CN210864039U - Underwater target detection system based on laser acoustic scanning mode - Google Patents
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Abstract
The utility model provides an object detection system under water based on laser sends acoustic scanning mode. The system comprises: the device comprises a laser, an optical shaping unit, a scanning galvanometer, a field lens, a hydrophone and an upper computer. Laser generated by the laser sequentially passes through the optical shaping unit, the scanning galvanometer and the field lens and then is injected into water and focused underwater, so that the water medium generates a photoacoustic effect and radiates sound waves to the periphery, the sound waves are reflected by an underwater target object and then are received by the hydrophone, and the hydrophone is used for converting received sound wave signals into electric signals and sending the electric signals to the upper computer; the upper computer is in communication connection with the laser and the scanning galvanometer and can control the laser output of the laser and the deflection of the scanning galvanometer; and the upper computer adjusts the electric signal sent by the hydrophone to obtain an acoustic signal, and calculates and processes the acoustic signal obtained by adjustment to obtain the depth and the direction of the underwater detected target object. The technical scheme of the utility model have that the mobility is strong, sensitivity is high, detection range is big characteristics.
Description
Technical Field
The utility model relates to an underwater detection communication technology field especially relates to an underwater target detection system based on laser sends acoustic scanning mode.
Background
Currently, there are two main approaches for underwater target detection: optical detection and acoustic detection. Optical detection mainly uses an imaging method to detect underwater targets. Then, underwater, the propagation attenuation of the light wave is very large, and the distance of propagation and measurement is limited. In contrast, sound waves propagate well in water. The reflection coefficient of the sound wave is larger after the sound wave meets an underwater target, and the object information can be acquired conveniently. In traditional sound wave measurement, sonar sensor is widely used as receiving sensor, and sonar sensor itself has again to survey the precision low, the consumption is big, weight is big, need arrange great space volume, inconvenient removal shortcoming of surveying.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned defect of prior art, the utility model provides an underwater target detection system based on laser sends the acoustic scanning mode.
In one aspect, the utility model provides an underwater target detection system based on sound scanning mode is caused to laser, include: the device comprises a laser, an optical shaping unit, a scanning galvanometer, a field lens, a hydrophone and an upper computer;
the laser is used as a light source to generate laser; the optical shaping unit is used for adjusting laser generated by the laser;
laser generated by the laser sequentially passes through the optical shaping unit, the scanning galvanometer and the field lens, then is injected into water and is focused underwater, so that a water medium generates a photoacoustic effect and radiates sound waves to the periphery, the sound waves are received by the hydrophone after being reflected by an underwater target object, and the hydrophone is used for converting received sound wave signals into electric signals and sending the electric signals to the upper computer;
the upper computer is in communication connection with the laser and the scanning galvanometer; the upper computer is used for controlling the laser output of the laser and the deflection of the scanning galvanometer;
and the upper computer is also used for adjusting the electric signals sent by the hydrophones to obtain acoustic signals, and calculating and processing the acoustic signals obtained by adjustment to obtain the depth and the direction of the underwater detected target object.
The system as described above, preferably, the laser is a solid-state pulsed laser; the laser wavelength generated by the solid pulse laser is 1064nm, the output energy is not less than 400mJ, the repetition frequency is 1-10Hz, and the pulse width is 6-8 ns.
The system as described above, preferably, the scanning galvanometer includes: the X scanning device comprises an X scanning motor, an X scanning mirror, a Y scanning motor and a Y scanning mirror, wherein the X scanning motor is used for driving the X scanning mirror to deflect, and the Y scanning motor is used for driving the Y scanning mirror to deflect.
In the system as described above, preferably, the X-scan mirror and the Y-scan mirror are mirrors.
The system as described above, wherein the optical shaping unit is configured to condition the laser light generated by the laser, and comprises:
the laser beam divergence angle can be adjusted by adjusting the laser transmission direction and the beam diameter generated by the laser.
In the system, the laser preferably generates laser light by xenon lamp pumping.
