CN111505660A - Acoustic detection device and sound field detection system - Google Patents
Acoustic detection device and sound field detection system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
Abstract
The invention is suitable for the technical field of measurement, and provides an acoustic detection device and a sound field detection system, wherein the acoustic detection device at least comprises: the first sound field detection assembly at least comprises a plurality of laser radar modules, and a detection beam of each laser radar module can be focused on one or more space detection points; the first sound field detection component detects sound wave signals at a plurality of space detection points based on Doppler effect generated by the detection light beams and sound wave vibration to form first sound field detection data. The invention detects the sound wave signal transmitted by the object to be detected based on the focused detection beam of the laser radar, the detection range can be expanded to the range which can be reached by the focus point of the detection beam, and compared with the traditional sonar detection system, the acoustic detection device provided by the invention can realize the multiple increase of the detection aperture/range of the sound field by using smaller equipment volume.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to an acoustic detection device and a sound field detection system.
Background
The sound wave has wide application in the fields of underwater target sound detection, underwater sound communication, underwater sound positioning and navigation, submarine topography measurement, medical ultrasonic imaging, industrial nondestructive testing and the like.
The classical sonar detection system must consider the problem that the range of the detected target, the size of the platform which can be set up, the information quantity of received sound waves, the resolution of the detected target and other mutual influences are restricted. Theoretically, an infinite sonar receiving aperture can be built to achieve efficient acquisition of the maximum information quantity, but the overlarge equipment size is actually not suitable for practical application.
Therefore, the existing sonar detection system is difficult to find a perfect balance point between good measurement effect and small equipment volume, and often has the defects of over-large or over-small measurement range or even both.
Disclosure of Invention
The embodiment of the invention aims to provide an acoustic detection device and a sound field detection system, and aims to solve the problems of overlarge equipment volume and poor measurement effect in the existing sonar detection system.
The embodiment of the present invention is implemented as follows, in which the acoustic detection apparatus at least includes:
the first sound field detection assembly at least comprises a plurality of laser radar modules, and a detection beam of each laser radar module can be focused on one or more space detection points;
the first sound field detection component detects sound wave signals at a plurality of space detection points based on Doppler effect generated by the detection light beams and sound wave vibration to form first sound field detection data.
In another embodiment, a sound field detection system is provided, comprising:
the acoustic detection device described above; and
and the background processing device is used for processing the data detected by the acoustic detection device.
In yet another embodiment, a sound field detection system is provided, comprising:
the first sound field detection assembly is used for detecting an object to be detected and at least comprises a plurality of laser radar modules, and a detection beam of each laser radar module can be focused on at least one space detection point; the laser radar module detects a sound wave signal from the object to be detected or reflected by the object to be detected at the space detection point based on the detection light beam and the Doppler effect generated by sound wave vibration to form first sound field detection data;
the second acoustic field detection component is used for detecting acoustic signals coming from the object to be detected or reflected by the object to be detected to form second acoustic field detection data; the detection areas of the second sound field detection assembly and the first sound field detection assembly are not interfered with each other, are complementary or are partially overlapped at the edge; in addition, at least in the detection process, the spatial position relationship between the detection end of the second acoustic field detection assembly and the spatial detection point is kept fixed, or a set relative motion relationship is formed; and
and the processing device is associated with the first sound field detection assembly and the second sound field detection assembly, and can calculate and synthesize the shape of the object to be detected based on the first sound field detection data and the second sound field detection data.
In the above embodiment, the focused probe beam based on the laser radar detects the acoustic signal transmitted from the object to be detected, and the detection range can be expanded to the range that the focus point of the probe beam can reach.
Drawings
Fig. 1 is a schematic structural diagram of an acoustic signal measurement performed based on an acoustic detection device according to an embodiment of the present invention;
fig. 2 is a top view of an acoustic detection apparatus according to an embodiment of the present invention;
FIG. 3 is a top view of another acoustic detection apparatus provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a detection aperture equivalent to a solid acoustic transducer of an acoustic detection apparatus according to an embodiment of the present invention;
fig. 5a is a schematic perspective view of a second acoustic field detection assembly according to an embodiment of the present invention;
FIG. 5b is a top view of a second acoustic field probe assembly according to an embodiment of the present invention emitting a probe beam;
FIG. 5c is a top view of the second acoustic field probe assembly according to the present invention when the probe beam is not emitted;
fig. 6 is a schematic light path diagram of a laser detection apparatus for measuring a sound field by using a laser interferometry according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another.
