CN112422197A - Underwater optical communication capturing device and method based on acousto-optic combination - Google Patents
Underwater optical communication capturing device and method based on acousto-optic combination Download PDFInfo
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- CN112422197A CN112422197A CN202011120544.3A CN202011120544A CN112422197A CN 112422197 A CN112422197 A CN 112422197A CN 202011120544 A CN202011120544 A CN 202011120544A CN 112422197 A CN112422197 A CN 112422197A
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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
- H04B10/80—Optical aspects relating to the use of optical transmission for specific applications, not provided for in groups H04B10/03 - H04B10/70, e.g. optical power feeding or optical transmission through water
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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
- H04B10/50—Transmitters
- H04B10/501—Structural aspects
- H04B10/503—Laser transmitters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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Abstract
The invention discloses an underwater optical communication capturing device and method based on acousto-optic combination, wherein the underwater optical communication capturing device comprises: the device body is provided with hydrophone, laser assembly and controller on the device body, and hydrophone and laser assembly all are connected with the controller communication, and laser assembly is used for receiving the first laser beam of external communication device transmission. In the invention, the underwater acoustic device is used for positioning the position information of the external communication device, the controller determines a scanning step angle according to the position information and controls the laser assembly to scan according to the scanning step angle until a first laser beam is captured; utilize the hydrophone to carry out the acoustics location to external communication device, overcome the defect that is difficult to establish the connection at long-distance optical communication under water, laser subassembly scans according to scanning step angle, needn't enlarge transmission beam angle in order to reduce capture time, and then effectively promoted optical antenna gain, reduced the background light influence, improved communication distance, communication quality and communication rate.
Description
Technical Field
The invention relates to the field of underwater optical communication, in particular to an underwater optical communication capturing device and method based on acousto-optic combination.
Background
With the rapid development of world economy, the development of ocean high and new technology becomes an important direction for technical research, and the underwater acousto-optic communication technology is a main component of the ocean high and new technology as a modern ocean technology. In order to easily realize capture of underwater acousto-optic communication, a large-field-angle receiving scheme is generally adopted at present, so that the gain of a communication antenna is very low, the influence of background light is serious, and the optical communication quality is low.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In order to solve the above technical problems, a main object of the present invention is to provide an underwater optical communication capturing device and method based on acousto-optic combination, in which a scanning step angle is determined by combining acoustic positioning and optical scanning, and a laser component captures a first laser beam transmitted by an external communication device according to the scanning step angle, so that an optical antenna gain is effectively improved, an influence of background light is reduced, and a communication distance, a communication quality and a communication speed are improved.
In a first aspect, the present invention provides an underwater optical communication capturing apparatus, including:
the device body be provided with hydrophone, laser assembly and controller on the device body, the hydrophone with laser assembly all with the controller communication is connected, laser assembly is used for receiving the first laser beam of outside communication device transmission.
As a further improved technical solution, the underwater optical communication capturing apparatus further includes: the gyroscope is arranged on the device body, the gyroscope is in communication connection with the controller, and the laser assembly is further used for emitting a second laser beam to an external communication device.
As a further improvement, the laser assembly comprises:
the tracking device comprises a reflection unit, a tracking unit and a laser transceiving unit, wherein the reflection unit is rotationally connected with the tracking unit, and the laser transceiving unit is arranged behind the reflection unit along a receiving light path.
The reflection unit includes:
the tracking device comprises a reflector and a reflector frame, wherein the reflector frame is fixedly connected with the reflector, and the reflector frame is rotatably connected with the tracking unit.
As a further improved technical solution, the tracking unit includes:
the turntable pitching shaft is rotatably connected with the reflector frame;
the turntable pitching frame is fixedly connected with the turntable pitching shaft;
the rotary table azimuth shaft is rotatably connected with the rotary table pitching frame.
As a further improved technical solution, the laser transceiver unit includes:
the telescope unit, the spectroscope and the CCD camera are sequentially arranged along the receiving light path; and the laser transmitter is arranged in front of the spectroscope along a transmitting light path.
As a further improved technical scheme, the external communication device and the underwater optical communication capture device have the same structure.
In a second aspect, the present invention provides an underwater optical communication capturing method, where the underwater optical communication capturing method is applied to the above-mentioned underwater optical communication capturing apparatus, and includes:
acquiring position information of an external communication device;
determining a scanning step angle according to the position information;
receiving a first laser beam emitted by the external communication device based on the scanning step angle.