On the other hand, the utility model provides an underwater target detection method based on laser sound scanning mode, include:
arranging a laser, an optical shaping unit, a scanning galvanometer and a field lens on an overwater platform, and arranging a hydrophone in water;
the method comprises the steps that a laser is used for generating laser signals, the position relation among the laser, an optical shaping unit, a scanning galvanometer and a field lens is adjusted, the laser signals generated by the laser sequentially pass through the optical shaping unit, the scanning galvanometer and the field lens and then are injected into water and focused under the water, the water medium generates a photoacoustic effect, and sound waves are radiated to the periphery;
adjusting the position of the hydrophone in the water, so that the sound wave is received by the hydrophone after being reflected by the underwater target object;
the hydrophone converts the received sound wave signals into electric signals and sends the electric signals to the upper computer;
the upper computer receives the electric signal sent by the hydrophone and adjusts the electric signal into an acoustic signal;
and the upper computer processes the acoustic signal to obtain the depth and the direction of the underwater detected target object.
The method as described above, further comprising:
the upper computer is used for controlling the deflection of the scanning galvanometer, the laser scanning mode is used for enabling light spots at the laser focus to move in the same plane at different speeds in a regular shape or a specific direction, so that sound waves generated on a scanning path are coherently superposed in the propagation process, and the superposed sound waves are received by the hydrophone after being reflected by an underwater target object.
The method as described above, wherein the processing of the acoustic signal by the upper computer includes:
and the upper computer processes the acoustic signal by using a correlation method, a difference method and a Gauss-Newton iterative algorithm.
The utility model provides a technical scheme utilizes laser to produce the sound source, convert laser energy into sound wave energy, use laser scanning's mode, it is little to utilize laser attenuation coefficient in the air, the characteristics that propagation distance is far away can locate to produce the sound source at wider scope, in order to increase the effective propagation distance of sound wave in aqueous, also usable sound source removes and produces Doppler effect, can obtain wideer acoustic signal frequency spectrum, control laser focus facula moving speed, can encode the sound wave signal, be used for laser to send the acoustic communication. The scanning galvanometer is used for enabling the laser to form a series of sound waves on a light spot scanning path, after the sound waves are coherently superposed, the propagation range can be greatly increased in a specific direction, so that the detection range is expanded, a hydrophone is used as a receiving sensor, the defects that high-frequency waves are large in attenuation rate in water and small in measurement range are overcome, the defects of a sonar sensor in traditional acoustic detection are overcome, and the advantages of strong mobility and high sensitivity are achieved. Additionally, the utility model provides a technical scheme adopts laser sound system to produce sound source signal, and produced sound signal has the acoustic pressure level height, and the frequency spectrum is wide, can carry out advantages such as non-contact control, and the hydrophone that uses has the watertight structure well, and is anticorrosive, small, and the mobility is strong, advantage that sensitivity is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of an underwater target detection system based on a laser acoustic scanning mode provided by the present invention;
fig. 2 is a flowchart of an underwater target detection method based on a laser acoustic scanning mode according to the present invention;
fig. 3 is a schematic view of a laser scanning mode in the technical solution provided by the present invention;
fig. 4 is a schematic diagram of coherent superposition of sound waves in the technical solution provided by the present invention;
fig. 5 is a schematic diagram of a hydrophone array and a position of a calculation target object in the technical scheme provided by the present invention;
fig. 6 is a schematic diagram of a cross-correlation function in the technical solution provided by the present invention.
In the above figures: 1. a laser; 2. an optical shaping element; 3. scanning a galvanometer; 4. an X scanning motor; 5. an X scanning mirror; 6. a Y scan motor; 7. a Y scanning mirror; 8. a field lens; 9. an underwater target object; 10. a hydrophone; 11. and (4) an upper computer.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is a schematic diagram of an underwater target detection system based on a laser-induced acoustic scanning mode provided by the present invention. Referring to fig. 1, the underwater target detection system based on the laser induced acoustic scanning mode provided in this embodiment includes: the device comprises a laser 1, an optical shaping unit 2, a scanning galvanometer 3, a field lens 4, a hydrophone 10 and an upper computer 11. Wherein, the laser 1 is used as a light source to generate laser; the optical shaping unit 2 is used for adjusting the laser generated by the laser 1; laser generated by the laser 1 sequentially passes through the optical shaping unit 2, the scanning galvanometer 3 and the field lens 4 and then is injected into water and focused underwater, so that a water medium generates a photoacoustic effect and radiates sound waves to the periphery, the sound waves are reflected by an underwater target object 9 and then are received by the hydrophone 10, and the hydrophone 10 is used for converting received sound wave signals into electric signals and sending the electric signals to the upper computer 11; the upper computer 11 is in communication connection with the laser 1 and the scanning galvanometer 3; the upper computer 1 is used for controlling the laser output of the laser 1 and the deflection of the scanning galvanometer 3; the upper computer 1 is further configured to adjust the electrical signal sent by the hydrophone 10 to obtain an acoustic signal, and perform calculation processing on the acoustic signal obtained through adjustment to obtain the depth and the orientation of the underwater detected target object.
