CN113777581A - Underwater receiving and transmitting separated water body detection laser radar - Google Patents
Underwater receiving and transmitting separated water body detection laser radar Download PDFInfo
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- 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
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- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- G—PHYSICS
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- 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
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Abstract
The invention provides an underwater receiving and transmitting separated water body detection laser radar, which comprises a transmitting telescope and a receiving telescope which are arranged in a closed double-shaft rotary scanning device and are placed below the water surface, and other components of the separated water body detection laser radar are arranged above the water surface and are connected on an optical path through optical fiber cables. The laser emission and the echo reception are both carried out in the water body, so that the echo information does not need to be subjected to atmospheric correction, the influence of waves and the interference of an air-sea interface do not need to be considered, the sun and sky background noise is low, the difficulty of signal processing can be reduced, and the accuracy of echo signal extraction and water body parameter inversion can be improved. In addition, by placing the transceiver telescope arrays at different water depths, the evolution conditions of the properties and the sizes of the particles in the process of falling in the ocean can be detected, the quantitative description of the ocean carbon sink process is realized, and meanwhile, the layered information detection of the biological population in the ocean can also be realized.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to an underwater receiving and transmitting separated water body detection laser radar.
Background
The laser radar can penetrate through the water body, so that accurate water body upper surface information can be obtained. The existing water body detection laser radar is based on a ship-borne, airborne or satellite-borne platform and can detect large-scale ocean water body information.
However, since the laser emitting and echo receiving telescope is located above the water surface, the laser needs to be emitted from the telescope and finally enters the water body through the atmosphere and the air interface, and the echo signal also needs to be finally received by the telescope through the air interface and the atmosphere. Therefore, when the echo signals are extracted and the water body parameters are inverted, 1) atmospheric correction needs to be carried out on the echo signals, and 2) wave influence and sea-air interface interference need to be considered, so that the difficulty of signal processing is increased, and the accuracy of echo signal extraction and water body parameter inversion is influenced. 3) The omnidirectional angle scanning in the water body and the layered scanning of the water body cannot be realized due to the existence of the azimuth blind area, and the laser detection depth is limited.
In order to overcome the difficulties, for the shipborne water body laser radar, ideal laser is directly positioned below the water surface, so that the extraction of the optical parameters of the water body capable of scanning in all directions is realized, but the technical bottleneck exists, 1) if the whole system is placed in the water body, the volume is large, and the whole system is difficult to seal; 2) after the system is placed in a water body, modules in the system cannot be adjusted; 3) the system comprises active devices, and the system is difficult to supply power; 4) the system is large in volume, heavy in weight and difficult to scan in the water body.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an underwater receiving and transmitting separated water body detection laser radar, wherein a transmitting telescope/a receiving telescope is separated from other parts of the laser radar, and the transmitting telescope/the receiving telescope and the other parts of the laser radar are connected through an optical fiber cable, so that the problems of sealing and power supply are solved, and underwater omnibearing scanning and layered detection are realized.
The invention adopts the following technical scheme:
an underwater receiving and transmitting separated water body detection laser radar comprises a collimating coupler, a narrow band filter, a detector, an acquisition module and a calculation module which are arranged above the water surface, and further comprises a transmitting telescope, a receiving telescope and a closed double-shaft rotary scanning device which are arranged below the water surface; the transmitting telescope and the receiving telescope are arranged in the closed double-shaft rotary scanning device;
blue-green wave band laser is coupled into the optical fiber through the collimating coupler and is incident into the water body through the transmitting telescope; echo signals generated by interaction of laser and a water body are received by the receiving telescope and transmitted to the narrow-band filter through the optical fiber, the echo signals enter the detector after being filtered by the narrow-band filter, the detector converts the echo signals into electric signals, the acquisition module acquires the electric signals, and the calculation module processes the electric signals and then carries out inversion to obtain water body detection information.
Preferably, the transmitting telescope and the receiving telescope are transceiving coaxial telescopes and are shared;
the separated water body detection laser radar also comprises an optical signal shunting module; the optical signal branching module is connected with the transceiving coaxial telescope to control the transmission of transceiving signals on different optical paths; the collimating coupler is connected with the optical signal branching module through a first optical fiber; the receiving and transmitting coaxial telescope is connected with the optical signal branching module through a second optical fiber; the narrow-band filter is connected with the optical signal branching module through a third optical fiber.
Preferably, the emergent laser is a micro-pulse laser, the single pulse energy of the micro-pulse laser is small, the peak power is low, the coupling of space light to the optical fiber can be realized, the optical fiber end face cannot be burnt by the high-peak-power laser, and the coupled optical fiber end face adopts the optical fiber with a large fiber core as much as possible, so that the nonlinear benefit of the transmission of the laser in the optical fiber is reduced as much as possible.
