CN108592887B - Automatic aiming, capturing and tracking device for underwater optical communication - Google Patents
Automatic aiming, capturing and tracking device for underwater optical communication Download PDFInfo
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- CN108592887B CN108592887B CN201810407017.7A CN201810407017A CN108592887B CN 108592887 B CN108592887 B CN 108592887B CN 201810407017 A CN201810407017 A CN 201810407017A CN 108592887 B CN108592887 B CN 108592887B
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- 238000004891 communication Methods 0.000 title claims abstract description 36
- 230000003287 optical effect Effects 0.000 title claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- Signal Processing (AREA)
- Optical Communication System (AREA)
Abstract
An automatic aiming, capturing and tracking device for underwater optical communication comprises a transmitting device arranged on a manned submersible and a receiving device fixed on a seabed sensor, wherein the transmitting device comprises a double-shaft universal table, an image detector, a laser transmitter, a digital image microprocessor and a motion control singlechip; the double-shaft universal table realizes pitching and deflection rotation effects on the image detector and the laser transmitter through a first stepping motor, a second stepping motor, a first high-precision rotating table, a second high-precision rotating table, a pitching U-shaped bracket and a yawing U-shaped bracket; the receiving device comprises a light-operated switch, a power supply and a receiving response light source which are connected in series, the light-operated switch light-receiving surface is arranged on the focus of the converging lens, and the light-operated switch enables a circuit to be communicated when the light-receiving surface is irradiated by laser; the beam expander is right in front of the receiving response light source. The invention uses an automatic aiming and capturing tracking system to ensure the speed and precision of the alignment of the receiving and transmitting ends, and can still keep the smooth optical communication link when the submersible is subjected to the perturbation of water waves.
Description
Technical Field
The invention belongs to an aiming, capturing and tracking device, and particularly relates to an automatic aiming, capturing and tracking device for underwater optical communication.
Background
The existing automatic aiming, capturing and tracking system is mainly applied to space-to-ground communication and satellite communication, and is not generally used for underwater communication. Currently, acoustic communication is generally adopted under water, and the optical communication speed is better than that of the acoustic communication. Underwater optical communications have a number of advantages: the device has the advantages of strong penetrating power, high working frequency, wide communication frequency band, strong data transmission capability, hidden safety of wave beams, small equipment size and weight, and wide application prospect in submarine communication, ocean exploration and the like. If the optical communication is applied to underwater, the alignment of the receiving and transmitting ends is very critical; after the double-ended alignment of the transceivers, maintenance of the optical communication link is difficult due to the complex underwater environment.
The current deep sea detection has high requirements on the fidelity of the sample, and the original properties of the sample can be changed by the change of temperature, pressure and pH value in the process of taking the sample out of the seabed, so that the measurement result is influenced, and therefore, the deep sea in-situ detection is more and more important. In deep sea in situ detection, how to quickly acquire data of a submarine sensor is an important problem at present.
Disclosure of Invention
The invention aims to provide an automatic aiming, capturing and tracking device for underwater optical communication, which overcomes the defects of the prior art and realizes high-speed optical communication between a manned submersible and a seabed sensor.
The automatic aiming, capturing and tracking device for underwater optical communication is characterized by comprising a transmitting device and a receiving device, wherein the transmitting device is arranged on a manned submersible, and the receiving device is fixed on a submarine sensor;
the device is characterized by comprising a double-shaft universal table, an image detector, a laser emitter, a digital image microprocessor and a motion control singlechip; the double-shaft universal platform comprises a first stepping motor, a second stepping motor, a first high-precision rotating platform, a second high-precision rotating platform, a pitching U-shaped support and a yawing U-shaped support, wherein the first stepping motor is connected with and drives the first high-precision rotating platform to rotate, the second stepping motor is connected with and drives the second high-precision rotating platform, the yawing U-shaped support is fixed above the first high-precision rotating platform and is fixed on a vertical rotating shaft of the first high-precision rotating platform so as to rotate along with the vertical rotating shaft of the first high-precision rotating platform, the outer side of one end of the pitching U-shaped support is connected with the second high-precision rotating platform, the two are fixed on the inner side of the yawing U-shaped support together, and the pitching U-shaped support rotates along with the second high-precision rotating platform around a horizontal axis so as to form the double-shaft universal platform capable of pitching and deflection rotation;
the image detector and the laser emitter are fixed on the pitching U-shaped bracket, the image detector is connected with the digital image microprocessor through a circuit, the first stepping motor and the second stepping motor are connected with the motion control singlechip, and the digital image microprocessor is connected with the motion control singlechip through a circuit; the transmitting device is fixed on a communication platform in the manned submersible;
the receiving device comprises a light-operated switch, a power supply, a converging lens, a receiving response light source and a beam expander; the light-operated switch is connected with the power supply and the receiving response light source in series by a circuit, the light-receiving surface of the light-operated switch is arranged on the focus of the converging lens, and the light-operated switch enables the circuit to be communicated when the light-receiving surface is irradiated by laser; the beam expander is right in front of the receiving response light source; the receiving device is fixed on a platform in the submarine sensor waterproof cover.