As with the system described above, preferably, the laser 1 is a solid-state pulsed laser; the laser wavelength generated by the solid pulse laser is 1064nm, the output energy is not less than 400mJ, the repetition frequency is 1-10Hz, and the pulse width is 6-8 ns.
As in the system described above, the scanning galvanometer 3 preferably includes: the X-ray scanning device comprises an X-ray scanning motor 4, an X-ray scanning mirror 5, a Y-ray scanning motor 6 and a Y-ray scanning mirror 7, wherein the X-ray scanning motor 4 is used for driving the X-ray scanning mirror 5 to deflect, and the Y-ray scanning motor 6 is used for driving the Y-ray scanning mirror 7 to deflect.
In the system described above, the X-scan mirror 5 and the Y-scan mirror 7 are preferably mirrors.
The system as described above, wherein the optical shaping unit 2 is used for adjusting the laser light generated by the laser, comprises:
the transmission direction and the beam diameter of the laser generated by the laser 1 are adjusted, and the divergence angle of the laser beam is adjusted.
In the system as described above, the laser 1 preferably generates laser light by xenon lamp pumping.
Fig. 2 is a flowchart of the underwater target detection method based on the laser acoustic scanning mode provided by the present invention. Referring to fig. 2, the method for detecting an underwater object based on a laser induced acoustic scanning mode provided in this embodiment may specifically include:
s1, arranging the laser, the optical shaping unit, the scanning galvanometer and the field lens on the water platform, and arranging the hydrophone in water.
And S2, generating a laser signal by using a laser, and adjusting the position relation among the laser, the optical shaping unit, the scanning galvanometer and the field lens, so that the laser signal generated by the laser sequentially passes through the optical shaping unit, the scanning galvanometer and the field lens, is injected into water and is focused under the water, the water medium generates a photoacoustic effect, and sound waves are radiated to the periphery.
And S3, adjusting the position of the hydrophone in the water, so that the sound wave is received by the hydrophone after being reflected by the underwater target object.
In specific application, the upper computer can be used for controlling the deflection of the scanning galvanometer, the laser scanning mode is used for enabling light spots at the laser focus to move in the same plane at different speeds in a regular shape or a specific direction, so that sound waves generated on a scanning path are coherently superposed in the propagation process, and the superposed sound waves are received by a hydrophone after being reflected by an underwater target object.
And S4, converting the received sound wave signals into electric signals by the hydrophone, and sending the electric signals to the upper computer.
And S5, the upper computer receives the electric signals sent by the hydrophones and adjusts the electric signals into acoustic signals.
And S6, processing the acoustic signal by the upper computer to obtain the depth and the direction of the underwater detected target object.
For example, the upper computer processes the acoustic signal by using a correlation method, a difference method and a gauss-newton iterative algorithm.
The following is an application example of the technical solution provided by the embodiment of the present invention.
With continued reference to fig. 1, the laser induced acoustic device is mounted on an onboard platform above water and the hydrophones are mounted on an onboard platform below water. The high-intensity solid laser is used as a light source to generate laser, the optical shaping element is used for adjusting the laser including the beam diameter and the like, the laser is transmitted to the scanning galvanometer, deflected at high speed by the X reflector and the Y reflector, and then focused by the field lens to enter water. The high energy density laser is focused under water to make the water medium generate the photoacoustic effects of thermal expansion, vaporization and dielectric breakdown to radiate sound waves to the surroundings. The laser focusing light spot is controlled to move in a regular shape at different speeds of sonic speed, supersonic speed and the like in water in a scanning mode, and sound wave information is coded and used for laser induced sound communication. If the laser focusing light spot moves in a regular shape or a specific direction at the speed of sound in water, a series of sound waves are generated on the moving path of the light spot in the water medium, and the sound waves are coherently superposed in the propagation process. The method comprises the steps that an underwater target object is reflected to a hydrophone installed on an underwater airborne platform in the process of propagation of sound waves after coherent superposition, the hydrophone is converted into an electric signal and transmitted to a PC, the signal after the underwater target object is reflected is obtained through demodulation of the PC, and the underwater target reflection signal obtained through demodulation of the hydrophone is processed through a correlation method, a difference method and a Gauss-Newton iterative algorithm, so that the depth and the direction of the underwater target are obtained.