Preferably, the transmitting-receiving coaxial telescope comprises one or more than one telescope; each transmitting-receiving coaxial telescope is arranged in one closed double-shaft rotary scanning device.
Preferably, when the transceiver-coaxial telescope comprises one, the optical signal splitting module comprises a fiber circulator.
Preferably, when the transceiving coaxial telescope comprises two or more than two, the optical signal branching module comprises an optical switch; the two or more than two transceiving coaxial telescopes form a first transceiving telescope array; the two or more closed double-shaft rotary scanning devices form a first closed double-shaft rotary scanning device array; each closed double-shaft rotary scanning device is arranged at different water depths.
Preferably, the transmitting telescope and the receiving telescope are separately arranged; the transmitting telescope is connected with the collimating coupler through a fourth optical fiber (17); and the receiving telescope is connected with the narrow-band filter through a fifth optical fiber.
Preferably, the transmitting telescope and the receiving telescope respectively comprise one or more than one; the transmitting telescope and the receiving telescope are arranged in the closed double-shaft rotary scanning device;
the transmitting telescope and the receiving telescope respectively comprise two or more than two transmitting telescopes and a second receiving and transmitting telescope array consisting of the two or more than two transmitting telescopes and the receiving telescope; two or more closed double-shaft rotary scanning devices form a second closed double-shaft rotary scanning device array; each closed double-shaft rotary scanning device is arranged at different water depths.
Preferably, the closed biaxial rotation scanning device comprises a waterproof closed shell; the waterproof closed shell is provided with one or more light-transmitting windows, laser emitted from the transmitting telescope penetrates through the light-transmitting windows to be incident into a water body, and the receiving telescope receives the echo signals through the light-transmitting windows.
Preferably, the closed double-shaft rotary scanning device comprises a horizontal rotating shaft and a vertical rotating shaft; the horizontal rotating shaft is used for controlling the horizontal rotating angle of the transmitting telescope/receiving telescope, and the range of the horizontal rotating angle is 0-360 degrees; the vertical rotating shaft is used for controlling the vertical direction rotating angle of the transmitting telescope/receiving telescope, and the range of the vertical direction rotating angle is 0-180 degrees.
Preferably, the separated water body detection laser radar further comprises a near-infrared seed laser, an amplifier and a frequency multiplier which are arranged above the water surface; the frequency multiplier is connected with the collimating coupler; the near-infrared seed laser generates near-infrared band laser, and the near-infrared band laser enters the frequency multiplier after being amplified by the amplifier to generate blue-green band laser suitable for water body detection;
or;
the separated water body detection laser radar also comprises a pulse type blue-green wave band laser and an amplifier which are arranged above the water surface; the amplifier is connected with the collimating coupler; the pulsed blue-green wave band laser generates blue-green wave band laser, and the blue-green wave band laser generates blue-green wave band laser suitable for water detection after being amplified by the amplifier.
The invention has the following beneficial effects:
(1) the invention relates to an underwater receiving and transmitting separated water body detection laser radar, which comprises a near-infrared seed laser, an amplifier, a frequency multiplier, a collimating coupler, a narrow-band filter, a detector, an acquisition module and a calculation module which are arranged above the water surface, a transmitting telescope and a receiving telescope which are arranged below the water surface, wherein the part above the water surface and the part below the water surface are connected on an optical path through optical fiber cables, and the transmitting telescope/the receiving telescope are arranged in a closed double-shaft rotary scanning device, by the closed double-shaft rotary scanning device, the transmitting telescope/receiving telescope can rotate 360 degrees in the horizontal direction and 180 degrees in the vertical direction, thus realizing hemispherical omnidirectional scanning, and placing the transmitting telescope/receiving telescope in water bodies with different depths to detect water body parameters with different water depths; because the laser emission and the echo reception are both carried out in the water body, the atmospheric correction of echo information is not needed, the influence of waves and the interference of a sea-air interface are not needed to be considered, and the sun and sky background noise is low, the accuracy of the extraction of the echo signal of the water body detection laser radar and the inversion of water body parameters can be improved; the particle size and the shape of particles in water are detected by utilizing a laser radar, when a transmitting telescope and a receiving telescope are positioned in a water body, the scattering effect of particles such as aerosol in the atmosphere on laser is not required to be considered, the atmosphere is not required to be corrected, the complexity of a system is reduced, the purpose of accurately measuring the particle size and the shape of the particles in water is achieved, and the method has important significance for measuring the particle size of algae and micro-plastics;
(2) the invention can detect the evolution condition of the property and the size of the particles in the process of descending in the ocean by placing the transceiver telescope arrays in different water depths, realizes the quantitative description of the ocean carbon sink process, and can also realize the layered information detection of the biological population in the ocean.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a water body detection lidar optical path diagram of a single transceiver coaxial telescope according to a first embodiment of the invention;
FIG. 2 is a schematic structural diagram of a closed biaxial rotation scanning device corresponding to the transceiving coaxial telescope according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of a single transmitting/receiving telescope water body detection lidar in accordance with an embodiment of the present invention;
FIG. 4 is a water body detection lidar optical path diagram of a single transceiver coaxial telescope of a second embodiment of the invention;
FIG. 5 is a water body detection lidar optical path diagram of a single transceiver-split telescope of a third embodiment of the invention;
FIG. 6 is a water body detection lidar optical path diagram of a transceiving coaxial telescope array according to a fourth embodiment of the present invention;
fig. 7 is a schematic diagram of a water body detection laser radar of a transceiving coaxial telescope array according to a fourth embodiment of the present invention;
wherein, 1, near-infrared seed laser; 2. an amplifier; 3. a frequency multiplier; 4. a collimating coupler; 5. an optical signal splitting module; 6. a transmitting-receiving coaxial telescope; 7. a closed biaxial rotary scanning device; 8. a narrow band filter; 9. a detector; 10. the device comprises an acquisition module, 11 and a calculation module; 12. a first optical fiber; 13. a second optical fiber; 14. a third optical fiber; 15. a transmitting telescope; 16. a receiving telescope; 17. a fourth optical fiber; 18. a fifth optical fiber; 19. a pulsed blue-green band laser; 20. a strut; 21. a ship body.