As a further improved technical solution, the underwater optical communication capturing method further includes:
acquiring the attitude information of the underwater optical communication capturing device;
determining a transmitting parameter according to the attitude information and the position information;
emitting a second laser beam according to the emission parameters and the scanning step angle.
As a further improved technical solution, the acquiring the location information of the external communication device specifically includes:
transmitting sound waves and receiving reflected sound waves reflected by an external communication device based on the sound waves;
and determining the position information of the external communication device according to the time of transmitting the sound wave and the time corresponding to the receiving of the reflected sound wave.
As a further improvement, the position information includes a distance between the underwater optical communication capturing device and the external communication device; determining a scanning step angle according to the position information specifically includes:
acquiring equipment parameters of the underwater optical communication capturing device, and determining a target beam divergence angle according to the equipment parameters and the distance;
determining the radius of a light spot according to the target beam divergence angle and the distance;
and determining a scanning step angle according to the spot radius, wherein the linear displacement corresponding to the scanning step angle is smaller than the spot radius.
As a further improvement, the position information includes a distance between the underwater optical communication capturing device and the external communication device, and orientation information of the underwater optical communication capturing device relative to the external communication device, and the transmission parameters include a target beam divergence angle and a target pointing angle; the determining the transmission parameters according to the attitude information and the position information specifically includes:
acquiring equipment parameters of the underwater optical communication capturing device, and determining a target beam divergence angle according to the equipment parameters and the distance;
and determining a target pointing angle according to the azimuth information and the attitude information.
As a further improved technical solution, the attitude information includes angle information and angular acceleration information; the determining a target pointing angle according to the orientation information and the posture information specifically includes:
determining an initial pointing angle according to the azimuth information and the angle information;
and correcting the initial pointing angle according to the angular acceleration information to obtain a target pointing angle.
In a third aspect, the present invention provides a computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the following steps when executing the computer program:
acquiring position information of an external communication device;
determining a scanning step angle according to the position information;
receiving a first laser beam emitted by the external communication device based on the scanning step angle.
In a fourth aspect, the present invention provides a computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of:
acquiring position information of an external communication device;
determining a scanning step angle according to the position information;
receiving a first laser beam emitted by the external communication device based on the scanning step angle.
In an embodiment of the present invention, the underwater optical communication capturing apparatus includes: the device body, be provided with hydrophone, laser component and controller on the device body, the hydrophone with laser component all with the controller communication is connected, laser component is used for receiving the first laser beam of outside communication device transmission. In the invention, the underwater acoustic device is used for positioning the position information of the external communication device, the controller determines a scanning step angle according to the position information and controls the laser assembly to scan according to the scanning step angle until receiving a first laser beam emitted by the external communication device; utilize the hydrophone to carry out acoustics location to external communication device, overcome and be difficult to the defect of establishing the connection through optical communication under water, confirm the scanning step angle through external communication device's positional information to catch the first laser beam that external communication device sent according to scanning step angle, and then effectively promoted optical antenna gain, reduce the background light influence, improve communication distance, communication quality and communication rate.
Drawings
Fig. 1 is a schematic structural diagram of an underwater optical communication capturing device in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an implementation of an underwater optical communication capturing device according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a laser assembly portion of an underwater optical communication capture device in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram illustrating another implementation manner of an underwater optical communication capturing apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an underwater optical communication capturing device according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of an underwater optical communication capturing method according to an embodiment of the present invention
Fig. 7 is an internal structural diagram of a computer device in the embodiment of the present invention.
The reference numbers illustrate: 100. a device body; 200. a water acoustic device; 300. a laser assembly; 400. a controller; 500. a gyroscope 500; 301. a reflection unit; 302. a tracking unit; 303. a laser transceiver unit; 310. a mirror; 320. a mirror frame; 330. a turntable pitch axis; 340. a turntable pitch frame; 350. a turntable azimuth axis; 360. a telescopic unit; 370. a beam splitter; 380. a CCD camera; 390. a laser transmitter; 391. a zoom unit.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The inventor finds that with the rapid development of world economy, the development of the ocean high and new technology becomes an important direction for technical research, and the underwater acousto-optic communication technology is a main component of the ocean high and new technology as a modern ocean technology. At present, acoustic communication and microwave communication are mainly used for underwater acoustic-optical communication, sonar technology is mature, but acoustic communication bandwidth is narrow, delay is high, and underwater acoustic wave propagation speed is not one twentieth of broadcasting; the underwater microwave communication is influenced by a transmission medium and a multipath effect, has a short transmission distance, and is more suitable for water surface relay of water communication, so in recent years, underwater acousto-optic communication becomes an important research direction of underwater acousto-optic communication.