The application fields of the acoustic detection apparatus in this embodiment include, but are not limited to, target acoustic detection, underwater acoustic communication, underwater acoustic positioning and navigation, submarine topography measurement, medical ultrasonic imaging, industrial nondestructive testing, etc., and the following description focuses on the field of target acoustic detection, but the acoustic detection apparatus in this embodiment should not be considered to be applicable to this field, and in the above-mentioned application fields or other application fields not mentioned, if the acoustic detection apparatus in this application is adopted, it should be considered to fall within the scope of protection of this application.
With reference to fig. 1-6, in one embodiment, an acoustic detection apparatus 100 is provided, the acoustic detection apparatus 100 including, in combination with the contents of the figures, at least:
the first sound field detection assembly 10 at least comprises a plurality of laser radar modules 11, and a detection beam of each laser radar module 11 can be focused on one or more space detection points 12;
the first sound field detection component 10 detects the sound wave signals at a plurality of the spatial detection points 12 (fig. 1, 2, and 3 are simplified drawings, and only a few groups of the corresponding focused probe beams are schematically shown in the drawings, but not all the spatial detection points 12 are shown in the drawings) based on the probe beams (indicated by dotted lines in fig. 1, 2, and 3) and the doppler effect generated by the sound wave vibration, so as to form first sound field detection data. In addition, in fig. 3, only two dotted lines representing the probe beams are drawn at one spatial detection point 12, and not representing the probe beams passing through only two directions at one spatial detection point 12, and fig. 3 is a simplified drawing method, which only simply illustrates the effect of probe beam convergence, and actually, each spatial detection point passes through at least three directions of probe beams.
In this embodiment, the focused beam based on the laser radar module can detect the sound wave signal transmitted from the object to be detected, and compared with the traditional sonar detection system, the detection aperture/range of the sound field can be multiplied under the condition that the volume is not greatly increased.
Fig. 1 is a simplified drawing, which only schematically shows a part of the lidar module, and the two semi-ellipses in the drawing are used to indicate other lidar modules not shown.
In one embodiment, it should be noted that the measurement of the acoustic wave signal by using the laser radar module 11 as a sound field detection tool is implemented based on the doppler effect generated by the detection beam and the acoustic wave vibration; specifically, the refractive index of the propagation medium is changed due to the vibration of the sound wave, so that the optical path difference of the detection beam emitted by the laser radar module 11 changes when passing through the propagation medium, and the change of the optical path difference can be detected by the laser radar module, and the refractive index change data caused by the sound field can be obtained according to the relationship between the optical path difference and the related physical properties (such as the density, the refractive index and the like of the propagation medium); in addition, a linear relation exists between sound pressure of the sound field and the refractive index of the transmission medium, and the distribution state of the sound pressure of the sound field can be further calculated.
In one aspect of the present embodiment, the lidar module 11 in the first acoustic field detection assembly 10 mainly measures the acoustic wave signal at the spatial detection point 12, so as to realize indirect measurement of the object to be measured. When detecting the object to be detected (for example, detecting the surface shape of the object to be detected), the acoustic signal may be from the object to be detected or an acoustic signal reflected by the object to be detected; in another case of this embodiment, the detected acoustic wave signal may also be: the sound source/sound transmitter/sound transceiver provided on the acoustic detection apparatus 100 actively emits a sound signal to the object to be detected, and then the sound signal is reflected by the object to be detected. It can be understood that the acoustic wave signal is transmitted from the surface of the object to be measured, and carries shape information of the surface of the object to be measured. The sound wave signal mainly reflects the information carried by the sound wave signal through attributes such as sound vibration speed, sound phase, sound amplitude and the like, wherein the data of each space detection point can be expressed as a complex number R + jI, the size of the complex number represents the sound amplitude of the sound wave signal, and the phase angle of the complex number represents the sound phase of the sound wave signal at the point and at the value-taking moment. In this embodiment, the acoustic wave signals at the spatial detection point 12 are mainly detected, the acoustic vibration speed, the acoustic phase, the acoustic amplitude, and other attribute parameters of the acoustic wave signals are analyzed, and the shape of the surface of the object to be measured is calculated based on the variation of the attribute parameters.