The automatic aiming, capturing and tracking device for underwater optical communication is characterized in that the first stepping motor and the second stepping motor are connected with a DM542 stepping motor driver when in use, and the DM542 stepping motor driver is powered by 24V voltage.
The underwater optical communication automatic aiming, capturing and tracking device is characterized in that the laser transmitter adopts blue-green laser,
the underwater optical communication automatic aiming, capturing and tracking device is characterized in that the laser transmitter can adopt laser with the wavelength of 450, 473, 488 or 532nm according to the sea water clarity degree;
the underwater optical communication automatic aiming, capturing and tracking device is characterized in that the image detector uses CMOS, and the laser emitter and the image detector are the same in pointing direction.
The underwater optical communication automatic aiming, capturing and tracking device is characterized in that the receiving response light source can adopt blue-green laser or an LED light source.
The application of the underwater optical communication automatic aiming capture tracking device is characterized in that the device is used for aligning two signal ends on a manned submersible and a seabed sensor.
The method for realizing the alignment of two signal ends on the manned submersible and the seabed sensor by using the device is characterized by comprising the following steps:
1) The transmitting device is arranged on the manned submersible, the receiving device 18 is fixed on the seabed sensor, and the laser transmitter and the image detector of the transmitting device 17 face the light receiving surface of the receiving device;
2) Turning on the image detector and the laser emitter to keep on;
3) The motion control singlechip controls the first stepping motor and the second stepping motor to rotate; the first stepping motor drives the first high-precision rotating table, the second stepping motor drives the second high-precision rotating table, the high-precision rotating table drives the yaw U-shaped bracket to rotate around a vertical shaft, the second high-precision rotating table drives the pitching U-shaped bracket to rotate around a horizontal shaft, and the two types of rotation are overlapped, so that the final effect is that the pitching U-shaped bracket drives the image detector and the laser transmitter fixed with the pitching U-shaped bracket to perform the back-shaped line scanning motion;
4) When the light beam emitted by the laser transmitter is converged on the light receiving surface of the light control switch by the converging lens of the receiving device, the laser transmitter is indicated to be just directed to the receiving device; at the moment, the light-operated switch is connected with a power supply and a receiving response light source, the receiving response light source emits light, and the light is emitted to the emitting device at a large divergence angle after being expanded by the beam expander;
5) The image detector on the transmitting device continuously transmits images to the digital image microprocessor, once the digital image microprocessor judges that the image detector shoots a light spot of a receiving response light source, the digital image microprocessor immediately communicates with the motion control singlechip, the motion control singlechip immediately controls the first stepping motor and the second stepping motor to stop non-return line scanning, and fine-adjusts the pointing directions of the pitching U-shaped bracket and the yawing U-shaped bracket according to the position of the bright spots in the field of view to realize alignment;
6) When the emitting device is disturbed by water, the image detector can detect that a light spot of a receiving response light source moves out of the center of a view field (the length and the width of the center of an image are one tenth of the length and the width of the whole image), at the moment, the digital image microprocessor transmits instructions to the motion control singlechip, and the directions of the pitching U-shaped bracket and the yawing U-shaped bracket follow up towards the moving direction of the light spot, so that the light spot returns to the center of the view field;
if the spot is completely moved out of the field of view, the loop-shaped line scanning motion of step 3) is restarted, and the capture is aimed again until the two signal ends are aligned.