In order to easily realize the capture of underwater acousto-optic communication, a scheme of large beam divergence angle emission and large field angle receiving is generally adopted at present, so that the gain of a communication antenna is very low, the influence of background light is serious, and the time long-distance communication cannot be realized.
In order to solve the above problem, in an embodiment of the present invention, the underwater optical communication capturing apparatus includes: the device body, be provided with hydrophone, laser component and controller on the device body, the hydrophone with laser component all with the controller communication is connected, laser component is used for receiving the first laser beam of outside communication device transmission. In the invention, the underwater acoustic device is used for positioning the position information of the external communication device, the controller determines a scanning step angle according to the position information and controls the laser assembly to scan according to the scanning step angle until receiving a first laser beam emitted by the external communication device; utilize the hydrophone to carry out acoustics location to external communication device, overcome and be difficult to the defect of establishing the connection through optical communication under water, confirm the scanning step angle through external communication device's positional information to catch the first laser beam that external communication device sent according to scanning step angle, and then effectively promoted optical antenna gain, reduce the background light influence, improve communication distance, communication quality and communication rate.
Various non-limiting embodiments of the present invention are described in detail below with reference to the accompanying drawings.
An embodiment of the present invention provides an underwater optical communication capturing apparatus, please refer to fig. 1, including: the device body 100, be provided with hydrophone 200, laser module 300 and controller 400 on the device body 100, hydrophone 200 with laser module 300 all with controller 400 communication connection, laser module 300 is used for receiving the first laser beam of external communication device transmission.
In the embodiment of the present invention, the hydrophone 200 may determine the location information of the external communication device through acoustic detection, where the location information includes: the distance between the external communication device and the hydrophone 200, and the orientation of the external communication device relative to the underwater optical communication capture device. The number of the hydrophones 200 can be multiple, the multiple hydrophones 200 are all arranged on the device body 100 and are respectively arranged at different positions of the device body 100, the multiple hydrophones 200 simultaneously transmit sound waves, for each transmitted sound wave, the reflected sound wave reflected by the external communication device based on the sound wave is received, and the distance between the external communication device and the hydrophones 200 and the direction of the external communication device relative to the underwater optical communication capturing device can be determined according to the received multiple reflected sound waves.
In one implementation manner, the device body 100 is further provided with an underwater acoustic fixing member, and the underwater acoustic device 200 is connected to the device body 100 through the underwater acoustic fixing member.
In the embodiment of the present invention, the laser assembly 300 may capture the first laser beam transmitted by the external communication device, and the specific structure of the laser assembly 300 will be described in detail later. The controller 400 may be a servo controller 400, and the servo controller 400 determines a scanning step angle according to the position information and controls the laser assembly 300 to rotate according to the scanning step angle until the first laser beam is received.
Further, referring to fig. 2, the underwater optical communication capturing apparatus further includes: a gyroscope 500 disposed on the device body 100, the gyroscope being in communication with the controller 400, the laser assembly 300 being further configured to emit a second laser beam to an external communication device.
In the embodiment of the present invention, the gyroscope may be a fiber optic gyroscope, the fiber optic gyroscope may measure attitude information of the underwater optical communication capturing apparatus itself, and the servo controller 400 calculates laser beam parameters according to the position information and the attitude information, where the laser beam parameters include a target beam divergence angle and a target pointing angle.
Specifically, when the underwater optical communication capturing device works, the underwater acoustic device 200 acquires position information of an external communication device, the controller 400 determines a scanning step angle according to the position information, and the laser assembly 300 receives a first laser beam emitted by the external communication device based on the scanning step angle; further, when the underwater optical communication capturing device works, the attitude information of the underwater optical communication capturing device itself is acquired through the gyroscope, the controller 400 determines the emission parameter according to the attitude information and the position information, and the laser component 300 emits the second laser beam according to the emission parameter and the scanning step angle.
