CN205787179U - A kind of undersea detection system - Google Patents
A kind of undersea detection system Download PDFInfo
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- CN205787179U CN205787179U CN201620318157.3U CN201620318157U CN205787179U CN 205787179 U CN205787179 U CN 205787179U CN 201620318157 U CN201620318157 U CN 201620318157U CN 205787179 U CN205787179 U CN 205787179U
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Abstract
This utility model provides a kind of undersea detection system.Undersea detection system includes laser beam emitting device, ultrasonic sensor and measurement apparatus；Described laser beam emitting device launches, for the target object in region the most to be detected, the laser that wavelength is 430～570nm, described ultrasonic sensor is for receiving the ultrasound wave produced after described target object absorbs described laser, the input of described measurement apparatus connects the outfan of described ultrasonic sensor, and the ultrasonic signal for exporting described ultrasonic sensor is analyzed processing the information obtaining described target object.Undersea detection system of the present utility model, can realize farther detection range and Geng Gao detection accuracy.
Description
[technical field]
This utility model relates to undersea detection field, particularly relates to a kind of undersea detection system based on photoacoustic signal.
[background technology]
In recent years, submarine geomorphy detection, the monitoring of bad border, large area ocean, underwater information acquisition, exploration of ocean resources, ocean
Recover and the civil area such as salvaging, and the military domain such as military target such as detection enemy's submarine, naval vessels, aircraft carrier are all to visiting under water
Survey technology proposes the highest requirement.Underwater detectoscope mainly has two big classes at present, and a kind of is equipment based on sonar, exists
Precision is low, the shortcoming that operating rate is slow；Another kind is underwater television based on video, is affected very big by seawater transparency, detection
Distance can only be within several meters.Although additionally, the research utilizing laser to carry out undersea detection has been in progress, but backward scattered by sea water
The impact penetrated, detection range and precision are difficult to meet actual demand.
[utility model content]
Technical problem to be solved in the utility model is: make up above-mentioned the deficiencies in the prior art, proposes one and visits under water
Examining system, can realize farther detection range and Geng Gao detection accuracy.
Technical problem of the present utility model is solved by following technical scheme:
A kind of undersea detection system, including laser beam emitting device, ultrasonic sensor and measurement apparatus；Described Laser emission
Device launches the laser that wavelength is 430～570nm, described supersonic sounding for the target object in region the most to be detected
Device is for receiving the ultrasound wave produced after described target object absorbs described laser, and the input of described measurement apparatus connects institute
Stating the outfan of ultrasonic sensor, the ultrasonic signal for exporting described ultrasonic sensor is analyzed processing and obtains institute
State the information of target object.
Preferably,
Described measurement apparatus includes that time difference computing module and distance calculation module, described time difference computing module are used for calculating institute
State laser beam emitting device and launch the time difference between laser and described ultrasonic sensor reception ultrasound wave, described distance calculation module
Input connect described time difference computing module outfan, for according to the described time difference computing module output the described time difference with
And the spread speed that light is in water, ultrasonic signal spread speed in water calculates the measured point obtaining described target object surface
Distance with described undersea detection system.
Described distance calculation module is calculated described distance d:d=(Δ t × v according to following formula1×v2)/(v1+
v2)。
Described measurement apparatus also includes speed measurement module；The input of described speed measurement module connects described distance meter
Calculate the outfan of module, for the distance change estimation of the described measured point according to the output of described distance calculation module repetitive measurement
The speed of described target object.
Described ultrasonic sensor includes multiple ultrasonic detector；Described measurement apparatus includes that orientation determines module；Described
Multiple ultrasonic detectors are used to receive the ultrasound wave produced after described target object surface measured point absorbs described laser；Described
Orientation determines that module determines described target object surface for the time difference receiving described ultrasound wave according to each ultrasonic detector
The orientation of measured point.
Described undersea detection system also includes lens and micro scanning device；Described ultrasonic sensor includes multiple ultrasonic spy
Survey device；Described measurement apparatus includes three-dimensional appearance reconstructed module；Described lens are for the institute launching described laser beam emitting device
Stating laser to be focused, described target object is carried out in set point by described micro scanning device laser after making focusing
Point by point scanning；The plurality of ultrasonic detector is for receiving generation after described target object surface measured point absorbs described laser
Ultrasound wave；Described three-dimensional appearance reconstructed module for according to each ultrasonic detector receive the moment of described ultrasound wave and each time
The time difference between quarter determines the distance and bearing of described measured point, and pointwise determines the three-dimensional obtaining the multiple point of described target object surface
Coordinate, simulates the three-dimensional appearance of described target object.