If the moving speed of the light spot is controlled, the laser sound generates Doppler frequency shift in the transmission process, and sound information with wider frequency spectrum can be obtained. Fig. 3 is a schematic view of a laser scanning mode in the technical solution provided by the present invention. Referring to fig. 3, assuming that the high-speed scanning galvanometer controls the laser focusing spot to move along the X axis at the underwater sound velocity in the X-Y plane, the sound waves generated on the scanning path are gradually overlapped and finally completely overlapped at the scanning end point, so that the sound waves can propagate for a longer distance in the direction near the X axis, and the detection range is greatly increased.
Fig. 4 is a schematic diagram of coherent superposition of sound waves in the technical solution provided by the present invention. Referring to fig. 4, laser light generates a point sound source in an aqueous medium, if it is assumed that a sound wave generated by a single sound source propagates in the form of a spherical wave. The spherical wave expression is:
wherein A refers to the amplitude of one point in the sound field,
refers to the direction vector of the sound wave at this point,
refers to the radial dimension of the sound source to the point, wherein xcos α, ycos β and zcos gamma are
Is the direction cosine of (c), ω is the angular velocity, and t is the particle vibration time.
The two rows have the same frequency and the same vibration direction, and the sound waves with constant phase difference have stable sound intensity distribution in the superposition area.
When the sound wave generated by the sound source propagates in a specific direction, the incident wave at a point in the direction is regarded as a plane wave.
Plane wave expression, E ═ Acos [ α - ω t]. Wherein
There are two columns of acoustic wave coherent addition formulas:
E＝a1cos(α1-ωt)+a2cos(α2-ωt)＝Acos(α-ωt)，
wherein:
if looking at a1＝a2＝a，α1＝α2Then there is a relationship a of 2a between the two sound wave superimposed amplitudes and the single sound wave amplitude.
Assuming that the laser spot has velocity of sound V in waterWater (W)When moving along the X axis, the sound wave generated by the single pulse laser propagates on the X axis with the sound intensity of E ═ aWater (W)cos[α-ωt]If the laser spot scanning path length is NLWhen the scanning time is t and the laser pulse frequency is f, the scanning time t is NL/VWater (W)The number N of the visible superposed sound waves is less than or equal to t/f. The N sound waves start to be totally superposed at the scanning end point, i.e. the total superposition
E＝a1cos(α1-ωt)+a2cos(α2-ωt)+…+aNcos(αN-ωt)＝ANcos (α - ω t), in this case, if a is considered1＝a2＝…＝aWater (W)，α1＝α2When … is α, then A isN＝Na。
In order to represent the correlation characteristics of a signal x (t) with a signal y (t) translated on the time axis, it can be represented by a correlation function, namely:
the time tau that the sound wave is received by the hydrophone after being reflected by the object from the sound source can be solved by filtering, intercepting and solving the cross correlation of the sound signal collected by the hydrophone.
Fig. 5 is a schematic diagram of a hydrophone array and a position of a calculation target object in the technical scheme provided by the present invention, and fig. 6 is a schematic diagram of a cross-correlation function in the technical scheme provided by the present invention. Referring to fig. 5 and 6, an array of four hydrophones can be differentiated to obtain the set of equations:
wherein d refers to the distance from the coordinate origin on the coordinate axis of the three hydrophones A, B and C.
And solving the equation set by using a Gaussian-Newton iterative algorithm to obtain the azimuth information of the object.