In one case, the laser emitted by lidar modules 11 in first acoustic field detection assembly 10 includes multiple probe beams, and these probe beams may be modulated into focused beams, with each lidar module 11 forming one or more sets of focused beams, i.e., each lidar may detect sonic signals at one or more spatial detection points. The spatial detection points are dummy spatial points and need to be calibrated in advance, the spatial detection points are focusing points of laser radar module focusing beams, and at least in the detection process, the relative positions of all the spatial detection points are kept fixed and unchanged, so that the data of the points meet the position relationship calibrated in advance, and calculation is facilitated.
In one case, since each of the space detection points 12 is one of the focus points of the probe beam of the laser radar module 11, since it is a focus point, that is, each of the space detection points has multiple directions through which the probe beam passes, the laser radar module collects return signals of the probe beam passing through the space detection points to form first sound field detection data including detection data regarding the multiple directions of each of the space detection points, and based on this, the sound wave vibration phase at each of the space detection points can be calculated; and calculating the surface shape of the object to be detected according to the first sound field detection data as long as the number and the distribution of the space detection points are proper.
In one case, for the spatial detection point, after the device is set up, the detection beam of the laser radar module 11 is debugged and focused, and then the focus point is calibrated to be the so-called spatial detection point; in another case, the spatial detection point may be a spatial point planned in advance, and after the device is set up, the detection beam of the laser radar module 11 is adjusted and focused on the spatial point planned in advance.
In one case, the lidar module 11 is arranged to: each spatial detection point 12 is detected by at least three directional probe beams: because the present embodiment utilizes the doppler effect generated by the laser probe beam and the acoustic vibration to detect the laser frequency variation caused by the acoustic signal, the variation of the laser frequency represents the acoustic vibration speed; specifically, for probe beams passing through a spatial detection point in different directions, the laser frequency variation detected by the probe beam in each direction represents the acoustic vibration speed of the acoustic signal at the spatial detection point in the corresponding spatial projection direction (i.e., the emission direction of the corresponding probe beam), the projections in at least three directions can be synthesized to obtain the actual speed of the acoustic vibration at the spatial detection point, and the phase and amplitude of the acoustic vibration at the spatial detection point can be calculated.
In a case where the transmitting end of the lidar module 11 in the first sound field detection assembly 10 is located on the same plane, the lidar module may be further modulated such that the focus point of the probe beam (corresponding to the spatial detection point 12) is coplanar with the plane where the transmitting end of the lidar module is located, which has the advantages of a more compact structure, easy adjustment and maintenance, and simplified computational model.
In one case, the transmitting ends of the lidar modules 11 in the first acoustic field detection assembly 10 are located on the same plane, but the focal points of their probe beams (corresponding to the spatial detection points 12) may not be coplanar, e.g., the probe beams may be tilted in the direction of the acoustic wave transmission, thereby bending the effective detection aperture and further enhancing the amount of information received.
In one case, the transmitting ends of the lidar modules 11 in the first acoustic field detection assembly 10 may not be located on the same plane, and on this basis, the focusing points (corresponding to the space detection points 12) of the probe beams may be coplanar or not coplanar, and similarly, the probe beams may be inclined toward the direction of the transmitted acoustic waves, so as to improve the amount of received information by bending the effective detection aperture.
In one case, the lidar module 11 in the first sound field detection assembly is generally a lidar device capable of performing fixed-point detection, and functions of the lidar device are similar to those of a vibrometer, a doppler laser velocimeter and other instruments capable of performing fixed-point detection, but compared with these instruments, the lidar module 11 in this embodiment may adopt a smaller hardware size to greatly increase the measurement range/aperture, and the increase of the detection range/aperture does not require a synchronous increase of the hardware size.
In one case, lidar module 11 in first sound field detection assembly 10 may employ staring radar.
In one case, as shown in fig. 1, 2 and 3, the lidar modules in the first acoustic field detection assembly 10 may be enclosed into a ring-shaped structure; of course, the laser radar module can also be enclosed into a square structure, a polygonal structure or other enclosed structures, and the emission direction of the detection beams of each laser radar module faces outwards. In another case, the first sound field detection assembly 10 may not form a closed structure, for example, arranged in a linear array structure (may be arranged in one or more lines); for another example, the structure can be arranged in a broken line or a curve, and the arrangement form can be set according to actual needs.
In one case, laser radar modules 11 in the first sound field detection assembly can be independently arranged, or fixedly connected through a support 13, when necessary, the support 13 can be made into an equipment shell, and on the basis that the detection effect is not influenced, the equipment shell can be further made into a waterproof structure capable of wrapping the first detection assembly so as to facilitate underwater detection.