Described measurement apparatus includes reference power spectrum memory module and component analysis module, described reference power spectrum storage mould
Block is for storing the power spectrum of the ultrasonic signal of multiple objects in water, and the input of described component analysis module connects described reference
The outfan of power spectrum memory module, the power spectrum of the ultrasonic signal that described component analysis module receives for detection, will inspection
The power spectrum measured is compared with reference power spectrum, analyzes the composition of target object.
Described laser beam emitting device is the laser beam emitting device launching laser according to the frequency of 200～250kHz.
This utility model is compared with the prior art and provides the benefit that:
Undersea detection system of the present utility model, combines laser acquisition with sonar contact, utilizes Laser emission, promote
Target object produces ultrasonic effect, detecting ultrasonic signal, it is achieved undersea detection.The high collimation of laser can ensure target area
Realize fine scanning, thus improve the echo signal intensity of target area unit are, compared to traditional simple sonar,
Can realize detecting with more becoming more meticulous, as long as ensure that enough laser energies i.e. can ensure that a range of detection range simultaneously；Phase
Than in the undersea detection of traditional pure laser type, by laser simultaneously as launching signal and detectable signal, this utility model is the most sharp
Detecting with ultrasonic signal, ultrasound wave decay in water is much smaller than light wave, it also avoid the shadow of backscattering of ocean water simultaneously
Ring, compared to laser or video equipment, bigger detection range and higher detection accuracy can be realized.
[accompanying drawing explanation]
Fig. 1 is the structural representation of the undersea detection system of this utility model detailed description of the invention；
Fig. 2 is the principle schematic of the undersea detection system of this utility model detailed description of the invention.
[detailed description of the invention]
Below in conjunction with detailed description of the invention and compare accompanying drawing this utility model is described in further details.
Design of the present utility model is: laser beam emitting device is swept to target area emission pulse laser or continuous laser
Retouching, the laser of transmitting uses the bluish-green laser that in water, absorbance is minimum so that absorb this laser on the internal object object of target area
Rear generation ultrasonic sound source signal, utilizes ultrasonic sensor to receive this ultrasonic signal, and ultrasonic signal is analyzed by measuring circuit
Process, and then obtain the information such as the distance of target, orientation, three-dimensional appearance, speed, constituent.This utility model is no longer single
The pure optical signal that uses a laser as, detects optical signal, or is only that laser light incident is to producing optoacoustic sound source during the water surface with replacement sound
Receive sound source, but combine characteristic and the advantage of sound-source signal context of detection of laser light signal transmission.
As it is shown in figure 1, be the structural representation of the undersea detection system of this detailed description of the invention.Undersea detection system includes
Laser beam emitting device 100, ultrasonic sensor 300 and measurement apparatus 500.As in figure 2 it is shown, be that the work of undersea detection system is former
Reason schematic diagram.
Laser beam emitting device 100 launches wavelength 430～570nm for the target object in region the most to be detected
Laser.Herein, laser beam emitting device passes through modulation control, and the wave-length coverage of the laser of transmitting: 430nm-570nm, in water
The bluish-green laser that absorbance is minimum, so that target object produces ultrasound wave after absorbing the laser of this wave-length coverage.For sending out
The power of the laser penetrated, can be according to actual underwater environment to the absorbance of laser, required detection range, the target absorption to laser
The structure adjusting such as the decay of sound wave, ultrasonic detector sensitivity are set by rate, water.Adjustment makes power meet and makes described object
Body can produce the ultrasound wave of sufficient intensity after absorbing described laser, the ultrasonic sensor being detected in system receives detection
Arrive.
Ultrasonic sensor 300 is for receiving the ultrasound wave produced after target object absorbs described laser.
The input of measurement apparatus 500 connects the outfan of described ultrasonic sensor, for filling described supersonic sounding
The ultrasonic signal putting output is analyzed processing the information obtaining described target object.Measurement apparatus 500 can be according to application demand
Different modules is set, thus realizes measuring obtaining the information such as range-to-go, speed, orientation, three-dimensional appearance, constituent
Requirement.
Specifically, measurement apparatus 500 can include time difference computing module and distance calculation module.Time difference computing module by based on
Calculate described laser beam emitting device and launch the time difference Δ t between laser and described ultrasonic sensor reception ultrasound wave.This time difference
Acquisition can be passed through the moment launching laser from laser beam emitting device 100 transmission, and connecing from ultrasonic sensor 300 transmission
The moment receiving ultrasound wave is calculated.Certainly also can acquire otherwise, describe in detail the most one by one at this.Distance calculates mould
The input of block connects the outfan of described time difference computing module, for the described time difference according to the output of described time difference computing module
Δ t and light spread speed v in water1, ultrasonic signal spread speed v in water2It is calculated described target object surface
The distance of measured point and described undersea detection system.Above-mentioned ultrasonic signal spread speed v in water2Can be demarcated by the velocity of sound
Module acquires, i.e. detection system can include velocity of sound demarcating module, with to ultrasound wave biography in current undersea detection environment
Broadcast speed and carry out accurate calibration, it is possible to obtained by velocity of sound demarcating module measurement in advance, straight in the measurement apparatus 500 in detection system
Connect storage and measure the numerical value arrived.After obtaining above-mentioned parameter, according to below equation d/v1+d/v2=Δ t, can be calculated target
The measured point of body surface and the distance d=(Δ t × v of undersea detection system1×v2)/(v1+v2)。
Preferably, the ultrasonic signal of ultrasonic sensor 300 output can be amplified, filter by measurement apparatus 500, AD turns
Change etc. and to carry out above-mentioned calculating again after processing, thus improve accuracy of measurement.