Further, referring to fig. 3, the laser assembly 300 includes: the tracking device comprises a reflecting unit 301, a tracking unit 302 and a laser transceiving unit 303, wherein the reflecting unit 301 is rotatably connected with the tracking unit 302, and the laser transceiving unit 303 is arranged behind the reflecting unit 301 along a receiving optical path.
In this embodiment of the present invention, the receiving optical path is an optical path when receiving the first laser beam, and the reflecting unit 301 receives the first laser beam and reflects the first laser beam to the laser transceiver 303. The tracking unit 302 rotates according to the scanning step angle to drive the reflection unit 301 to rotate until the reflection unit 301 receives the first laser beam, and reflects the first laser beam to the laser transceiver 303.
Further, referring to fig. 4, the reflection unit 301 includes: the tracking device comprises a reflector 310 and a reflector 310 frame 320, wherein the reflector 310 frame is fixedly connected with the reflector 310, and the reflector 310 frame is rotatably connected with the tracking unit 302. The tracking unit 302 includes: a turret pitch shaft 330, said turret pitch shaft 330 being rotatably connected to said mirror 310 frame; a turret pitch frame 340, said turret pitch frame 340 being fixedly connected to said turret pitch shaft 330; a turret azimuth axis 350, said turret azimuth axis 350 being rotatably connected to said turret pitch frame 340.
In the embodiment of the present invention, the turntable pitch shaft 330 is connected to the mirror 310 frame to realize the pitch rotation of the mirror 310, the mirror 310 frame may be a U-shaped structure with one side opening, and the mirror 310 is disposed in the U-shaped structure and connected to two sides of the mirror 310 frame. The turntable pitch shaft 330 is rotatably connected to the reflector 310 frame, and the turntable pitch shaft 330 can drive the reflector 310 frame to change an angle of the reflector 310 frame in a pitch direction, so as to change an angle of the reflector in the pitch direction, and further change an angle of the emitted first laser beam.
In the embodiment of the present invention, the turntable pitch shaft 330 is fixedly connected to the turntable pitch frame 340, the turntable pitch frame 340 may be a U-shaped structure with one side opening, and the mirror 310 frame is disposed inside the turntable pitch frame 340; the turntable azimuth axis 350 is fixedly connected to the turntable pitching frame 340, and the turntable azimuth axis 350 can drive the turntable pitching frame 340 to rotate the turntable pitching frame 340 in a horizontal direction, where the horizontal direction is a direction perpendicular to the pitching direction.
Further, the laser transceiver unit 303 includes: a telescope unit 360, a spectroscope 370 and a CCD camera 380 sequentially arranged along the receiving optical path; and a laser transmitter 390 disposed along the emission optical path in front of the beam splitter 370.
In the embodiment of the present invention, the emission optical path is an optical path for emitting a second laser beam, the laser emitter 390 emits the second laser beam, the second laser beam is transmitted to the telescopic unit 360 through the beam splitter 370, the telescopic unit 360 transmits the second laser beam to the reflector 310, and the reflector 310 reflects the second laser beam out of the underwater optical communication capturing device. The receiving optical path is an optical path for receiving a first laser beam, the first laser beam mirror is reflected to the telescopic unit 360 through the reflecting mirror 310, the first laser beam is transmitted to the spectroscope 370 by the telescopic unit 360, the first laser beam is reflected to the CCD camera 380 by the spectroscope 370, and the CCD camera 380 captures a light spot corresponding to the first laser beam.
In the embodiment of the present invention, when the underwater optical communication capturing device emits the second laser beam, a beam divergence angle of the second laser beam is a target beam divergence angle, and the second laser beam exits at a target pointing angle, and after the underwater optical communication capturing device emits the second laser beam, an angle of the reflecting mirror is adjusted according to the scanning step angle to adjust an exiting angle of the second laser beam, so as to emit the second laser beam to an external communication device.
Next, a specific process of determining the scanning step angle by the underwater optical communication capturing device according to the position information will be described.
The controller 400 acquires the equipment parameters of the underwater optical communication capturing device and determines a target beam divergence angle according to the equipment parameters and the distance; the controller 400 determines the spot radius according to the target beam divergence angle and the distance; the controller 400 determines a scanning step angle according to the spot radius, wherein a linear displacement corresponding to the scanning step angle is smaller than the spot radius.
In the embodiment of the present invention, the device parameter is a caliber of the telescopic unit 360, the caliber of the telescopic unit 360 is obtained, the caliber of the telescopic unit 360 determines a maximum field angle, and the target beam divergence angle can be determined by a trigonometric function according to the caliber of the telescopic unit 360 and the distance, as shown in formula (1).