In the above embodiment, the doppler effect generated between the probe beam of the laser radar module 10 and the sound wave vibration is used to detect the sound wave signal at the pre-calibrated spatial detection point, and form the first sound field detection data; compared with a traditional sonar detection system, in this embodiment, a laser radar module is introduced into the field of sound field detection, and a spatial range that a focus point (that is, a spatial detection point) of the laser radar module can reach is a detectable aperture/range thereof, as shown in fig. 4, the spatial range is a detection aperture/range schematic diagram of the acoustic detection apparatus 100 shown in fig. 1, 2, and 3, where a boundary 50 is a virtual detection aperture boundary, which is equivalent to a detection aperture when a solid acoustic transducer and an acoustic receiver are used (the hardware size of the solid acoustic transducer is greater than the detection aperture), an internal area of the boundary 50 is a spatial range covered by the spatial detection point corresponding to the acoustic detection apparatus, and the spatial detection point located on the boundary 50 represents a spatial detection point farthest from the acoustic detection apparatus.
Referring to fig. 2, 3 and 4 in combination, the acoustic detection device is located inside the boundary 50 in fig. 4, and when the acoustic detection device is made into an actual product, the acoustic detection device can only occupy a very small area in the boundary 50, and can detect a spatial detection point through the focusing action of a detection beam, wherein the extensible range of the spatial detection point is the size of an equivalent detection aperture; in actual operation, the distance between the spatial detection point and the laser radar module can reach at least 100 meters, that is, if a plurality of laser radar modules simultaneously detect the periphery, the actual effective detection aperture can be expanded to 2 x 100 meters, that is, the diameter of the boundary 50 can reach 200 meters, while the volume of the equipment of the embodiment can be almost ignored relative to the aperture, but the equipment is changed into a traditional sonar, namely, the hardware diameter is more than 200 meters, so that the effect equivalent to the present application can be realized; that is to say, compared with the existing sonar system, the acoustic detection device in the embodiment can be more portable, and the detection range/aperture is greatly improved.
The embodiment comprehensively considers the characteristics of the underwater laser radar, the characteristics that the sound wave signal can carry target information and can be measured simultaneously, the characteristics that the underwater laser radar has limited action distance and the like, takes the disadvantages of the underwater laser radar as advantages, and improves the effective receiving aperture of the sonar by using the underwater laser radar to measure the sound coming wave information, but does not obviously improve the actual physical aperture scale, thereby solving the contradiction between the technical requirements and the practical limit.
In one embodiment, as shown in fig. 3, the acoustic detection apparatus 100 further includes: a second acoustic field detection assembly 20 for detecting acoustic signals to form second acoustic field detection data; the second detection assembly 20 and the first detection assembly 10 have non-overlapping detection areas; the second sound field detection assembly 20 is an acoustic receiver, an acoustic transceiver, such as sonar, underwater acoustic transducer, or a detection device capable of detecting the change of the sound field by using laser, such as a laser vibrometer, a laser doppler velocimeter, or the like.
In one case of the present embodiment, the detection regions of the second detection component 20 and the first detection component 10 have non-overlapping regions, including the cases that the detection regions of the two do not interfere with each other, complement each other, or partially overlap at the edge. Specifically, the two detection areas do not interfere with each other, that is, there is no overlapped area, when the two detection areas detect the underwater acoustic signal in a space area respectively; the detection areas are complementary, namely the two detection areas are just matched with each other at the joint boundary; the detection regions are partially overlapped at the edges, which means that the edges of the two detection regions may be partially overlapped, but are limited to the partial overlap at the edges. Therefore, the first underwater acoustic communication data and the second underwater acoustic communication data can complement each other in terms of space, the two can reflect the distribution conditions of the underwater acoustic signals at different positions in space, and a relatively complete underwater acoustic communication data set can be formed.
In one embodiment, at least during the detection process, the spatial position relationship between the detection end of the second acoustic field probe assembly 20 and the spatial detection point 12 is kept fixed or forms a set relative motion relationship; that is, at least during the detection, as long as the detection beats of the first sound field detection assembly 10 and the second sound field detection assembly 20 are kept synchronous, the first sound field detection data and the second sound field detection data can be kept synchronous, so as to calculate and synthesize the shape of the object to be detected.