Further, measurement apparatus 500 can above-mentioned measurement to distance on the basis of measure the speed of target object.Survey
Amount device 500 also includes speed measurement module.The input of speed measurement module connects the outfan of distance calculation module, is used for
The speed of the distance change estimation target object of the described measured point according to the output of distance calculation module repetitive measurement.
When measuring orientation, ultrasonic sensor can be set for including multiple ultrasonic detector；Measurement apparatus includes orientation
Determine module.It is ultrasonic that multiple ultrasonic detectors produce after being used to receive the described laser of target object surface measured point absorption
Ripple.Orientation determines that module determines described object body surface for the time difference receiving described ultrasound wave according to each ultrasonic detector
The orientation of the measured point in face.Being equipped with point by point scanning module, point by point scanning just understands, after measuring, the orientation that target is overall.
When building the three-dimensional appearance of target object, undersea detection system can be set and also include lens L and micro scanning device
MSS.Ultrasonic sensor includes multiple ultrasonic detector；Correspondingly, measurement apparatus includes three-dimensional appearance reconstructed module.Lens L
Described laser for launching laser beam emitting device is focused, and micro scanning device laser after making focusing is setting model
Enclose and interior target object is carried out point by point scanning.Multiple ultrasonic detectors are used for receiving described target object surface measured point and absorb institute
The ultrasound wave produced after stating laser.Three-dimensional appearance reconstructed module is for receiving described ultrasound wave according to each ultrasonic detector
The time difference between moment and each moment determines the distance and bearing of described measured point.Point by point scanning i.e. can get distance and the side of each point
Position, so that it is determined that obtain the three-dimensional coordinate of the multiple point of described target object surface, and then obtains the three-dimensional shaped of described target object
The point cloud chart of looks, and the three-dimensional appearance of described target object can be simulated according to the point cloud chart of described three-dimensional appearance.
The undersea detection system of this detailed description of the invention also can analyze the composition of target object, now arranges measurement apparatus
Including reference power spectrum memory module and component analysis module.Described reference power spectrum memory module is used for storing multiple things in water
The power spectrum of the ultrasonic signal of body, the input of described component analysis module connects the output of described reference power spectrum memory module
End, the power spectrum of the ultrasonic signal that described component analysis module receives for detection, power spectrum and the reference merit that will detect
Rate spectrum is compared, and analyzes the composition of target object.Specifically, under similarity condition, when target is respectively iron and steel material quality and sea
During bed rock stone, the power spectrum characteristic of received photoacoustic signal is different, owing to the mechanism of production of photoacoustic signal compares
Complexity, the method that therefore can be based primarily upon Machinery model study: the first photoacoustic signal power spectrum to frequent goal under water
Practise, obtain the power spectrum of the ultrasonic signal of multiple common objects in water and store as reference power spectrum.During actual detection,
The power spectrum of institute's light-metering acoustical signal is compared with the reference power spectrum learnt, and then substantially judges the material of target object
Matter.
To sum up, this detailed description of the invention can arrange the particular make-up in measurement apparatus, thus applies photoacoustic signal to detect
Range-to-go, speed, orientation and three-dimensional appearance and the constituent etc. of target.The undersea detection of this detailed description of the invention
System, the high collimation and the ultrasonic signal little propagation distance of decay that fully utilize laser are remote, without backscattering of ocean water impact
Advantage, thus bigger detection range and higher detection accuracy can be realized simultaneously.Detect when measurement obtains range information
Farther distance and there is higher detection accuracy, meanwhile, also can realize conventional unexistent tachometric survey, three-dimensional appearance build and
The functions such as component analysis.
Preferably, described laser beam emitting device 100 is the Laser emission dress launching laser according to the frequency of 200～250kHz
Put.The frequency of laser beam emitting device is the highest, and the information produced in the unit interval is the most, thus the speed of detection of detection system is more
Hurry up.