Where α is the target beam divergence angle, r is the aperture, a is the positioning accuracy (fixed parameter) of the hydrophone, and L is the distance.
Further, the laser assembly 300 further includes a zoom unit 391, where the zoom unit 391 is disposed after the laser emitter 390 along the emission optical path, and after the laser emitter 390 emits the first laser beam, the focal length of the first laser beam is automatically adjusted by the zoom unit 391.
After the controller 400 determines the target beam divergence angle according to the distance and the device parameter, the controller 400 determines a spot radius according to the target beam divergence angle and the distance, and determines a scanning step angle according to the spot radius, wherein a linear displacement corresponding to the scanning step angle is smaller than the spot radius. The spot radius is the radius of the spot captured by the CCD camera 380 of the external communication device after the second laser beam is emitted to the external communication device according to the target beam divergence angle; the spot radius is calculated from the target beam divergence angle and the distance, as shown in equation (2).
R＝L×tanα (2)
Where R is the spot plate, α is the target beam divergence angle, and L is the distance.
In this embodiment of the present invention, it is set that the linear displacement corresponding to the scanning step angle is smaller than the spot radius, and the linear displacement corresponding to the scanning step angle may be calculated based on the scanning step angle and the distance.
Next, a specific procedure of determining the transmission parameters by the controller 400 based on the position information and the attitude information will be described.
In an embodiment of the present invention, the position information includes a distance between the underwater optical communication capturing device and the external communication device, and azimuth information of the underwater optical communication capturing device relative to the external communication device, and the transmission parameters include a target beam divergence angle and a target pointing angle. The attitude information comprises angle information and angular acceleration information, wherein the angle information is a course angle, a pitch angle, a roll angle and the like of the underwater optical communication capturing device and is expressed by an angle, and the angular acceleration information is the angular acceleration of the underwater optical communication capturing device.
It has been described hereinbefore that the distance between the underwater optical communication capturing device and the external communication device, and the orientation information of the underwater optical communication capturing device with respect to the external communication device can be determined by the hydrophone 200. The azimuth information comprises an azimuth angle and a pitch angle; the controller 400 obtains the device parameters of the underwater optical communication capturing device and determines the target beam divergence angle according to the device parameters and the distance.
In this embodiment of the present invention, the determining a target pointing angle according to the azimuth information and the attitude information specifically includes: the controller 400 determines an initial pointing angle according to the orientation information and the angle information, specifically, the orientation information reflects the position and the orientation of the external communication device, and the angle information reflects the position and the orientation of the underwater optical communication capturing device, and the initial pointing angle can be obtained by changing a spatial coordinate system, and includes an initial orientation angle and an initial pitch angle.
In the embodiment of the invention, the initial pointing angle is corrected according to the angular acceleration information so as to obtain the target pointing angle. The target pointing angle comprises a target azimuth angle and a target pitch angle; the angular acceleration information includes azimuthal acceleration and pitch acceleration.
Specifically, the correcting the initial pointing angle according to the angular acceleration information to obtain a target pointing angle specifically includes: and acquiring the time delay of the underwater acoustic device, and correcting the initial pointing angle according to the time delay and the angular acceleration information to obtain a target azimuth angle and a target pitch angle.
In the embodiment of the present invention, if the azimuth acceleration is recorded as a, the pitch acceleration is recorded as b, the initial azimuth angle is recorded as k, the initial pitch angle is recorded as f, and the time delay of the hydrophone is recorded as t, the target azimuth angle is: k equals K + at, and the target pitch angle is F equals F + bt.
In the embodiment of the present invention, the controller 400 obtains the device parameters of the underwater optical communication capturing apparatus, and determines the target beam divergence angle according to the device parameters and the distance. The device parameter is the aperture of the telescopic unit 360, the aperture of the telescopic unit 360 is obtained, the aperture of the telescopic unit 360 determines the maximum field angle, and the target beam divergence angle can be determined through a trigonometric function according to the aperture of the telescopic unit 360 and the distance.
In the embodiment of the present invention, the controller 400 determines the initial pointing angle according to the azimuth information and the angle information, and then optimizes the initial pointing angle according to the angular acceleration information. After determining the target pointing angle, the controller 400 controls the tracking unit 302 to rotate such that the second laser beam is emitted out of the underwater optical communication capturing device at the target pointing angle, and the controller 400 controls the tracking unit 302 to rotate at the scanning step angle until the second laser beam is emitted to the external communication device.