In one case, "at least during the detection," the spatial position relationship between the detection end of the second acoustic field detection assembly 20 and the spatial detection point 12 is kept fixed, or "at least during the detection" in the set relative movement relationship means that "the spatial position relationship between the detection end of the second acoustic field detection assembly 20 and the spatial detection point 12 is kept fixed, or the set relative movement relationship" includes but is not limited to the state existing during the detection, that is, the state between the detection end of the second acoustic field other side assembly and the spatial detection point is only required if the fixed spatial position relationship is kept or the set relative movement relationship is formed during the detection, and the state of whether the positional relationship is kept fixed before the positional calibration is not required. Certainly, in order to reduce the complexity of debugging and calculation, a fixed spatial position relationship may be formed between the detection end of the second acoustic field detection assembly 20 and the detection beam focus point (corresponding to a spatial detection point during detection) of the lidar module 11 of the first acoustic field detection assembly 10, and after calibration is completed, the spatial detection point corresponding to the focus point of the detection beam of the lidar module 11 and the detection end of the second acoustic field detection assembly 20 can naturally maintain a fixed spatial position relationship in the subsequent detection process.
In one case, the spatial position relationship between the detecting end of the second acoustic field detecting assembly 20 and the spatial detecting point 12 is kept fixed, and the spatial position relationship is calibrated before detection and is recorded into the system; of course, this positional relationship can also be understood substantially as: a fixed spatial positional relationship is maintained between the detection point/line/plane (i.e., detection area) of the second acoustic field detection unit 20 and the spatial detection point 12 of the first acoustic field detection unit 10; such a positional relationship facilitates a fusion calculation of the first acoustic field detection data and the second acoustic field detection data. In another case, the detecting end of the second acoustic field detecting assembly 20 can perform dynamic detection with respect to the space detecting points 12 (the relative position relationship between the space detecting points 12 remains unchanged), according to a certain set motion rule (such as performing scanning detection for specific data requirement), of course, the motion relationship between the two is set in the calculation model in advance; of course, the positional relationship expressed in this case can also be understood substantially as: a set relative movement relationship is formed between the detection point/line/plane (i.e., detection area) of the second acoustic field detection unit 20 and the spatial detection point 12 of the first acoustic field detection unit 10.
In one case, the lidar module 11 in the first acoustic field detection assembly 10 is arranged around the second acoustic field detection assembly 20 in a fully enclosed, semi-enclosed or non-enclosed manner (in fig. 3, a schematic diagram of the lidar module 11 arranged around the second acoustic field detection assembly 20 is shown); in order to make the whole structure more compact, a full-enclosure or half-enclosure form can be adopted, and the specific arrangement mode is selected according to the actual application.
In one case, the first sound field detection assembly 10 is arranged around the second sound field detection assembly 20, and the emission direction of the detection beam of each lidar module 11 faces outward. During detection, the detection area of the second sound field detection assembly 20 for sound wave signals is generally limited to the volume of the detection end (for example, when a sonar is adopted, the detection area is limited to the size of the receiving surface of the sonar; when a laser vibrometer or a laser doppler velocimeter is adopted, the detection area is limited to the detection area constructed by equipment hardware, and the detection boundary cannot exceed the hardware boundary); and the first sound field detection assembly 10 can detect a peripheral area outside the hardware of the apparatus, the detection boundary of which exceeds the hardware boundary. The first sound field detection data and the second sound field detection data respectively represent sound field data measured at different spatial positions, and can be complemented in a spatial sense, and the first sound field detection data and the second sound field detection data can form relatively complete original sound field data reflecting the surface shape of an object to be measured.
In one embodiment, as shown in fig. 5a, 5b and 5c, the second sound field detecting assembly 20 is a detecting device for detecting sound field changes by using laser, and includes:
at least one set of multi-directional sound field detection assembly 21, each set of multi-directional sound field detection assembly 21 comprising a plurality of sets of laser detection devices 211;
the multiple laser detection devices 211 are arranged in a preset manner, so that detection light beams corresponding to the multiple laser detection devices 211 can be woven on a specified detection plane to form a planar optical network or woven in a specified area to form a three-dimensional optical network (not shown in the figure), and the laser detection devices detect a sound field passing through the planar optical network or the three-dimensional optical network in the arrangement manner.
