief description of the drawings
Fig. 1 is the schematic diagram of a kind of laser guiding device for underwater mating of the present invention;
Fig. 2 is that a kind of laser guiding device for underwater mating of the present invention can be modulated laser moduleSchematic diagram.
In figure: 1, taper laser scanning module 11, can modulate laser module 12, collimate in parallel module 13,High speed two-dimension scanning galvanometer 14, central processing module 111, laser instrument 112, optical modulator module 2,Laser pick-off module 21, optics receive camera lens 22, photodetector
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Embodiment 1:
In Fig. 1, this device comprises taper laser scanning module 1 and laser pick-off module 2;
Described taper laser scanning module 1 is arranged on docking platform, comprises external modulation laser module 11, flatRow collimating module 12, high speed two-dimension scanning galvanometer 13 and central processing module 14, described collimate in parallel module12 are fixedly mounted on optical axis the front that can modulate laser module 11, and described high speed two-dimension scanning galvanometer 13 is solidDingan County is contained in the front of collimate in parallel module 12, and external modulation laser module 11 is installed with optical axis from inside to outsideLaser instrument 111 and optical modulator module 112 form, and described central processing module 14 is controlled optical modulator module 112The laser beam that laser instrument 111 is sent carries out emission angle information coding.
Described laser pick-off module 2 is fixedly installed to the nose bow position of underwater hiding-machine, comprises ecto-entad successivelyReceive camera lens 21 and photodetector 22 with the hard-wired optics of optical axis.
Described central processing module 14 controls that external modulation laser module 11 sends with emission angle information codingLaser beam, described central processing module 14 is controlled high speed two-dimension scanning galvanometer 13 and is made to modulate laser module 11The laser sending forms space conical scan laser beam, and submarine navigation device just can receive this within the scope of thisLaser beam, photodetector 22 completes obtaining that this laser beam angular is encoded, preset in ROV under waterCorresponding its angle with respect to docking platform of guide laser bundle coded message, when submarine navigation device end is to lightThe angular coding that electric explorer 22 obtains carries out after interpretation, by inquire about preset information just can draw with respect toThe angle information of docking platform, angle information is constantly adjusted self attitude and is driven towards docking platform according to this, finally completeBecome docking.
Embodiment 2:
In Fig. 2, the described laser module 11 of modulating is internal modulation laser module, described central processing module14 controls can be modulated laser module 11 pulsed illumination and be realized laser beam emission angle information coding.
In the time that submarine navigation device arrives underwater mating land regions by water acoustic navigation, it is right that underwater mating platform startsIt is guided, and central processing module 14 controls can be modulated laser module 11 and be sent band emission angle information volumeThe laser beam of code is also controlled high speed two-dimension scanning galvanometer 13 and is changed laser beam and send angle, constantly changes guiding and swashsThe emission angle coded message of light beam and ejaculation angle form the conical scan laser beam in space, submarine navigation deviceWithin the scope of this, just can receive this laser beam, photodetector 22 completes this laser beam angular codingObtain, under water in ROV preset guide laser bundle coded message corresponding its with respect to docking platformAngle, when the angular coding that submarine navigation device end obtains photodetector 22 carries out after interpretation, by inquiryPreset information just can draw the angle information with respect to docking platform, and angle information is constantly adjusted self according to thisAttitude is driven towards docking platform, finally completes docking. Therefore the present invention can realize leading submarine navigation device dockingDraw task, and can significantly improve precision and success rate.
Must Chen Ming, the above is preferred embodiment of the present invention, if changing of being done with conception of the present inventionBecome, when the function of its generation does not exceed yet description and illustrates contain spiritual, all should be in the present inventionScope in.
Claims (5)
1. for a laser guiding device for underwater mating, it is characterized in that: comprise taper laser scanning module (1)With laser pick-off module (2);
Described taper laser scanning module (1) is arranged on docking platform, comprise can modulate laser module (11),Collimate in parallel module (12), high speed two-dimension scanning galvanometer (13) and central processing module (14) are described flatRow collimating module (12) is fixedly mounted on the front that can modulate laser module (11), described high speed with optical axisTwo-dimensional scan galvanometer (13) is fixedly mounted on the front of collimate in parallel module (12), and described central authorities process mouldPiece (14) control can be modulated laser module (11) and be sent the laser beam with emission angle information coding, described inCentral processing module (14) is controlled high speed two-dimension scanning galvanometer (13) and is made to modulate laser module (11)The laser going out forms space conical scan laser beam;
Described laser pick-off module (2) is fixedly installed to the nose bow position of underwater hiding-machine, comprises ecto-entad and complies withThe hard-wired optics of inferior same optical axis receives camera lens (21) and photodetector (22).
2. a kind of laser guiding device for underwater mating according to claim 1, is characterized in that: instituteStating photodetector (22) is photomultiplier.
3. a kind of laser guiding device for underwater mating according to claim 1, is characterized in that: instituteStating photodetector (22) is photodiode.
4. a kind of laser guiding device for underwater mating according to claim 1, is characterized in that: instituteStating and can modulating laser module (11) is external modulation laser module, comprises the laser of installing with optical axis from inside to outsideDevice (111) and optical modulator module (112), described central processing module (14) is controlled optical modulator module (112)The laser beam that laser instrument (111) is sent carries out emission angle information coding.
5. a kind of laser guiding device for underwater mating according to claim 1, is characterized in that: instituteStating and can modulating laser module (11) is internal modulation laser module, and described central processing module (14) is controlled canModulated laser module (11) pulsed illumination realizes laser beam emission angle information coding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079242.3A CN105607641A (en) | 2016-02-04 | 2016-02-04 | Laser guiding device for underwater docking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079242.3A CN105607641A (en) | 2016-02-04 | 2016-02-04 | Laser guiding device for underwater docking |
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| CN105607641A true CN105607641A (en) | 2016-05-25 |
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| CN201610079242.3A Pending CN105607641A (en) | 2016-02-04 | 2016-02-04 | Laser guiding device for underwater docking |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314732A (en) * | 2016-10-14 | 2017-01-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Underwater docking, recycling and laying device for AUV |
| CN109613924A (en) * | 2018-11-22 | 2019-04-12 | 中国船舶重工集团公司第七0五研究所 | A kind of tail portion propulsion submarine navigation device pitching docking control method considering docking inclination angle |
| CN111692918A (en) * | 2019-08-09 | 2020-09-22 | 刘翔 | Underwater guidance method |
| CN113044191A (en) * | 2021-03-05 | 2021-06-29 | 哈尔滨工程大学 | Laser butt joint monitoring device of auxiliary platform butt joint system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314732A (en) * | 2016-10-14 | 2017-01-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Underwater docking, recycling and laying device for AUV |
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| CN109613924A (en) * | 2018-11-22 | 2019-04-12 | 中国船舶重工集团公司第七0五研究所 | A kind of tail portion propulsion submarine navigation device pitching docking control method considering docking inclination angle |
| CN109613924B (en) * | 2018-11-22 | 2021-09-07 | 中国船舶重工集团公司第七0五研究所 | Tail propulsion underwater vehicle pitching docking control method considering docking inclination angle |
| CN111692918A (en) * | 2019-08-09 | 2020-09-22 | 刘翔 | Underwater guidance method |
| CN113044191A (en) * | 2021-03-05 | 2021-06-29 | 哈尔滨工程大学 | Laser butt joint monitoring device of auxiliary platform butt joint system |
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