In the embodiment of the present invention, after the underwater optical communication capturing device emits the second laser beam, the controller 400 controls the tracking unit 302 to rotate according to the scanning step angle, so as to drive the reflecting unit 301 to rotate according to the scanning step angle, until the CCD camera 380 captures the light spot corresponding to the first laser beam sent by the external communication device.
In the embodiment of the present invention, referring to fig. 5, an optical antenna window 600 is disposed on the device body 100, the optical antenna window has a hemispherical accommodating space, and the reflector 310 is located in the hemispherical accommodating space; the underwater acoustic device 200 is connected to the device body 100 through an underwater acoustic fixing member 201.
In the embodiment of the present invention, the external communication device and the underwater optical communication capturing device have the same structure, that is, the external communication device can perform the same function as the underwater optical communication capturing device, and when the underwater optical communication capturing device establishes communication with the external communication device, the underwater optical communication capturing device and the external communication device perform the same action, that is, the underwater optical communication capturing device and the external communication device simultaneously transmit laser beams and capture the laser beams emitted by the other party.
In the embodiment of the invention, the structure and the action executed by each structure when the underwater optical communication capturing device establishes communication with the external communication device are described based on the angle of the underwater optical communication capturing device, and meanwhile, each structure of the external communication device can also adopt the same work.
In an embodiment of the present invention, the underwater optical communication capturing apparatus includes: the device body, be provided with hydrophone, laser component and controller on the device body, the hydrophone with laser component all with the controller communication is connected, laser component is used for receiving the first laser beam of outside communication device transmission. In the invention, the underwater acoustic device is used for positioning the position information of the external communication device, the controller determines a scanning step angle according to the position information and controls the laser assembly to scan according to the scanning step angle until receiving a first laser beam emitted by the external communication device; the method comprises the steps that an underwater acoustic device is used for conducting acoustic positioning on an external communication device, the defect that connection is difficult to establish underwater through optical communication is overcome, a scanning step angle is determined through position information of the external communication device, and a first laser beam sent by the external communication device is captured according to the scanning step angle; in addition, the invention also determines a target beam divergence angle and a target pointing angle according to the position information and the attitude information, can determine a proper target beam divergence angle according to the position information and the attitude information, and changes the initial setting angle of the emitted second laser beam according to the scanning step angle without setting a large emitting beam divergence angle, thereby effectively improving the gain of the optical antenna, reducing the influence of background light, and improving the communication distance, the communication quality and the communication speed.
Based on the underwater optical communication capturing device, the invention also provides an underwater optical communication capturing method, and the method is applied to the underwater optical communication capturing device. Referring to fig. 6, the underwater optical communication capturing method includes:
s1, acquiring the position information of the external communication device;
s2, determining a scanning step angle according to the position information;
s3, receiving a first laser beam emitted by the external communication device based on the scanning step angle.
In the embodiment of the invention, the position information of the external communication device is acquired through the underwater acoustic device, specifically, the underwater acoustic device emits sound waves and receives reflected sound waves reflected by the external communication device based on the sound waves; and determining the position information of the external communication device according to the time of transmitting the sound wave and the time corresponding to the receiving of the reflected sound wave.
In the embodiment of the invention, the controller in the underwater optical communication capturing device determines the scanning step angle according to the position information and controls the laser assembly to receive the first laser beam emitted by the external communication device based on the scanning step angle.
In an embodiment of the present invention, the position information includes a distance between the underwater optical communication capturing device and the external communication device; determining a scanning step angle according to the position information specifically includes: acquiring equipment parameters of the underwater optical communication capturing device, and determining a target beam divergence angle according to the equipment parameters and the distance; determining the radius of a light spot according to the target beam divergence angle and the distance; and determining a scanning step angle according to the spot radius, wherein the linear displacement corresponding to the scanning step angle is smaller than the spot radius.