In one case, taking the way that the probe beams form a plane optical network as an example, the multiple sets of laser detection devices 211 in each set of multi-directional sound field detection assembly 21 are arranged in such a way that the probe beams of each set can be located together on a detection plane, and when the probe beams include multiple detection directions, an interlaced state is formed on the detection plane; in this arrangement, the data measured by the laser detection device can be calculated by a predetermined algorithm to obtain the refractive indexes of a plurality of points on the detection plane, when the detecting light beams are more, the detecting directions are more, that is, the detecting density is higher, and the points which can finally calculate the refractive index are more, the refractive index information corresponding to the points is integrated, the distribution state of the detecting plane about the refractive index field corresponding to the detected sound field is formed, and the sound field distribution state can be obtained accordingly, the detecting method of the embodiment has the advantages that, the method can detect a plurality of groups of sound field signals simultaneously, and compared with a mode of piecing sound field data obtained through multiple measurements to form sound field distribution data, the method has the advantages that errors are greatly reduced, the restoration degree of the sound field distribution is greatly improved, and the resolution ratio of shape information of a detected target identified through the sound field distribution difference is also greatly improved.
In a preferred embodiment, the spatial detection point of the first sound field detection assembly is coplanar with the plane light screen of the second sound field detection assembly, so that the detection effect of the sound field detection assembly is equivalent to the detection effect of expanding the structure of the second sound field detection assembly to surround all the spatial detection points on one detection surface, namely, the detection range can be expanded to the place which can be reached by the spatial detection points without greatly increasing the volume of the device.
In one embodiment, the second sound field detection assembly 20 includes multiple sets of multi-directional sound field detection assemblies 21, and the sound field to be detected is simultaneously measured by the multiple sets of multi-directional sound field detection assemblies 21 (21A and 21B represent two sets of multi-directional sound field detection assemblies stacked on each other), so that sound field distribution data of the sound field to be detected on each detection plane can be simultaneously obtained, and finally, the resolution of the detected target can be greatly improved.
In one embodiment, the second sound field detection assembly further comprises a fixing device 22 for mounting the multi-directional sound field detection assembly, and a sound wave channel 40 is arranged in the middle of the fixing device 22;
the multiple sets of laser detection devices 211 in the multi-direction sound field detection assembly 21 are distributed around the periphery of the sound wave channel, and detect the sound wave signals passing through the sound wave channel 40 through laser.
As shown in fig. 5a, 5b, and 5c, the second sound field detecting assembly 20 further includes a fixing device 22 for mounting the multi-directional sound field detecting assembly 21, and a sound wave channel 40 (for the convenience of observation, it is roughly identified by a dotted line in fig. 5c, and it is actually understood that the whole area of the hollow portion in the middle of the fixing device 22) is formed through the middle of the fixing device 22. the sound field detecting assembly can be woven into a two-dimensional mesh-shaped section 301 on a cross section of the sound wave channel 40 to measure the sound field formed on the cross section.
The multiple sets of laser detection devices 211 in each set of multi-directional sound field detection assembly 21 are annularly arranged on the fixing device 22 along the periphery of the sound wave channel, and the sound wave information passing through the sound wave channel can be measured by the laser detection devices distributed on the periphery of the sound wave channel.
In a preferred embodiment, the fixing device 22 is generally made as a mechanical housing, as shown in fig. 5a, 5b, and 5c, but in practice, it is not necessary to arrange it into a ring structure in the form, as long as it can fix the multi-directional sound field detection assembly 21 and make the detection light beams of the multi-directional sound field detection assembly 21 interweave in front of the output end of the light source to form a planar light net or a three-dimensional light net, such as a bracket structure; accordingly, the sound channel 40 is not necessarily a closed structure, but may be an unclosed structure, which is not necessarily a physical channel, and may be a hollow area surrounded by the multi-directional sound field detection assembly, and the hollow area allows the light output from the sound source to pass through without obstruction, and allows the detection light beam to pass through without obstruction and irradiate the opposite receiver.
In one embodiment, as shown in connection with fig. 6, each set of laser detection devices 211 includes:
a laser 23;
a receiver 24 disposed opposite the laser; and
the laser beam emitted by the laser 23 can be split between the light splitting paths to form a reference beam and a detection beam, and the reference beam and the detection beam are finally combined on the receiver 24 and collected by the receiver 24.
In detail, as shown in fig. 6 (a schematic diagram of measuring a sound field by a laser interferometry), after one laser beam a is emitted from the laser 23, the laser beam a is split into two beams by the beam splitter 251, one beam is used as a reference beam b, and the other beam is used as a probe beam c, and the probe beam c directly acts on the sound field, so that the sound field changes the refractive index on a laser propagation path, and further influences the laser propagation optical path, and therefore a fluctuation signal after the laser beam combination is obtained on the detector 24, and the fluctuation is caused by the influence of the sound field on the refractive index distribution.