Above content is to combine concrete preferred implementation further detailed description of the utility model, it is impossible to
Assert that of the present utility model being embodied as is confined to these explanations.Ordinary skill for this utility model art
For personnel, make some replacements or obvious modification without departing from the concept of the premise utility, and performance or purposes
Identical, all should be considered as belonging to protection domain of the present utility model.
Claims (5)
1. a undersea detection system, it is characterised in that: include laser beam emitting device, ultrasonic sensor and measurement apparatus；Institute
State laser beam emitting device and launch the laser that wavelength is 430～570nm, institute for the target object in region the most to be detected
State the ultrasound wave that ultrasonic sensor produces after described laser for receiving described target object to absorb, described measurement apparatus defeated
Enter end and connect the outfan of described ultrasonic sensor, be analyzed for the ultrasonic signal that described ultrasonic sensor is exported
Process the information obtaining described target object.
Undersea detection system the most according to claim 1, it is characterised in that: described ultrasonic sensor includes multiple ultrasonic
Detector；Described measurement apparatus includes that orientation determines module；The plurality of ultrasonic detector is used to receive described target object
The ultrasound wave that measured point, surface produces after absorbing described laser；Described orientation determines that module is for connecing according to each ultrasonic detector
Receive the orientation that time difference of described ultrasound wave determines the measured point of described target object surface.
Undersea detection system the most according to claim 1, it is characterised in that: described undersea detection system also include lens and
Micro scanning device；Described ultrasonic sensor includes multiple ultrasonic detector；Described measurement apparatus includes that three-dimensional appearance reconstructs mould
Block；Described lens are focused for the described laser launching described laser beam emitting device, and described micro scanning device is used for making
Laser after focusing carries out point by point scanning to described target object in set point；The plurality of ultrasonic detector is used for receiving
The ultrasound wave that described target object surface measured point produces after absorbing described laser；Described three-dimensional appearance reconstructed module is used for basis
Each ultrasonic detector receives the time difference between the moment of described ultrasound wave and each moment and determines distance and the side of described measured point
Position, pointwise determines the three-dimensional coordinate obtaining the multiple point of described target object surface, simulates the three-dimensional appearance of described target object.
Undersea detection system the most according to claim 1, it is characterised in that: described measurement apparatus includes that reference power spectrum is deposited
Storage module and component analysis module, described reference power spectrum memory module is for storing the merit of the ultrasonic signal of multiple objects in water
Rate is composed, and the input of described component analysis module connects the outfan of described reference power spectrum memory module, described component analysis
The power spectrum of the ultrasonic signal that module receives for detection, compares the power spectrum detected with reference power spectrum, point
Separate out the composition of target object.
Undersea detection system the most according to claim 1, it is characterised in that: described laser beam emitting device be according to 200～
The frequency of 250kHz launches the laser beam emitting device of laser.
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| CN201620318157.3U CN205787179U (en) | 2016-04-15 | 2016-04-15 | A kind of undersea detection system |
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| CN201620318157.3U CN205787179U (en) | 2016-04-15 | 2016-04-15 | A kind of undersea detection system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105738972A (en) * | 2016-04-15 | 2016-07-06 | 清华大学深圳研究生院 | Underwater detection system and underwater detection method |
| CN107040315A (en) * | 2017-04-10 | 2017-08-11 | 北京华夏光谷光电科技有限公司 | Laser Underwater cause sound device |
| CN108088835A (en) * | 2018-02-06 | 2018-05-29 | 清华大学深圳研究生院 | A kind of underwater detecting system based on laser induced breakdown spectroscopy |
| CN110007306A (en) * | 2018-09-18 | 2019-07-12 | 北京臻迪科技股份有限公司 | A kind of underwater sonar detection system |
-
2016
- 2016-04-15 CN CN201620318157.3U patent/CN205787179U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105738972A (en) * | 2016-04-15 | 2016-07-06 | 清华大学深圳研究生院 | Underwater detection system and underwater detection method |
| WO2017177967A1 (en) * | 2016-04-15 | 2017-10-19 | 清华大学深圳研究生院 | Underwater detection system and underwater detection method |
| CN105738972B (en) * | 2016-04-15 | 2017-11-17 | 清华大学深圳研究生院 | A kind of undersea detection system and undersea detection method |
| CN107040315A (en) * | 2017-04-10 | 2017-08-11 | 北京华夏光谷光电科技有限公司 | Laser Underwater cause sound device |
| CN107040315B (en) * | 2017-04-10 | 2020-10-30 | 北京华夏光谷光电科技有限公司 | Laser underwater sound generator |
| CN108088835A (en) * | 2018-02-06 | 2018-05-29 | 清华大学深圳研究生院 | A kind of underwater detecting system based on laser induced breakdown spectroscopy |
| CN110007306A (en) * | 2018-09-18 | 2019-07-12 | 北京臻迪科技股份有限公司 | A kind of underwater sonar detection system |
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