In the embodiment of the invention, the device parameter is the aperture of the telescopic unit, the aperture of the telescopic unit is obtained, the aperture of the telescopic unit determines the maximum field angle, and the target beam divergence angle can be determined through a trigonometric function according to the aperture of the telescopic unit and the distance. The controller determines a light spot radius according to the target beam divergence angle and the distance, and determines a scanning step angle according to the light spot radius, wherein the linear displacement corresponding to the scanning step angle is smaller than the light spot radius. The light spot radius is obtained by calculation according to the target beam divergence angle and the distance, and the light spot radius is the radius of the light spot captured by a CCD camera of the external communication device after the second laser beam is emitted to the external communication device according to the target beam divergence angle; setting the linear displacement corresponding to the scanning step angle to be smaller than the radius of the light spot, wherein the linear displacement corresponding to the scanning step angle can be calculated based on the scanning step angle and the distance.
In an embodiment of the present invention, the underwater optical communication capturing method further includes:
acquiring the attitude information of the underwater optical communication capturing device; determining a transmitting parameter according to the attitude information and the position information; emitting a second laser beam according to the emission parameters and the scanning step angle.
In the embodiment of the invention, the attitude information of the underwater optical communication capturing device is acquired through the gyroscope, and the controller determines the emission parameters according to the attitude information and the position information and controls the laser to emit the second laser beam corresponding to the emission parameters.
In an embodiment of the present invention, the position information includes a distance between the underwater optical communication capturing device and the external communication device, and azimuth information of the underwater optical communication capturing device relative to the external communication device, and the transmission parameters include a target beam divergence angle and a target pointing angle. The attitude information comprises angle information and angular acceleration information, wherein the angle information is a course angle, a pitch angle, a roll angle and the like of the underwater optical communication capturing device and is expressed by an angle, and the angular acceleration information is the angular acceleration of the underwater optical communication capturing device.
In this embodiment of the present invention, the determining a target pointing angle according to the azimuth information and the attitude information specifically includes:
and the controller determines an initial pointing angle according to the azimuth information and the angle information, and corrects the initial pointing angle according to the angular acceleration information to obtain a target pointing angle.
In the embodiment of the invention, the controller determines the initial pointing angle according to the azimuth information and the angle information, and then optimizes the initial pointing angle according to the angular acceleration information. After the target pointing angle is determined, the controller controls the tracking unit to rotate, so that the second laser beam is emitted out of the underwater optical communication capturing device at the target pointing angle, and after the second laser beam is emitted out, the angle of the reflecting mirror is adjusted according to the scanning step angle to adjust the emitting angle of the second laser beam until the second laser beam is emitted to an external communication device.
In the embodiment of the present invention, the controller may find a specific process in the underwater optical communication capturing apparatus according to the process of determining the target beam divergence angle, the target scanning step angle, and the target pointing angle by using the position information and the attitude information, and further, for the specific process of determining the target beam divergence angle, the target scanning step angle, and the target pointing angle by using the controller according to the position information and the attitude information, reference may be made to the description in the underwater optical communication capturing apparatus.
In the embodiment of the invention, after the underwater optical communication capturing device emits the second laser beam, the controller controls the tracking unit to rotate according to the scanning step angle so as to drive the reflecting unit to rotate according to the scanning step angle until the CCD camera captures the light spot corresponding to the first laser beam sent by the external communication device.
In the embodiment of the invention, the external communication device and the underwater optical communication capture device have the same structure.
The embodiment of the invention provides an underwater optical communication capturing method applied to an underwater optical communication capturing device, which comprises the following steps: acquiring position information of an external communication device; determining a scanning step angle according to the position information; receiving a first laser beam emitted by the external communication device based on the scanning step angle. In the invention, the underwater acoustic device is used for positioning the position information of the external communication device, the controller determines a scanning step angle according to the position information and controls the laser assembly to scan according to the scanning step angle until receiving a first laser beam emitted by the external communication device; utilize the hydrophone to carry out acoustics location to external communication device, overcome and be difficult to the defect of establishing the connection through optical communication under water, confirm the scanning step angle through external communication device's positional information, catch the first laser beam that external communication device sent according to scanning step angle, and then effectively promoted optical antenna gain, reduce the background light influence, improve communication distance, communication quality and communication rate.
Based on the underwater optical communication capturing method, the embodiment of the invention also provides a computer device, which can be a terminal, and the internal structure of the computer device is shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement an underwater optical communication acquisition method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that fig. 7 is only a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the invention provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer equipment is characterized in that the processor executes the computer program and realizes the following steps:
acquiring position information of an external communication device;
determining a scanning step angle according to the position information;
receiving a first laser beam emitted by the external communication device based on the scanning step angle.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps:
acquiring position information of an external communication device;
determining a scanning step angle according to the position information;
receiving a first laser beam emitted by the external communication device based on the scanning step angle.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as 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 application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (15)
1. An underwater optical communication capture device, comprising: the device body, be provided with hydrophone, laser component and controller on the device body, the hydrophone with laser component all with the controller communication is connected, laser component is used for receiving the first laser beam of outside communication device transmission.