Detailed Description
The technical solutions in the embodiments of the present invention are 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 embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The transmitting telescope and the receiving telescope of the embodiment are the transceiving coaxial telescopes 6, the transmitting telescope and the receiving telescope are shared, and the transceiving coaxial telescope 6 only comprises one telescope.
Specifically, referring to fig. 1, the separated water body detection laser radar for underwater transceiving of the present embodiment includes a near-infrared seed laser 1, an amplifier 2, a frequency multiplier 3, a collimating coupler 4, a narrow-band filter 8, a detector 9, an acquisition module 10, and a calculation module 11, which are arranged above a water surface, and further includes a transceiving coaxial telescope 6 and a closed biaxial rotation scanning device 7, which are arranged below the water surface; the receiving and transmitting coaxial telescope 6 is arranged in the closed double-shaft rotary scanning device 7;
the near-infrared seed laser 1 generates near-infrared laser with a 1064nm waveband, the near-infrared waveband laser is amplified by the amplifier 2 and then enters the frequency multiplier 3 to generate 532nm blue-green waveband laser suitable for water body detection, the laser at the moment is space light, and the space laser is coupled into an optical fiber through the collimating coupler 4 and is incident into a water body through the transceiving coaxial telescope 6; echo signals generated by interaction of laser and a water body are received by the transceiving coaxial telescope 6 and transmitted to the narrow-band filter 8 through optical fibers, the echo signals enter the detector 9 after being filtered by the narrow-band filter 8, the detector 9 converts the echo signals into electric signals, the acquisition module 10 acquires the electric signals, and the calculation module 11 processes the electric signals and then carries out inversion to obtain water body detection information.
The separated water body detection laser radar also comprises an optical signal shunt module 5; the optical signal branching module 5 is connected with the transceiving coaxial telescope 6 to control the transmission of transceiving signals on different optical paths; the collimating coupler 4 is connected with the optical signal splitting module 5 through a first optical fiber 12; the receiving and transmitting coaxial telescope 6 is connected with the optical signal branching module 5 through a second optical fiber 13; the narrow band filter 8 is connected to the optical signal splitting module 5 through a third optical fiber 14.
In this embodiment, the optical signal splitting module 5 includes an optical fiber circulator.
It should be noted that high peak power laser is difficult to couple into the optical fiber, and for this reason, the laser beam emitted by the present invention uses micro-pulse laser to improve the detection performance by increasing the repetition rate.
Furthermore, in order to improve the coupling efficiency of the blue-green laser emitted to the optical fiber, the optical fiber at the coupling end of the laser to the optical fiber adopts a multimode optical fiber with a large core diameter, and specifically can be a multimode optical fiber with 50 μm, 105 μm, 200 μm or 400 μm, and the like. Compared with single-mode optical fibers, the coupling efficiency of the multimode optical fibers is improved from about 20% to more than 90%.
Meanwhile, in order to improve the efficiency of coupling the receiving telescope to the optical fiber, the optical fiber at the receiving end is also coupled by adopting multimode optical fiber. In addition, the adoption of the multimode optical fiber also ensures that the field of view of the telescope is enough to receive echo signals.
Furthermore, in order to improve the detection signal-to-noise ratio of the echo signal, the detector preferably adopts a single photon detector.
Referring to fig. 2, the closed biaxial rotation scanning device 7 includes a waterproof closed casing; the waterproof closed shell is provided with one or more light-transmitting windows, laser emitted from the transceiving coaxial telescope 6 penetrates through the light-transmitting windows to be incident into a water body, and the transceiving coaxial telescope 6 receives the echo signals through the light-transmitting windows.