The invention has the beneficial effects that the current deep sea detection has high requirements on the fidelity of the sample, and in order to avoid the influence of the environmental change during the detection to the maximum extent, the invention provides a method for arranging the detection sensor on the sea bottom to perform in-situ detection, and the data of the detection sensor is obtained by the diving of the manned submersible. When sensor data are acquired, a communication light path with a relatively close distance (within 100 meters) is established between the manned submersible and the detection sensor. The automatic aiming, capturing and tracking system is used for ensuring the speed and precision of the alignment of the receiving and transmitting ends, and meanwhile, when the submersible is subjected to the perturbation of water waves, the smooth optical communication link can be still kept.
Drawings
FIG. 1 is a schematic diagram of a transmitting device (including a computer) according to the present invention.
Fig. 2 is a schematic diagram of a receiving device according to the present invention.
FIG. 3 is a schematic diagram of the module structure of the present invention.
The device comprises a stepping motor I, a stepping motor II, a high-precision rotary table I, a high-precision rotary table II, an image detector 5, a laser emitter 6, a pitching U-shaped bracket 7, a yawing U-shaped bracket 8, a digital image microprocessor 9, a motion control singlechip 11, a computer 12, a light-operated switch 13, a power supply 14, a converging lens 15, a receiving response light source 16, a beam expander 17, a transmitting device 18 and a receiving device.
Detailed Description
Referring to fig. 3, the automatic aiming, capturing and tracking device for underwater optical communication is characterized by comprising a transmitting device 17 on a manned submersible and a receiving device 18 fixed on a seabed sensor.
Referring to fig. 1, the transmitting device on the manned submersible 17 is characterized in that the transmitting device consists of a laser transmitter 6, an image detector 5, a double-shaft universal table, a motion control singlechip 10 and a digital image microprocessor 9. The double-shaft universal platform is formed by connecting a first stepping motor 1, a second stepping motor 2, a first high-precision rotating platform 3, a second high-precision rotating platform 4, a pitching U-shaped support 7 and a yawing U-shaped support 8 in a connecting mode, wherein the first stepping motor 1 is connected with and drives the first high-precision rotating platform 3, the second stepping motor 2 is connected with and drives the second high-precision rotating platform 4, the first high-precision rotating platform 3 is fixedly connected with the yawing U-shaped support 8, the yawing U-shaped support 8 can rotate along with the first high-precision rotating platform 3, the left inner side of the yawing U-shaped support 8 is fixedly connected with the second high-precision rotating platform 4, the left outer side of the pitching U-shaped support 7 is fixedly connected with the second high-precision rotating platform 4, and the right outer side of the pitching U-shaped support 7 is connected with the right inner side of the yawing U-shaped support 8 through a rotating shaft, so that the double-shaft universal platform capable of pitching and yawing rotation is formed. The laser emitter 6 and the image detector 5 are fixed on a pitching U-shaped bracket 7 of the double-shaft universal table, the image detector 5 is connected with a digital image microprocessor 9 through a circuit, the first stepping motor 1 and the second stepping motor 2 are connected with a motion control single chip microcomputer 10 through a circuit, and the digital image microprocessor 9 is connected with the motion control single chip microcomputer 10 through a circuit. The above transmitting means 17 are fixed to a communication platform within the manned submersible.
Referring to fig. 2, the receiving device fixed on the submarine sensor is characterized by comprising a photoswitch 12, a converging lens 14, a receiving response light source 15, a beam expander 16 and a power supply 13. The light-operated switch 12 is connected in series with the power supply 13 and the receiving response light source 15 in a circuit manner, the light-receiving surface of the light-operated switch 12 is positioned at the focus of the converging lens 14, and the beam expander 16 is positioned right in front of the receiving response light source 15. The above receiving means 18 are fixed to a platform within the subsea sensor package.
