CN108592887A - A kind of submarine optical communication automatic aiming acquisition and tracking device - Google Patents
A kind of submarine optical communication automatic aiming acquisition and tracking device Download PDFInfo
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- CN108592887A CN108592887A CN201810407017.7A CN201810407017A CN108592887A CN 108592887 A CN108592887 A CN 108592887A CN 201810407017 A CN201810407017 A CN 201810407017A CN 108592887 A CN108592887 A CN 108592887A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 28
- 230000000007 visual effect Effects 0.000 claims description 7
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- 238000000034 method Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 101100117236 Drosophila melanogaster speck gene Proteins 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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Abstract
A kind of submarine optical communication automatic aiming acquisition and tracking device, the reception device for including the emitter on manned underwater vehicle and being fixed in submarine sensor, emitter includes twin shaft universal turret, image detector, laser emitter, digital picture microprocessor and motion control microcontroller；Twin shaft universal turret is realized to the pitching of image detector, laser emitter by stepper motor one, stepper motor two, high-precision rotary platform one, high-precision rotary platform two, pitching u-bracket and yaw u-bracket, is biased to rotates effe；Reception device includes concatenated light-operated switch, power supply and receives response light source, and for light-operated switch light-receiving surface in the focus of convergent lens, light-operated switch makes circuit communication when light-receiving surface is irradiated with a laser；Beam expanding lens is receiving immediately ahead of response light source.The present invention ensures the speed and precision of transmitting-receiving two-end alignment using automatic aiming acquisition and tracking system, while when submersible is by ripples perturbation, still optical communication link can be kept unimpeded.
Description
Technical field
The invention belongs to a kind of aiming acquisition and tracking devices, and in particular to a kind of submarine optical communication automatic aiming acquisition and tracking
Device.
Background technology
Existing automatic aiming acquisition and tracking system is applied to air-ground dialogue, satellite communication more, is generally not used for logical under water
Letter.Current underwater generally using sound communication, optic communication speed is better than sound communication.Submarine optical communication has many advantages：Penetration capacity
By force, working frequency is high, and communication band is wide, and data transmission capabilities are strong, wave beam hidden safe, and equipment size, weight are small, therefore
Submarine communication, marine exploration etc. have broad application prospects.If optical communication applications are received and dispatched the alignment ten of both-end in underwater
Divide key；After transmitting-receiving both-end alignment, due to underwater environment complexity, the maintenance of optical communication link is very difficult.
Current deep-sea detecting is very high to the fidelity requirement of sample, during sample is taken out from seabed, temperature, pressure
By force, the variation of pH value can change the original property of sample, be had an impact to measurement result, and therefore, deep sea in-situ detects increasingly
It is taken seriously.In deep sea in-situ detection, how the data of Quick Acquisition submarine sensor are the major issues faced at present.
Invention content
Present invention aims at a kind of submarine optical communication automatic aiming acquisition and tracking device is provided, to make up the prior art
Deficiency realizes the high speed optical communication between manned underwater vehicle and submarine sensor.
A kind of submarine optical communication automatic aiming acquisition and tracking device, it is characterised in that including emitter and reception device,
The emitter is mounted on manned underwater vehicle, and the reception device is fixed in submarine sensor；
It is characterized in that the emitter includes twin shaft universal turret, image detector, laser emitter, digital picture microprocessor
And motion control microcontroller；The twin shaft universal turret includes stepper motor one, stepper motor two, high-precision rotary platform one, high-precision
Turntable two, pitching u-bracket and yaw u-bracket are spent, wherein stepper motor one connects and high-precision rotary platform one is driven to revolve
Turning, stepper motor two connects and drives high-precision rotary platform two, yaw u-bracket to be fixed on one top of high-precision rotary platform, and
Yaw u-bracket is fixed in the vertical shaft of high-precision rotary platform one, to be revolved with the vertical shaft of high-precision rotary platform one
Turn, the outside of pitching u-bracket one end is connected with high-precision rotary platform two, and the two is fixed on yaw u-bracket jointly
Inside, pitching u-bracket are rotated with high-precision rotary platform two around horizontal axis, to composition can pitching, be biased to rotation twin shaft
Universal turret；
Image detector and laser emitter are fixed in pitching u-bracket, and image detector is micro- with circuit connection digital picture
Processor, stepper motor one and stepper motor two connect motion control microcontroller, digital picture microprocessor and motion control list
It is connected with circuit between piece machine；The above emitter is fixed on the communications platform in manned underwater vehicle；
The reception device includes light-operated switch, power supply, convergent lens, receives response light source, beam expanding lens；Wherein light-operated switch with
Power supply, reception response light source are connected in series with circuit, and in the focus of convergent lens, light-operated switch exists the light-receiving surface of light-operated switch
Make circuit communication when light-receiving surface is irradiated with a laser；Beam expanding lens is receiving immediately ahead of response light source；The above reception device is fixed on sea
On platform in the sensor water-proof cover of bottom.