In this embodiment, the light-transmitting window includes one optical lens, and the material corresponding to the optical lens can be high transmittance. It should be noted that what kind of material is selected for the light-transmitting window, and how to set the size can be set according to practical application, and this embodiment is not specifically limited.
Specifically, the receiving and transmitting coaxial telescope 6 also adopts a closed structure, and optical lenses with high transmittance are adopted on the end surfaces of laser emission and echo signal receiving, so that on one hand, high-efficiency laser emission is ensured, and on the other hand, high-efficiency echo signal receiving is ensured.
The closed double-shaft rotary scanning device 7 also comprises a horizontal rotating shaft and a vertical rotating shaft; the horizontal rotating shaft is used for controlling the horizontal rotating angle of the transceiving coaxial telescope 6, and the range of the horizontal rotating angle is 0-360 degrees; the vertical rotating shaft is used for controlling the vertical direction rotating angle of the transceiving coaxial telescope 6, and the range of the vertical direction rotating angle is 0-180 degrees, so that hemispherical all-directional scanning can be realized.
Further, a pressure sensor and a positioning device are arranged in the closed double-shaft rotary scanning device 7 so as to measure the depth and the horizontal position of the water body where the transceiving coaxial telescope 6 is located.
In specific application, the closed double-shaft rotary scanning device 7 provided with the transceiving coaxial telescope 6 can be placed on different platforms for measurement, such as a cable underwater robot, a cable underwater detector, a remote unmanned underwater vehicle (ROV) and the like, and can also be directly designed on the platforms. Of course, the closed biaxial rotary scanning device 7 with the transmitting-receiving coaxial telescope 6 mounted thereon can also be directly connected with the hull 21 through the strut 20 for measurement, and the embodiment is not particularly limited.
In this embodiment, referring to fig. 3, the sealed biaxial rotation scanning device 7 equipped with the transceiver coaxial telescope 6 is connected with the hull 21 through the strut 20, the transceiver coaxial telescope 6 is connected with the part above the water surface of the laser radar through the cable of the third optical fiber 14 on the optical path, and the telescope can be placed in water bodies of different depths by controlling the length of the strut 20 extending into the water bodies, so as to detect water body parameters of different water depths.
The beneficial effects of this embodiment are as follows:
the device comprises a near-infrared seed laser 1 arranged above the water surface, an amplifier 2, a frequency multiplier 3, a collimation coupler 4, a narrow-band filter 8, a detector 9, an acquisition module 10 and a calculation module 11, and further comprises a transceiving coaxial telescope 6 arranged below the water surface, wherein the part above the water surface and the part below the water surface are connected on an optical path through a cable of a third optical fiber 14, the transceiving coaxial telescope 6 is arranged in a closed double-shaft rotary scanning device 7, the transceiving coaxial telescope 6 can rotate 360 degrees in the horizontal direction and 180 degrees in the vertical direction through the closed double-shaft rotary scanning device 7, so that hemispherical omnidirectional scanning is realized, and the transceiving coaxial telescope 6 can be arranged in water bodies of different depths to detect water body parameters of different water depths; because the laser emission and the echo reception are both carried out in the water body, the atmospheric correction of echo information is not needed, the influence of waves and the interference of a sea-air interface are not needed to be considered, and the sun and sky background noise is low, the accuracy of the extraction of the echo signal of the water body detection laser radar and the inversion of water body parameters can be improved;
the particle size and the shape of particles in water are detected by utilizing a laser radar, when the receiving and transmitting coaxial telescope 6 is positioned in a water body, the scattering effect of particles such as aerosol in the atmosphere on laser is not required to be considered, the atmosphere is not required to be corrected, the complexity of a system is reduced, the purpose of accurately measuring the particle size and the shape of the particles in water is achieved, and the method has important significance for measuring the particle size of algae and micro-plastics;
the length of the third optical fiber 14 connecting the transmitting-receiving coaxial telescope 6 and the other parts of the laser radar depends on the deepest detection depth, and the transmitting-receiving coaxial telescope 6 can be placed in water bodies with different depths for detection in the length range.
When the water detection laser radar provided by the embodiment is applied to ship cutting, the transceiving coaxial telescope 6 is separated from other parts of the water detection laser radar, and is particularly suitable for being used in severe marine environments, the transceiving coaxial telescope 6 is positioned in a water body, and other parts of the water detection laser radar are placed in safe indoor environments, so that the water detection laser radar is not only favorable for protecting a laser radar structure and prolonging the service life of the water detection laser radar, but also an operator can operate equipment in safe and comfortable indoor environments.
The water depth which can be detected by the water body detection laser radar provided by the embodiment depends on the length of the third optical fiber 14, and the attenuation of the third optical fiber 14 is very small (4dB/Km), so that not only the water body information at different depths can be detected, but also the deep sea water body information and the deep sea biological population information can be detected.