In one embodiment of the present invention, fig. 6 only shows the principle of laser interferometry, and in an actual structure, the reference light beam b should be kept from interacting with the sound field, i.e. the reference beam b does not directly propagate through the sound wave channel to the opposite receiver, but light is guided by a light guiding device (such as a mirror assembly structure) so that the reference beam b bypasses along the periphery of the sound wave channel, which can also be regarded as the reference beam b bypassing along the periphery of the fixing device 22 and thus propagating to the opposite receiver; the light guide device may also be an optical fiber, and the reference beam can be guided to the opposite receiver by routing and fixing the optical fiber in a proper path.
For the three-dimensional optical network, based on the structure, only the emission direction of the probe beam needs to be adjusted in an inclined mode, and the corresponding receiving end is arranged at the corresponding position opposite to the emission end, and the specific inclined mode and the specific angle can be set according to actual requirements and are limited at the position.
In one embodiment, the acoustic detection device further comprises a sound source, wherein the sound source is used for sending a detection sound wave to the object to be detected to form a sound wave signal which can be detected by the acoustic detection device; the object to be measured may correspond to the object to be measured described above.
In one case, the acoustic source 10 is an acoustic transducer, such as a conventional underwater acoustic transducer. The detection sound wave can be pulse sound wave, such as ultrasonic pulse sound wave, which can form a transmission pulse sound field in the sound field detector, and the ultrasonic pulse sound wave forms an echo signal after being reflected by the surface of the detected object, and the echo signal forms an echo pulse sound field in the sound field detector, the transmission pulse sound field and the echo pulse sound field can be detected by the multi-direction sound field detection component 21 of the second sound field detection component, and the echo pulse sound field at the periphery (at the space detection point) is detected by the first sound field detection component.
In one case, the sound source is arranged on the side of the sound channel remote from the object to be measured.
In one embodiment, there is provided a sound field detection system comprising:
the acoustic detection apparatus of any of the preceding embodiments; and
and the background processing device is used for processing the data detected by the acoustic detection device.
In this embodiment, the acoustic detection device may refer to the above embodiments, which are not described herein again; the background processing device is a device with a data processing function, and may also be a computer device, and the computer device may be an independent physical server or terminal, may also be a server cluster formed by a plurality of physical servers, and may also be a cloud server providing basic cloud computing services such as a cloud server, a cloud database, a cloud storage, and a CDN, and is specifically configured according to actual applications.
In addition, the acoustic detection device has wide application fields, can be applied to the fields of target acoustic detection, underwater acoustic communication, underwater acoustic positioning and navigation, submarine topography measurement, medical ultrasonic imaging, industrial nondestructive testing and the like, and only needs to adaptively adjust a related data processing model and a related calculation model.
In one embodiment, there is also provided a sound field detection system, comprising:
the first sound field detection assembly is used for detecting an object to be detected and at least comprises a plurality of laser radar modules, and a detection beam of each laser radar module can be focused on at least one space detection point; the laser radar module detects a sound wave signal from the object to be detected or reflected by the object to be detected at the space detection point based on the detection light beam and the Doppler effect generated by sound wave vibration to form first sound field detection data;
the second acoustic field detection component is used for detecting acoustic signals coming from the object to be detected or reflected by the object to be detected to form second acoustic field detection data; the detection areas of the second sound field detection assembly and the first sound field detection assembly are not interfered with each other, are complementary or are partially overlapped at the edge; in addition, at least in the detection process, the spatial position relationship between the detection end of the second acoustic field detection assembly and the spatial detection point is kept fixed, or a set relative motion relationship is formed; and
and the processing device is associated with the first sound field detection assembly and the second sound field detection assembly, and can calculate and synthesize the shape of the object to be detected based on the first sound field detection data and the second sound field detection data.
In this embodiment, the first sound field detection component and the second sound field detection component may refer to the above embodiments, and are not described herein again; the processing device is a device with a data processing function, and may also be a computer device, and the computer device may be an independent physical server or terminal, may also be a server cluster formed by a plurality of physical servers, and may also be a cloud server providing basic cloud computing services such as a cloud server, a cloud database, a cloud storage, and a CDN, and is specifically configured according to actual applications.
In this embodiment, the processing device is associated with the first and second sound field detection components, and may be connected by hardware (such as wired connection) or wirelessly, and is not particularly limited and set according to the requirements of the actual application.