The submarine optical communication automatic aiming acquisition and tracking device, it is characterised in that above-mentioned stepper motor one and stepping electricity
Machine two connects DM542 stepper motor drivers when in use, and DM542 stepper motor drivers use 24V power voltage supplies.
The submarine optical communication automatic aiming acquisition and tracking device, it is characterised in that above-mentioned laser emitter is using bluish-green
Laser,
The submarine optical communication automatic aiming acquisition and tracking device, it is characterised in that the submarine optical communication automatic aiming is caught
Obtain tracks of device, it is characterised in that above-mentioned laser emitter according to the limpid degree of seawater can be used wavelength be 450,473,488 or
The laser of 532nm；
The submarine optical communication automatic aiming acquisition and tracking device, it is characterised in that above-mentioned image detector uses CMOS, swashs
Optical transmitting set and image detector are directed toward identical.
The submarine optical communication automatic aiming acquisition and tracking device, it is characterised in that above-mentioned reception response light source can be used
Bluish-green laser or LED light source.
The application of the submarine optical communication automatic aiming acquisition and tracking device, it is characterised in that above-mentioned apparatus is for manned
The alignment of two signal ends on submersible and in submarine sensor.
The method that the alignment of two signal ends on manned underwater vehicle and in submarine sensor is realized using above-mentioned apparatus,
It is characterized in that including the following steps：
1）Emitter is arranged on manned underwater vehicle, the reception device 18 is fixed in submarine sensor, emitter
17 light-receiving surface of laser emitter and image detector towards reception device；
2）It opens image detector and laser emitter is kept it turning on；
3）Motion control microcontroller controls stepper motor one, stepper motor two rotates；Stepper motor one drives high-precision rotary platform
One, stepper motor two drives high-precision rotary platform two, and high-precision rotary platform one drives yaw u-bracket to be rotated around vertical axes, high
Precision turntable two drives pitching u-bracket to be rotated around trunnion axis, and two kinds of rotation superpositions, final effect is pitching u-bracket band
It moves image detector and laser emitter fixed thereto and does back-shaped line scanning motion；
4）When the convergent lens that the light beam that laser emitter is sent out is received device converges on the light-receiving surface of light-operated switch, say
Bright laser emitter is pointing exactly to reception device；Light-operated switch powers on and receives response light source at this time, receives response light source
It shines, with big angle of divergence directive emitter after beam expanding lens expands；
5）Image detector on emitter constantly sends image to digital picture microprocessor, once the micro- place of digital picture
Reason device judges that image detector takes the hot spot for receiving response light source, immediately to motion control single chip communication, motion control
Microcontroller controls stepper motor one at once, stepper motor two stops back-shaped line scanning, and micro- according to position of the speck in visual field
The direction adjusted pitching u-bracket, yaw u-bracket realizes alignment；
6）When emitter is disturbed by water, image detector can detect that the hot spot for receiving response light source removes in visual field
The heart（Image center is grown and width is entire image length and 1/10th wide rectangular area）, at this time digital picture microprocessor to
The transmission instruction of motion control microcontroller, pitching u-bracket, the direction for yawing u-bracket follow up towards hot spot moving direction, make light
Spot returns to field of view center；
If hot spot is fully removed visual field, reboot step 3）Back-shaped line scanning motion, again aim at capture, until two signals
End alignment.
The invention has the advantages that current deep-sea detecting is very high to the fidelity requirement of sample, in order to greatest extent
The influence that environment changes when ground avoids sample examined, the present invention provides a kind of method is placed in seabed by detection sensor, carries out
In-situ investigation, data are obtained by manned underwater vehicle dive.When obtaining sensing data, sensed in manned underwater vehicle and detection
It is closer that distance is built between device（Within 100 meters）Communication light path.Ensure transmitting-receiving two-end using automatic aiming acquisition and tracking system
The speed and precision of alignment, while when submersible is by ripples perturbation, still optical communication link can be kept unimpeded.