Example two
This embodiment differs from the first embodiment in the way blue-green band laser light is generated.
Specifically, referring to fig. 4, the separated underwater water body detection laser radar of this embodiment includes a pulsed blue-green band laser 19, an amplifier 2, a frequency multiplier 3, a collimating coupler 4, a narrow band filter 8, a detector 9, an acquisition module 10, and a calculation module 11, which are disposed above the water surface, and further includes a receiving-transmitting coaxial telescope 6 and a closed biaxial rotation scanning device 7, which are disposed below the water surface; the receiving and transmitting coaxial telescope 6 is arranged in the closed double-shaft rotary scanning device 7;
the pulse type blue-green wave band laser 19 generates blue-green wave band laser, the blue-green wave band laser is amplified by the amplifier 2 to generate 532nm blue-green wave band laser suitable for water body detection, the laser at the moment is space light, and the space laser is coupled into an optical fiber through the collimating coupler 4 and is incident into the water body through the transceiving coaxial telescope 6;
echo signals generated by interaction of laser and a water body are received by the transceiving coaxial telescope 6 and transmitted to the narrow-band filter 8 through optical fibers, the echo signals enter the detector 9 after being filtered by the narrow-band filter 8, the detector 9 converts the echo signals into electric signals, the acquisition module 10 acquires the electric signals, and the calculation module 11 processes the electric signals and then carries out inversion to obtain water body detection information.
Other parts of the embodiment are the same as the embodiment, and the description is not repeated here.
EXAMPLE III
The transmitting telescope 15 and the receiving telescope 16 of the present embodiment are provided separately, and the transmitting telescope 15 and the receiving telescope 16 include one each.
Specifically, referring to fig. 5, the separated water body detection laser radar for underwater transceiving of the present embodiment includes a near-infrared seed laser 1, an amplifier 2, a frequency multiplier 3, a collimating coupler 4, a narrow-band filter 8, a detector 9, an acquisition module 10, and a calculation module 11, which are disposed above a water surface, and further includes a transmitting telescope 15, a receiving telescope 16, and a closed biaxial rotation scanning device 7, which are disposed below the water surface; the transmitting telescope 15 and the receiving telescope 16 are arranged in the closed double-shaft rotary scanning device 7;
the near-infrared seed laser 1 generates near-infrared laser with a 1064nm waveband, the near-infrared laser with the waveband is amplified by the amplifier 2 and then enters the frequency multiplier 3 to generate 532nm blue-green waveband laser suitable for water body detection, the laser at the moment is space light, and the space laser is coupled into an optical fiber through the collimating coupler 4 and is incident into a water body through the transmitting telescope 15;
echo signals generated by interaction of laser and a water body are received by the receiving telescope 16 and transmitted to the narrow-band filter 8 through optical fibers, the echo signals enter the detector 9 after being filtered by the narrow-band filter 8, the detector 9 converts the echo signals into electric signals, the acquisition module 10 acquires the electric signals, and the calculation module 11 processes the electric signals and then carries out inversion to obtain water body detection information.
It should be noted that, referring to the second embodiment, the pulsed blue-green band laser 19 may also be used to generate blue-green band laser.
When the transmitting telescope 15 and the receiving telescope 16 are separately arranged, two optical fibers are adopted; one fourth optical fiber 17 connects the collimating coupler 4 and the transmitting telescope 15, and the other fifth optical fiber 18 connects the receiving telescope 16 and the narrow band filter 8.
It should be noted that high peak power laser is difficult to couple into the optical fiber, and for this reason, the laser beam emitted by the present invention uses micro-pulse laser to improve the detection performance by increasing the repetition rate.
Furthermore, in order to improve the coupling efficiency of the blue-green laser emitted to the optical fiber, the optical fiber at the coupling end of the laser to the optical fiber adopts a multimode optical fiber with a large core diameter, and specifically can be a multimode optical fiber with 50 μm, 105 μm, 200 μm or 400 μm, and the like. Compared with single-mode optical fibers, the coupling efficiency of the multimode optical fibers is improved from about 20% to more than 90%.
Meanwhile, in order to improve the efficiency of coupling the receiving telescope to the optical fiber, the optical fiber at the receiving end is also coupled by adopting multimode optical fiber. In addition, the adoption of the multimode optical fiber also ensures that the field of view of the telescope is enough to receive echo signals.
Furthermore, in order to improve the detection signal-to-noise ratio of the echo signal, the detector preferably adopts a single photon detector.
Referring to fig. 2, the closed biaxial rotation scanning device 7 includes a waterproof closed casing; the waterproof closed shell is provided with one or more light-transmitting windows, laser emitted from the transmitting telescope 15 penetrates through the light-transmitting windows to be incident into a water body, and the receiving telescope 16 receives the echo signals through the light-transmitting windows.