Examples
The working flow of the device is that a digital image microprocessor 9 and a motion control singlechip 10 are respectively connected with a computer 11, the computer 11 is started firstly, the computer 11 supplies power to the two singlechips, an image detector 5 is kept on, a laser emitter 6 is kept on, and the motion control singlechip 10 controls a step motor 1 and a step motor 2 to rotate; the first stepping motor 1 drives the first high-precision rotating table 3, the second stepping motor 2 drives the second high-precision rotating table 4, the first high-precision rotating table 3 drives the yaw U-shaped support 8 to rotate around a vertical shaft, the second high-precision rotating table 4 drives the pitch U-shaped support 7 to rotate around a horizontal shaft, and the two types of rotation are overlapped, so that the final effect is that the pitch U-shaped support 7 drives the image detector 5 and the laser emitter 6 fixed with the pitch U-shaped support to perform the scanning motion of a circular line. When the light beam emitted from the laser emitter 6 is converged by the converging lens 14 of the receiving device onto the light receiving surface of the photocontrol switch 12, the laser emitter 6 is directed to the receiving device exactly. At this time, the light control switch 12 is connected to the power supply 13 and the receiving response light source 15, the receiving response light source 15 emits light, and the light is expanded by the beam expander 16 and then emitted to the emitting device at a large divergence angle. The image detector 5 on the transmitting device constantly transmits the image to the digital image microprocessor 9. Once the digital image microprocessor 9 judges that the image detector 5 shoots the light spot of the receiving response light source 15, the light spot is immediately communicated with the motion control singlechip 10, the motion control singlechip 10 immediately controls the first stepping motor 1 and the second stepping motor 2 to stop the loop scanning, and fine-adjusts the pointing directions of the pitching U-shaped bracket 7 and the yawing U-shaped bracket 8 according to the position of the bright spot in the field of view, so that the alignment is realized.
When the emitting device is disturbed by water, the image detector 5 will detect that the spot of the receiving response light source 15 is moved out of the centre of the field of view. At the moment, the digital image microprocessor 9 transmits instructions to the motion control singlechip 10, and the directions of the pitching U-shaped bracket 7 and the yawing U-shaped bracket 8 follow up towards the moving direction of the light spots, so that the light spots return to the center of the field of view. If the spot is completely moved out of the field of view, the scanning procedure is restarted and the capture is aimed again until the two signal ends are aligned. The computer 11 may be used to store data as it is acquired after alignment.
In this embodiment, the transmitting device on the manned submersible 17 should have the subsea sensor 18 within an effective scanning range before alignment is performed. If the radius of the light receiving surface (converging lens 14) of the receiving device is 80mm, a scanning interval of 0.1 ° between two high-precision rotating tables can be adopted.
Claims (8)
1. The automatic aiming, capturing and tracking device for underwater optical communication is characterized by comprising a transmitting device (17) and a receiving device (18), wherein the transmitting device (17) is arranged on a manned submersible, and the receiving device (18) is fixed on a submarine sensor;
the transmitting device (17) comprises a double-shaft universal table, an image detector (5), a laser transmitter (6), a digital image microprocessor (9) and a motion control singlechip (10); the double-shaft universal table comprises a first stepping motor (1), a second stepping motor (2), a first high-precision rotating table (3), a second high-precision rotating table (4), a pitching U-shaped bracket (7) and a yawing U-shaped bracket (8), wherein the first stepping motor (1) is connected with and drives the first high-precision rotating table (3) to rotate, the second stepping motor (2) is connected with and drives the second high-precision rotating table (4), the yawing U-shaped bracket (8) is fixed above the first high-precision rotating table (3), and the yawing U-shaped bracket (8) is fixed on a vertical rotating shaft of the first high-precision rotating table (3) so as to rotate along with the vertical rotating shaft of the first high-precision rotating table (3), the outer side of one end of the pitching U-shaped bracket (7) is connected with the second high-precision rotating table (4), and the two are jointly fixed on the inner side of the yawing U-shaped bracket (8), and the pitching U-shaped bracket (7) rotates along with the second high-precision rotating table (4) around a horizontal axis, so that the double-shaft table capable of rotating in a deflection manner is formed;
the image detector (5) and the laser emitter (6) are fixed on the pitching U-shaped bracket (7), the image detector (5) is connected with the digital image microprocessor (9) through a circuit, the first stepping motor (1) and the second stepping motor (2) are connected with the motion control singlechip (10), and the digital image microprocessor (9) is connected with the motion control singlechip (10) through a circuit;
the receiving device comprises a light-operated switch (12), a power supply (13), a converging lens (14), a receiving response light source (15) and a beam expander (16); the light-operated switch (12) is connected with the power supply (13) and the receiving response light source (15) in series by a circuit, the light-receiving surface of the light-operated switch (12) is positioned at the focus of the converging lens (14), and the light-operated switch (12) enables the circuit to be communicated when the light-receiving surface is irradiated by laser; the beam expander (16) is right in front of the receiving response light source (15);
the laser emitter (6) uses laser light with a wavelength of 450, 473, 488 or 532 nm.
2. The automatic aiming and tracking device for underwater optical communication as claimed in claim 1, wherein the first stepper motor (1) and the second stepper motor (2) are connected with a DM542 stepper motor driver in use, and the DM542 stepper motor driver is powered by 24V voltage.