Description of the drawings
Fig. 1 is emitter schematic diagram of the present invention（Contain computer in figure）.
Fig. 2 is reception device schematic diagram of the present invention.
Fig. 3 is modular structure schematic diagram of the present invention.
Wherein, 1. stepper motor one, 2. stepper motors two, 3. high-precision rotary platforms one, 4. high-precision rotary platforms two, 5.
Image detector, 6. laser emitters, 7. pitching u-brackets, 8. yaw u-brackets, 9. digital picture microprocessors, 10. fortune
Dynamic control single chip computer, 11. computers, 12. light-operated switches, 13. power supplys, 14. convergent lenses, 15. receive response light source, and 16. expand
Shu Jing, 17, emitter, 18, reception device.
Specific implementation mode
Such as Fig. 3, a kind of submarine optical communication automatic aiming acquisition and tracking device, it is characterized in that including the hair on manned underwater vehicle
Injection device 17 and 18 two parts of reception device being fixed in submarine sensor.
Such as Fig. 1, the emitter on manned underwater vehicle 17, it is characterized in that emitter is by laser emitter 6, image
Detector 5, twin shaft universal turret, motion control microcontroller 10 and digital picture microprocessor 9 form.Wherein twin shaft is universal
Platform is by stepper motor 1, stepper motor 22, high-precision rotary platform 1, high-precision rotary platform 24, the U-shaped branch of pitching
Frame 7, yaw u-bracket 8 connect into, and connection type is that stepper motor 1 connects and drives high-precision rotary platform 1
, stepper motor 22, which connects, simultaneously drives high-precision rotary platform 24, and high-precision rotary platform 1 and yaw u-bracket 8 are solid
Fixed connection, yaw u-bracket 8 can be rotated with high-precision rotary platform 1, and the left inside side of yaw u-bracket 8 is fixedly connected
High-precision rotary platform 24,7 left-external side of pitching u-bracket are fixedly connected with high-precision rotary platform 24, pitching u-bracket
7 right outsides with yaw 8 Right Inboard of u-bracket connect with shaft, composition can pitching, yaw rotation twin shaft universal turret.Laser
Transmitter 6 and image detector 5 are fixed in the pitching u-bracket 7 of twin shaft universal turret, and image detector 5 is with electricity
Road connects digital picture microprocessor 9, and stepper motor 1 connects motion control monolithic with stepper motor 22 with circuit
Machine 10 is connected between digital picture microprocessor 9 and motion control microcontroller 10 with circuit.The above emitter 17 is fixed
On communications platform in manned underwater vehicle.
Such as Fig. 2, the reception device being fixed in submarine sensor, it is characterized in that by light-operated switch 12, convergent lens 14
, receive response light source 15, beam expanding lens 16 and power supply 13 form.Wherein light-operated switch 12 is rung with power supply 13, reception
It answers and is connected in series with circuit between light source 15, the light-receiving surface of light-operated switch 12 expands in the focus of convergent lens 14
Mirror 16 is receiving 15 front of response light source.The above reception device 18 is fixed on the platform in submarine sensor waterproof cover
On.
Embodiment
The workflow of the present apparatus is, digital picture microprocessor 9 and motion control microcontroller 10 respectively with calculating
Machine 11 connects, and first starts computer 11, and computer 11 is powered to two microcontrollers, and image detector 5 is kept it turning on, laser
Transmitter 6 is kept it turning on, and motion control microcontroller 10 controls stepper motor 1, stepper motor 22 rotates；Stepping
Motor 1 drives high-precision rotary platform 1, stepper motor 22 to drive high-precision rotary platform 24, high-precision rotary platform
One 3 drive yaw u-bracket 8 to be rotated around vertical axes, and high-precision rotary platform 24 drives pitching u-bracket 7 around level
Axis rotates, and two kinds of rotation superpositions, final effect is that pitching u-bracket 7 drives image detector 5 and laser fixed thereto
Transmitter 6 does back-shaped line scanning motion.When the light beam that laser emitter 6 is sent out is received 14 meeting of convergent lens of device
When gathering on the light-receiving surface of light-operated switch 12, laser emitter 6 is pointing exactly to reception device.Light-operated switch 12 connects at this time
Energization source 13 and reception response light source 15, receive response light source 15 and shine, to send out greatly after beam expanding lens 16 expands
Dissipate angle directive emitter.Image detector 5 on emitter constantly sends image to digital picture microprocessor 9
.Once digital picture microprocessor 9 judge image detector 5 take receive response light source 15 hot spot, immediately to
Motion control microcontroller 10 communicates, and motion control microcontroller 10 controls stepper motor 1, stepper motor 22 at once
Stop the scanning of back-shaped line, and according to fine position pitching u-bracket 7 of the speck in visual field, yaw the finger of u-bracket 8
To realization alignment.