In this embodiment, the light-transmitting window includes one or two, and the corresponding material thereof may be an optical lens with high transmittance. It should be noted that what kind of material is selected for the light-transmitting window, and how to set the size can be set according to practical application, and this embodiment is not specifically limited.
Specifically, the transmitting telescope 15 and the receiving telescope 16 may emit and receive through the same light-transmitting window, or may emit and receive through different light-transmitting windows.
Specifically, the transmitting telescope 15 and the receiving telescope 16 are also of a closed structure, and optical lenses with high transmittance are used on the end surfaces of laser emission and echo signal reception, so that on one hand, efficient laser emission and efficient echo signal reception are ensured.
The closed double-shaft rotary scanning device 7 also comprises a horizontal rotating shaft and a vertical rotating shaft; the horizontal rotating shaft is used for controlling the horizontal rotating angle of the transmitting telescope 15/the receiving telescope 16, and the range of the horizontal rotating angle is 0-360 degrees; the vertical rotating shaft is used for controlling the vertical direction rotating angle of the transmitting telescope 15/the receiving telescope 16, and the range of the vertical direction rotating angle is 0-180 degrees, so that hemispherical omnidirectional scanning can be realized.
Further, a pressure sensor and a positioning device are arranged in the closed double-shaft rotary scanning device 7 to measure the depth and the horizontal position of the water body where the transmitting telescope 15 and the receiving telescope 16 are located.
In a specific application, the closed biaxial rotary scanning device 7 loaded with the transmitting telescope 15 and the receiving telescope 16 can be placed on different platforms for measurement, such as a cable underwater robot, a cable underwater detector, a remote-control unmanned vehicle (ROV) and the like, and can also be directly designed on the platforms. Of course, the closed biaxial rotation scanning device 7 loaded with the transmitting telescope 15 and the receiving telescope 16 can also be directly connected with the hull 21 through the strut 20 for measurement, and the embodiment is not particularly limited.
In this embodiment, referring to fig. 3, the closed biaxial rotation scanning device 7 carrying the transmitting telescope 15 and the receiving telescope 16 is connected to the hull 21 through a strut 20, the transmitting telescope 15 and the receiving telescope 16 are connected to the part above the water surface of the laser radar through an optical fiber cable in an optical path, and the telescopes can be placed in water bodies of different depths by controlling the length of the strut 20 extending into the water bodies to detect water body parameters of different water depths.
The length of the optical fiber connecting the transmitting telescope 15/the receiving telescope 16 and the lidar body portion depends on the deepest detection depth, and within this length range, the transmitting telescope 15/the receiving telescope 16 can be placed in water bodies of different depths for detection.
The beneficial effects of this embodiment are the same as those of the first embodiment, and the description thereof is not repeated here.
Example four
The transmitting telescope and the receiving telescope of the embodiment are transmitting and receiving coaxial telescopes 6 which are shared, the transmitting telescope and the receiving telescope 6 comprise two or more than two, the closed double-shaft rotary scanning device 7 loaded with the transmitting and receiving coaxial telescopes 6 also comprises two or more than two, and the two or more than two transmitting and receiving coaxial telescopes 6 form a first transmitting and receiving telescope array; two or more closed biaxial rotary scanning devices 7 constitute a first closed biaxial rotary scanning device 7 array.
Specifically, referring to fig. 6, the separated water body detection laser radar for underwater transceiving of the present embodiment includes a near-infrared seed laser 1, an amplifier 2, a frequency multiplier 3, a collimating coupler 4, a narrow-band filter 8, a detector 9, an acquisition module 10, and a calculation module 11, which are disposed above a water surface, and further includes a first transceiving telescope array 6(1) -6(n) and a first closed biaxial rotation scanning device array 7(1) -7(n), which are disposed below the water surface; the receiving and transmitting coaxial telescope 6 is arranged in the closed double-shaft rotary scanning device 7;
the near-infrared seed laser 1 generates near-infrared laser with a 1064nm waveband, the near-infrared laser with the waveband is amplified by the amplifier 2 and enters the frequency multiplier 3 to generate 532nm blue-green waveband laser suitable for water body detection, the laser at the moment is space light, and the space laser is coupled into an optical fiber through the collimating coupler 4 and is incident into the water body through the first transceiver telescope array 6(1) -6 (n);
echo signals generated by interaction of laser and a water body are received through the first transceiver telescope array 6(1) -6(n), transmitted to the narrow-band filter 8 through the optical fiber, filtered by the narrow-band filter 8 and then enter the detector 9, the detector 9 converts the echo signals into electric signals, the acquisition module 10 acquires the electric signals, and the calculation module 11 processes the electric signals and then carries out inversion to obtain water body detection information.
It should be noted that, referring to the second embodiment, the pulsed blue-green band laser 19 may also be used to generate blue-green band laser.