2. The underwater optical communication capturing apparatus of claim 1, further comprising: the gyroscope is arranged on the device body, the gyroscope is in communication connection with the controller, and the laser assembly is further used for emitting a second laser beam to an external communication device.
3. The underwater optical communication capture device of claim 2, wherein the laser assembly comprises:
the tracking device comprises a reflection unit, a tracking unit and a laser transceiving unit, wherein the reflection unit is rotationally connected with the tracking unit, and the laser transceiving unit is arranged behind the reflection unit along a receiving light path.
4. The underwater optical communication capturing apparatus of claim 3, wherein the reflection unit includes:
the tracking device comprises a reflector and a reflector frame, wherein the reflector frame is fixedly connected with the reflector, and the reflector frame is rotatably connected with the tracking unit.
5. The underwater optical communication capturing apparatus of claim 4, wherein the tracking unit includes:
the turntable pitching shaft is rotatably connected with the reflector frame;
the turntable pitching frame is fixedly connected with the turntable pitching shaft;
the rotary table azimuth shaft is rotatably connected with the rotary table pitching frame.
6. The underwater optical communication capturing apparatus of claim 3, wherein the laser transceiver unit comprises:
the telescope unit, the spectroscope and the CCD camera are sequentially arranged along the receiving light path; and the laser transmitter is arranged in front of the spectroscope along a transmitting light path.
7. The undersea optical communication capture device of claim 1, wherein said external communication device is structurally identical to said undersea optical communication capture device.
8. An underwater optical communication capturing method applied to the underwater optical communication capturing apparatus according to any one of claims 1 to 7, comprising:
acquiring position information of an external communication device;
determining a scanning step angle according to the position information;
receiving a first laser beam emitted by the external communication device based on the scanning step angle.
9. The underwater optical communication capturing method of claim 8, further comprising:
acquiring the attitude information of the underwater optical communication capturing device;
determining a transmitting parameter according to the attitude information and the position information;
emitting a second laser beam according to the emission parameters and the scanning step angle.
10. The underwater optical communication capturing method according to claim 8, wherein the acquiring the position information of the external communication device specifically includes:
transmitting sound waves and receiving reflected sound waves reflected by an external communication device based on the sound waves;
and determining the position information of the external communication device according to the time of transmitting the sound wave and the time corresponding to the receiving of the reflected sound wave.
11. The underwater optical communication capturing method of claim 8, wherein the position information includes a distance between the underwater optical communication capturing device and the external communication device; determining a scanning step angle according to the position information specifically includes:
acquiring equipment parameters of the underwater optical communication capturing device, and determining a target beam divergence angle according to the equipment parameters and the distance;
determining the radius of a light spot according to the target beam divergence angle and the distance;
and determining a scanning step angle according to the spot radius, wherein the linear displacement corresponding to the scanning step angle is smaller than the spot radius.
12. The underwater optical communication capturing method of claim 9, wherein the position information includes a distance between the underwater optical communication capturing apparatus and the external communication apparatus, and orientation information of the underwater optical communication capturing apparatus with respect to the external communication apparatus, and the transmission parameters include a target beam divergence angle and a target pointing angle; the determining the transmission parameters according to the attitude information and the position information specifically includes:
acquiring equipment parameters of the underwater optical communication capturing device, and determining a target beam divergence angle according to the equipment parameters and the distance;
and determining a target pointing angle according to the azimuth information and the attitude information.
13. The underwater optical communication capturing method of claim 12, wherein the attitude information includes angular information and angular acceleration information; the determining a target pointing angle according to the orientation information and the posture information specifically includes:
determining an initial pointing angle according to the azimuth information and the angle information;
and correcting the initial pointing angle according to the angular acceleration information to obtain a target pointing angle.
14. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program performs the steps of the underwater optical communication capturing method of any one of claims 8 to 13.
15. A computer-readable storage medium, having a computer program stored thereon, the computer program, when being executed by a processor, implementing the steps of the underwater optical communication acquisition method according to any one of claims 8 to 13.
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