When emitter is disturbed by water, image detector 5 can detect the hot spot for receiving response light source 15
Remove field of view center.Digital picture microprocessor 9 is transmitted to motion control microcontroller 10 and is instructed at this time, pitching u-bracket
7, the direction of yaw u-bracket 8 follows up towards hot spot moving direction, and hot spot is made to return to field of view center.If hot spot is fully removed
Visual field then restarts scanner program, aims at capture again, until two signal ends are aligned.It, can in the registered when gathered data
These data are stored with computer 11.
In the present embodiment, the emitter on manned underwater vehicle 17 should make submarine sensor 18 before being aligned
Within the scope of effective scanning.If reception device light-receiving surface（Convergent lens 14）Radius be 80mm, then can take two height
The sweep spacing of precision turntable is 0.1 °.
Claims (9)
1. a kind of submarine optical communication automatic aiming acquisition and tracking device, it is characterised in that including emitter（17）And reception device
（18）, the emitter（17）On manned underwater vehicle, the reception device（18）It is fixed in submarine sensor；
The emitter（17）Including twin shaft universal turret, image detector（5）, laser emitter（6）, digital picture microprocessor
Device（9）And motion control microcontroller（10）；The twin shaft universal turret includes stepper motor one（1）, stepper motor two（2）, it is high-precision
Spend turntable one（3）, high-precision rotary platform two（4）, pitching u-bracket（7）With yaw u-bracket（8）, wherein stepper motor one
（1）It connects and drives high-precision rotary platform one（3）Rotation, stepper motor two（2）It connects and drives high-precision rotary platform two（4）,
Yaw u-bracket（8）It is fixed on high-precision rotary platform one（3）Top, and yaw u-bracket（8）It is fixed on high-precision rotary platform
One（3）Vertical shaft on, to high-precision rotary platform one（3）Vertical shaft rotation, the pitching u-bracket（7）One
The outside at end and high-precision rotary platform two（4）It is connected, the two is fixed on yaw u-bracket jointly（8）Inside, the U-shaped branch of pitching
Frame（7）With high-precision rotary platform two（4）Rotated around horizontal axis, to composition can pitching, be biased to rotation twin shaft universal turret；
Image detector（5）And laser emitter（6）It is fixed on pitching u-bracket（7）On, image detector（5）Connected with circuit
Connect digital picture microprocessor（9）, stepper motor one（1）With stepper motor two（2）Connect motion control microcontroller（10）, number
Image microprocessor（9）With motion control microcontroller（10）Between connected with circuit；
The reception device includes light-operated switch（12）, power supply（13）, convergent lens（14）, receive response light source（15）And it expands
Mirror（16）；Wherein light-operated switch（12）With power supply（13）, receive response light source（15）It is connected in series with circuit, light-operated switch（12）
Light-receiving surface in convergent lens（14）Focus on, light-operated switch（12）Make circuit communication when light-receiving surface is irradiated with a laser；Expand
Shu Jing（16）Receiving response light source（15）Front.
2. submarine optical communication automatic aiming acquisition and tracking device as described in claim 1, it is characterised in that above-mentioned stepper motor
One（1）With stepper motor two（2）DM542 stepper motor drivers are connect when in use, and DM542 stepper motor drivers use 24V
Power voltage supply.
3. submarine optical communication automatic aiming acquisition and tracking device as described in claim 1, it is characterised in that above-mentioned Laser emission
Device（6）Using bluish-green laser.
4. submarine optical communication automatic aiming acquisition and tracking device as described in claim 1, it is characterised in that above-mentioned Laser emission
Device（6）Use wavelength for the laser of 450,473,488 or 532nm.
5. submarine optical communication automatic aiming acquisition and tracking device as described in claim 1, it is characterised in that above-mentioned image detection
Device（5）Use CMOS, laser emitter（6）And image detector（5）It is directed toward identical.