The separated water body detection laser radar also comprises an optical signal shunt module 5; the optical signal branching module 5 is connected with the transceiving coaxial telescope array 6(1) -6(n) to control the transmission of transceiving signals on different optical paths. When the structure of the transmitting-receiving coaxial telescope array 6(1) -6(n) is adopted, the emergent laser and the echo signal are separated through the optical signal branching module 5, the optical signal branching module 5 is connected with the collimating coupler 4 through the first optical fiber 12 on the emergent light path, the transmitting-receiving coaxial telescope array 6(1) -6(n) is connected through the second optical fiber 13, and the optical signal branching module 5 is connected with the transmitting-receiving coaxial telescope array 6(1) -6(n) and the narrow-band filter 8 through the third optical fiber 14 on the receiving light path.
In this embodiment, the optical signal splitting module 5 includes an optical switch. The echo signal received by each path of the first transceiver telescope array 6(1) - (6 (n)) passes through the narrow-band filter 8 through the optical switch and then enters the detector 9.
In this embodiment, the structure and the operation principle of the closed biaxial rotation scanning device 7 are the same as those of the first embodiment, and the description thereof will not be repeated.
It should be noted that each of the transceiver coaxial telescopes 6 in the first transceiver telescope array can independently rotate 360 degrees in the horizontal direction and 180 degrees in the vertical direction, each of the transceiver coaxial telescopes 6 can independently realize hemispherical omnidirectional scanning, and each of the transceiver coaxial telescopes 6 in the first closed biaxial rotation scanning device 7 array is respectively placed in water bodies with different depths.
In the embodiment, a 1064 nm-band near-infrared seed laser 1 is adopted to generate laser, the laser is converted into 532nm band through frequency doubling, the space laser is coupled into a first optical fiber 12 through a collimating coupler 4, and is incident into a water body through a transceiving coaxial telescope 6 in a first transceiving telescope array after passing through an optical switch, so that the water body detection can be carried out; echo signals generated by the interaction of the laser and the water body are received by corresponding transceiving coaxial telescopes 6 in the first transceiving telescope array.
It should be noted that high peak power laser is difficult to couple into the optical fiber, and for this reason, the laser beam emitted by the present invention uses micro-pulse laser to improve the detection performance by increasing the repetition rate.
Furthermore, in order to improve the coupling efficiency of the blue-green laser emitted to the optical fiber, the optical fiber at the coupling end of the laser to the optical fiber adopts a multimode optical fiber with a large core diameter, and specifically can be a multimode optical fiber with 50 μm, 105 μm, 200 μm or 400 μm, and the like. Compared with single-mode optical fibers, the coupling efficiency of the multimode optical fibers is improved from about 20% to more than 90%.
Meanwhile, in order to improve the efficiency of coupling the receiving telescope to the optical fiber, the optical fiber at the receiving end is also coupled by adopting multimode optical fiber. In addition, the adoption of the multimode optical fiber also ensures that the field of view of the telescope is enough to receive echo signals.
Furthermore, in order to improve the detection signal-to-noise ratio of the echo signal, the detector preferably adopts a single photon detector.
Referring to fig. 7, each transceiver coaxial telescope 6 in the first transceiver telescope array is respectively placed in water bodies with different depths through a strut 20, and short rods with the same length are assembled into a long strut 20 through an interlocking device. Each receiving and transmitting coaxial telescope 6 can detect the water body range between the two dotted lines where the receiving and transmitting coaxial telescope 6 is located, and the water body layered detection is realized through an array formed by the plurality of receiving and transmitting coaxial telescopes 6.
The present embodiment includes the following advantages in the first embodiment: by placing the transceiver telescope arrays at different water depths, the evolution conditions of the properties and the sizes of the particles in the process of falling in the ocean are detected, the quantitative description of the ocean carbon sink process is realized, and meanwhile, the layered information detection of the biological populations in the ocean can also be realized.
EXAMPLE five
The transmitting telescope and the receiving telescope of the embodiment are separately arranged, the transmitting telescope and the receiving telescope comprise two or more than two, the closed double-shaft rotary scanning device loaded with the transmitting telescope and the receiving telescope also comprises two or more than two, and the two or more than two transmitting telescopes and the receiving telescope form a second transmitting and receiving telescope array; and the two or more closed double-shaft rotary scanning devices form a second closed double-shaft rotary scanning device array.
The implementation of the other parts of the separated water body detection laser radar and the specific implementation of the transmitting telescope, the receiving telescope and the closed double-shaft rotary scanning device are the same as those of the third embodiment, and the description is not repeated here.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An underwater receiving and transmitting separated water body detection laser radar is characterized by comprising a collimation coupler (4), a narrow-band filter (8), a detector (9), a collection module (10) and a calculation module (11) which are arranged above the water surface, and further comprising a transmitting telescope, a receiving telescope and a closed double-shaft rotary scanning device (7) which are arranged below the water surface; the transmitting telescope and the receiving telescope are arranged in the closed double-shaft rotary scanning device (7);
blue-green wave band laser is coupled into the optical fiber through the collimating coupler (4) and is incident into the water body through the transmitting telescope;
echo signals generated by interaction of laser and a water body are received by the receiving telescope and transmitted to the narrow-band filter (8) through the optical fiber, the echo signals enter the detector (9) after being filtered by the narrow-band filter (8), the detector (9) converts the echo signals into electric signals, the acquisition module (10) acquires the electric signals, and the calculation module (11) processes the electric signals and then carries out inversion to obtain water body detection information.