The surface shape of the object to be detected is detected through the mutual cooperation of the first sound field detection assembly and the second sound field detection assembly in the embodiment, wherein the first sound field detection assembly detects sound wave signals through the focused detection light beam of the laser radar module, and the detection aperture can be greatly improved under the condition that the volume of the device is not greatly increased or decreased, so that the sound field detection system in the embodiment is more portable and has a larger detection range compared with a transmission detection system.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. An acoustic detection apparatus, characterized in that it comprises at least:
the first sound field detection assembly at least comprises a plurality of laser radar modules, and a detection beam of each laser radar module can be focused on one or more space detection points;
wherein the first sound field detection component detects sound wave signals at a plurality of spatial detection points based on the probe light beam and the Doppler effect generated by sound wave vibration to form first sound field detection data.
2. The acoustic detection apparatus of claim 1, wherein the lidar module is configured to: each space detection point is detected by at least three directions of probe beams.
3. The acoustic detection apparatus of claim 1, further comprising: the second acoustic field detection assembly is used for detecting acoustic signals and forming second acoustic field detection data;
the detection areas of the second sound field detection assembly and the first sound field detection assembly are in a non-overlapping area.
4. The acoustic detection apparatus of claim 3, wherein a spatial positional relationship between the detection end of the second acoustic field probe assembly and the spatial detection point remains fixed or forms a set relative motion relationship at least during detection.
5. The acoustic detection apparatus of claim 3, wherein the lidar modules in the first acoustic field detection assembly are arranged in a fully-enclosed or semi-enclosed configuration around the second acoustic field detection assembly.
6. The acoustic detection apparatus of claim 3, wherein the second acoustic field detection is an acoustic receiver, an acoustic transceiver, or a detection apparatus that can detect changes in the acoustic field using a laser.
7. The acoustic detection apparatus of claim 6, wherein the second acoustic field detection assembly is a detection apparatus for detecting acoustic field changes using a laser, comprising:
at least one group of multi-direction sound field detection components, wherein each group of multi-direction sound field detection components comprises a plurality of groups of laser detection devices;
the laser detection devices are arranged in a preset mode, so that detection light beams corresponding to the laser detection devices can be interwoven on a specified detection plane to form a plane optical network or can be interwoven in a specified area to form a three-dimensional optical network, and the laser detection devices detect a sound field passing through the plane optical network or the three-dimensional optical network in the arrangement mode.
8. The acoustic detection apparatus of claim 7, wherein the second acoustic field detection assembly further comprises a fixture for mounting the multi-directional acoustic field detection assembly, the fixture having a sound channel extending therethrough;
and a plurality of groups of laser detection devices in the multi-direction sound field detection assembly are distributed around the periphery of the sound wave channel, and detect the sound wave signals passing through the sound wave channel through laser.
9. The acoustic detection apparatus of claim 7, wherein each set of the laser detection apparatus comprises:
a laser;
a receiver disposed opposite the laser; and
the laser emitted by the laser can be split between the light splitting paths to form a reference beam and the detection beam, and the reference beam and the detection beam are finally combined on the receiver.
10. The acoustic detection apparatus of claim 1, further comprising an acoustic source for transmitting a detection acoustic wave to an object to be detected to form an acoustic signal detectable by the acoustic detection apparatus.
11. A sound field detection system, comprising:
an acoustic detection apparatus according to any one of claims 1 to 10; and
and the background processing device is used for processing the data detected by the acoustic detection device.
12. A sound field detection system, comprising:
the first sound field detection assembly is used for detecting an object to be detected and at least comprises a plurality of laser radar modules, and a detection beam of each laser radar module can be focused on at least one space detection point; the laser radar module detects a sound wave signal from the object to be detected or reflected by the object to be detected at the space detection point based on the detection light beam and the Doppler effect generated by sound wave vibration to form first sound field detection data;
the second acoustic field detection component is used for detecting acoustic signals coming from the object to be detected or reflected by the object to be detected to form second acoustic field detection data; the detection areas of the second sound field detection assembly and the first sound field detection assembly are not interfered with each other, are complementary or are partially overlapped at the edge; in addition, at least in the detection process, the spatial position relationship between the detection end of the second acoustic field detection assembly and the spatial detection point is kept fixed, or a set relative motion relationship is formed; and
and the processing device is associated with the first sound field detection assembly and the second sound field detection assembly, and can calculate and synthesize the shape of the object to be detected based on the first sound field detection data and the second sound field detection data.
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