6. submarine optical communication automatic aiming acquisition and tracking device as described in claim 1, it is characterised in that above-mentioned reception response
Light source（15）Bluish-green laser or LED light source can be used.
7. submarine optical communication automatic aiming acquisition and tracking device described in claim 1 is on manned underwater vehicle and seabed sensing
The alignment of two signal ends on device.
8. the method for realizing the alignment of two signal ends on manned underwater vehicle and in submarine sensor using above-mentioned apparatus, special
Sign is to include the following steps：
1）By emitter（17）It is arranged on manned underwater vehicle, the reception device（18）It is fixed in submarine sensor, sends out
Injection device（17）Laser emitter（6）And image detector（5）Towards reception device（18）Light-receiving surface；
2）Open image detector（5）And laser emitter（6）It keeps it turning on；
3）Motion control microcontroller（10）Control stepper motor one（1）, stepper motor two（2）Rotation；Stepper motor one（1）It drives
High-precision rotary platform one（3）, stepper motor two（2）Drive high-precision rotary platform two（4）, high-precision rotary platform one（3）It drives inclined
Boat u-bracket（8）It is rotated around vertical axes, high-precision rotary platform two（4）Drive pitching u-bracket（7）It is rotated around trunnion axis, two kinds
Rotation superposition, final effect is pitching u-bracket（7）Drive image detector fixed thereto（5）And laser emitter（6）It does
Back-shaped line scanning motion；
（4）Work as laser emitter（6）The light beam sent out is received device（18）Convergent lens（14）Converge to light-operated switch
（12）Light-receiving surface on when, illustrate laser emitter（6）It is pointing exactly to reception device（18）；Light-operated switch at this time（12）Connect electricity
Source（13）With reception response light source（15）, receive response light source（15）It shines, by beam expanding lens（16）With the big angle of divergence after expanding
Directive emitter（17）；
5）Image detector on emitter（5）Constantly send image to digital picture microprocessor（9）Once digitized map
As microprocessor（9）Judge image detector（5 take reception response light source（15 hot spot, immediately to motion control monolithic
Machine（10）Communication, motion control microcontroller（10）At once stepper motor one is controlled（1）, stepper motor two（2）Stop back-shaped line to sweep
It retouches, and the fine position pitching u-bracket according to speck in visual field（7）, yaw u-bracket（8）Direction, realize alignment；
6）Work as emitter（17）When being disturbed by water, image detector（5）It can detect reception response light source（15）Light
Spot removes field of view center, at this time digital picture microprocessor（9）To motion control microcontroller（10）Transmission instruction, the U-shaped branch of pitching
Frame（7）, yaw u-bracket（8）Direction towards hot spot moving direction follow up, so that hot spot is returned to field of view center；
If hot spot is fully removed visual field, reboot step 3）Back-shaped line scanning motion, again aim at capture, until two signals
End alignment.
9. the method being aligned as claimed in claim 8, it is characterised in that above-mentioned steps 6）In, field of view center is that image center is grown
It is entire image length and 1/10th wide rectangular area with width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810407017.7A CN108592887B (en) | 2018-05-01 | 2018-05-01 | Automatic aiming, capturing and tracking device for underwater optical communication |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810407017.7A CN108592887B (en) | 2018-05-01 | 2018-05-01 | Automatic aiming, capturing and tracking device for underwater optical communication |
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| CN109199534A (en) * | 2018-11-02 | 2019-01-15 | 谢小姣 | A kind of tonsillotome squeezing cutter fixing piece and squeezing cutter |
| CN109199535A (en) * | 2018-11-02 | 2019-01-15 | 谢小姣 | A kind of high stability tonsillotome squeezing cutter |
| CN110849332A (en) * | 2019-11-26 | 2020-02-28 | 成都立鑫新技术科技有限公司 | Attitude measurement system of moving object |
| CN111193541A (en) * | 2018-11-15 | 2020-05-22 | 财团法人工业技术研究院 | Underwater wireless communication device and method |
| CN112235049A (en) * | 2019-06-28 | 2021-01-15 | Oppo广东移动通信有限公司 | Communication system and method for diving, shipborne communicator and diving communicator |
| CN112422197A (en) * | 2020-10-19 | 2021-02-26 | 鹏城实验室 | Underwater optical communication capturing device and method based on acousto-optic combination |
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| Publication number | Publication date |
|---|---|
| CN108592887B (en) | 2024-03-29 |
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