To sum up, the utility model provides a technical scheme utilizes laser to produce the sound source, converts laser energy into sound wave energy, uses laser scanning's mode, utilizes the sound source to move and produces Doppler effect, can obtain wideer acoustic signal frequency spectrum, and control laser focus facula moving speed can encode sound wave signal for laser sends the acoustic communication. The scanning galvanometer is used for enabling the laser to form a series of sound waves on a light spot scanning path, after the sound waves are coherently superposed, the propagation range can be greatly increased in a specific direction, so that the detection range is expanded, a hydrophone is used as a receiving sensor, the defects that high-frequency waves are large in attenuation rate in water and small in measurement range are overcome, the defects of a sonar sensor in traditional acoustic detection are overcome, and the advantages of strong mobility and high sensitivity are achieved. Additionally, the utility model provides a technical scheme adopts laser sound system to produce sound source signal, and produced sound signal has the acoustic pressure level height, and the frequency spectrum is wide, can carry out advantages such as non-contact control, and the hydrophone that uses has the watertight structure well, and is anticorrosive, small, and the mobility is strong, advantage that sensitivity is high.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (7)
1. An underwater target detection system based on a laser induced acoustic scanning mode is characterized by comprising: the device comprises a laser, an optical shaping unit, a scanning galvanometer, a field lens, a hydrophone and an upper computer;
the laser is used as a light source to generate laser; the optical shaping unit is used for adjusting laser generated by the laser;
laser generated by the laser sequentially passes through the optical shaping unit, the scanning galvanometer and the field lens, then is injected into water and is focused underwater, so that a water medium generates a photoacoustic effect and radiates sound waves to the periphery, the sound waves are received by the hydrophone after being reflected by an underwater target object, and the hydrophone is used for converting received sound wave signals into electric signals and sending the electric signals to the upper computer;
the upper computer is in communication connection with the laser and the scanning galvanometer; the upper computer is used for controlling the laser output of the laser and the deflection of the scanning galvanometer;
and the upper computer is also used for adjusting the electric signals sent by the hydrophones to obtain acoustic signals, and calculating and processing the acoustic signals obtained by adjustment to obtain the depth and the direction of the underwater detected target object.
2. The system of claim 1, wherein the laser is a solid state pulsed laser.
3. The system of claim 2, wherein the solid-state pulse laser generates a laser wavelength of 1064nm, an output energy of 400mJ or more, a repetition frequency of 1-10Hz, and a pulse width of 6-8 ns.
4. The system of claim 1, wherein the scanning galvanometer comprises: the X scanning device comprises an X scanning motor, an X scanning mirror, a Y scanning motor and a Y scanning mirror, wherein the X scanning motor is used for driving the X scanning mirror to deflect, and the Y scanning motor is used for driving the Y scanning mirror to deflect.
5. The system of claim 4, wherein the X-scan mirror and the Y-scan mirror are mirrors.
6. The system of claim 1, wherein the optical shaping unit is configured to adjust a transmission direction and a beam diameter of the laser beam generated by the laser, so as to adjust a divergence angle of the laser beam.
7. The system of any one of claims 1-6, wherein the laser is xenon pumped to produce laser light.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110389345A (en) * | 2019-08-09 | 2019-10-29 | 青岛海洋科学与技术国家实验室发展中心 | Underwater Target Detection system and method based on laser-induced sound scanning mode |
| CN113433342A (en) * | 2021-08-26 | 2021-09-24 | 山东省科学院海洋仪器仪表研究所 | Ocean flow velocity detection system and detection method based on laser induced sound |
| CN113552069A (en) * | 2021-01-24 | 2021-10-26 | 哈尔滨工业大学（威海） | Laser ultrasonic underwater target detection method and system based on interferometric synthetic aperture |
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2019
- 2019-08-09 CN CN201921291176.1U patent/CN210864039U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110389345A (en) * | 2019-08-09 | 2019-10-29 | 青岛海洋科学与技术国家实验室发展中心 | Underwater Target Detection system and method based on laser-induced sound scanning mode |
| CN113552069A (en) * | 2021-01-24 | 2021-10-26 | 哈尔滨工业大学（威海） | Laser ultrasonic underwater target detection method and system based on interferometric synthetic aperture |
| CN113552069B (en) * | 2021-01-24 | 2023-09-12 | 哈尔滨工业大学（威海） | Laser ultrasonic underwater target detection method and system based on interference synthetic aperture |
| CN113433342A (en) * | 2021-08-26 | 2021-09-24 | 山东省科学院海洋仪器仪表研究所 | Ocean flow velocity detection system and detection method based on laser induced sound |
| CN113433342B (en) * | 2021-08-26 | 2021-11-30 | 山东省科学院海洋仪器仪表研究所 | Ocean flow velocity detection system and detection method based on laser induced sound |
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