2. The underwater transceiving split water body detection lidar according to claim 1, wherein the transmitting telescope and the receiving telescope are transceiving coaxial telescopes (6), and the transmitting telescope and the receiving telescope are shared;
the separated water body detection laser radar also comprises an optical signal shunting module (5); the optical signal branching module (5) is connected with the transceiving coaxial telescope (6) to control the transmission of transceiving signals on different optical paths; the collimating coupler (4) is connected with the optical signal branching module (5) through a first optical fiber (12); the receiving and transmitting coaxial telescope (6) is connected with the optical signal branching module (5) through a second optical fiber (13); the narrow-band filter (8) is connected with the optical signal branching module (5) through a third optical fiber (14).
3. The underwater transceiving split water body detection lidar according to claim 2, wherein said transceiving coaxial telescopes (6) comprise one or more; each of the transmitting-receiving coaxial telescopes (6) is arranged in one of the closed double-shaft rotary scanning devices (7).
4. The underwater transceiving split water detection lidar according to claim 3, wherein when said transceiving coaxial telescope (6) comprises one, said optical signal splitting module (5) comprises a fiber optic circulator.
5. The underwater transceiving split water detection lidar according to claim 3, wherein when the transceiving coaxial telescope (6) comprises two or more, the optical signal splitting module (5) comprises an optical switch; the two or more than two transceiving coaxial telescopes (6) form a first transceiving telescope array; two or more closed double-shaft rotary scanning devices (7) form a first closed double-shaft rotary scanning device array; each closed double-shaft rotary scanning device (7) is arranged at different water body depths.
6. The underwater transceiving split water body detection lidar according to claim 1, wherein said transmitting telescope (15) and said receiving telescope (16) are separately provided; the transmitting telescope (15) is connected with the collimating coupler (4) through a fourth optical fiber (17); the receiving telescope (16) is connected to the narrow-band filter (8) via a fifth optical fiber (18).
7. The underwater transmit-receive split water body detection lidar according to claim 6, wherein the transmitting telescope (15) and the receiving telescope (16) comprise one or more than one; -one of said transmitting telescopes (15) and one of said receiving telescopes (16) are arranged inside one of said closed biaxial rotary scanning devices (7);
the transmitting telescope (15) and the receiving telescope (16) respectively comprise two or more than two transmitting telescopes (15) and two or more than two receiving telescopes (16) to form a second transceiving telescope array; two or more closed double-shaft rotary scanning devices (7) form a second closed double-shaft rotary scanning device array; each closed double-shaft rotary scanning device (7) is arranged at different water body depths.
8. The underwater transceiving split water body detection lidar according to claim 1, wherein the sealed dual-axis rotary scanning device (7) comprises a waterproof sealed housing; the waterproof closed shell is provided with one or more light-transmitting windows, laser emitted from the transmitting telescope penetrates through the light-transmitting windows to be incident into a water body, and the receiving telescope receives the echo signals through the light-transmitting windows.
9. The underwater transceiving split water body detection lidar according to claim 1, wherein the closed dual-axis rotary scanning device (7) comprises a horizontal rotating shaft and a vertical rotating shaft; the horizontal rotating shaft is used for controlling the horizontal rotating angle of the transmitting telescope/receiving telescope, and the range of the horizontal rotating angle is 0-360 degrees; the vertical rotating shaft is used for controlling the vertical direction rotating angle of the transmitting telescope/receiving telescope, and the range of the vertical direction rotating angle is 0-180 degrees.
10. The underwater transceiving split water detection lidar according to claim 1, further comprising a near-infrared seed laser (1), an amplifier (2), and a frequency multiplier (3) disposed above a water surface; the frequency multiplier (3) is connected with the collimating coupler (4); the near-infrared seed laser (1) generates near-infrared band laser, and the near-infrared band laser enters the frequency multiplier (3) after being amplified by the amplifier (2) to generate blue-green band laser suitable for water body detection;
or;
the separated water body detection laser radar also comprises a pulse type blue-green wave band laser (19) and an amplifier (2) which are arranged above the water surface; the amplifier (2) is connected with the collimation coupler (4); the pulse type blue-green wave band laser generates blue-green wave band laser, and the blue-green wave band laser generates blue-green wave band laser suitable for water body detection after being amplified by the amplifier (2).
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