3. An underwater optical communication automatic aiming and capturing tracking device as claimed in claim 1, characterized in that said laser transmitter (6) employs a blue-green laser.
4. An underwater optical communications automatic aiming and capturing tracking device as claimed in claim 1, characterized in that the image detector (5) uses CMOS, the laser emitter (6) and the image detector (5) being directed to the same direction.
5. An underwater optical communications automatic aiming capture tracking device as in claim 1 wherein the receiving response light source (15) is a blue green laser or LED light source.
6. The underwater optical communication automatic aiming capture tracking device of claim 1 for alignment of two signal ends on a manned submersible and on a subsea sensor.
7. A method for achieving alignment of two signal terminals on a manned submersible and on a subsea sensor using any of the devices of claims 1-5, characterized by the steps of:
1) The transmitting device (17) is arranged on the manned submersible, the receiving device (18) is fixed on the seabed sensor, and the laser transmitter (6) and the image detector (5) of the transmitting device (17) face the light receiving surface of the receiving device (18);
2) The image detector (5) and the laser emitter (6) are kept on;
3) The motion control singlechip (10) controls the first stepping motor (1) and the second stepping motor (2) to rotate; the first stepping motor (1) drives the first high-precision rotating table (3), the second stepping motor (2) drives the second high-precision rotating table (4), the first high-precision rotating table (3) drives the yaw U-shaped bracket (8) to rotate around a vertical shaft, the second high-precision rotating table (4) drives the pitching U-shaped bracket (7) to rotate around a horizontal shaft, the two rotations are overlapped, and the final effect is that the pitching U-shaped bracket (7) drives the image detector (5) and the laser emitter (6) fixed with the pitching U-shaped bracket to perform a zigzag line scanning motion;
4) When the light beam emitted by the laser transmitter (6) is converged on the light receiving surface of the light control switch (12) by the converging lens (14) of the receiving device (18), the laser transmitter (6) is precisely pointed to the receiving device (18); at the moment, the light-operated switch (12) is connected with the power supply (13) and the receiving response light source (15), the receiving response light source (15) emits light, and the light is emitted to the emitting device (17) at a large divergence angle after being expanded by the beam expander (16);
5) The image detector (5) on the transmitting device continuously transmits images to the digital image microprocessor (9), once the digital image microprocessor (9) judges that the image detector (5) shoots a light spot of the receiving response light source (15), the light spot is immediately communicated with the motion control singlechip (10), the motion control singlechip (10) immediately controls the first stepping motor (1) and the second stepping motor (2) to stop the loop scanning, and the orientation of the pitching U-shaped bracket (7) and the yawing U-shaped bracket (8) is finely adjusted according to the position of the bright spot in the view field, so that the alignment is realized;
6) When the emitting device (17) is disturbed by water, the image detector (5) can detect that a light spot of the receiving response light source (15) moves out of the center of the field of view, at the moment, the digital image microprocessor (9) transmits instructions to the motion control singlechip (10), and the directions of the pitching U-shaped bracket (7) and the yawing U-shaped bracket (8) follow up towards the moving direction of the light spot, so that the light spot returns to the center of the field of view;
if the spot is completely moved out of the field of view, the loop-shaped line scanning motion of step 3) is restarted, and the capture is aimed again until the two signal ends are aligned.
8. The method of aligning of claim 7 wherein in step 6) the center of the field of view is a rectangular area having a center length and width of one tenth of the length and width of the entire image.
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| CN109199534B (en) * | 2018-11-02 | 2019-10-08 | 台淑萍 | A kind of tonsillotome squeezing cutter fixing piece and squeezing cutter |
| CN109199535B (en) * | 2018-11-02 | 2019-10-18 | 新华手术器械有限公司 | A kind of high stability tonsillotome squeezing cutter |
| TWI694686B (en) * | 2018-11-15 | 2020-05-21 | 財團法人工業技術研究院 | Underwater wireless communication apparatus and communication method thereof |
| CN112235049A (en) * | 2019-06-28 | 2021-01-15 | Oppo广东移动通信有限公司 | Communication system and method for diving, shipborne communicator and diving communicator |
| CN110849332A (en) * | 2019-11-26 | 2020-02-28 | 成都立鑫新技术科技有限公司 | Attitude measurement system of moving object |
| CN112422197B (en) * | 2020-10-19 | 2022-06-17 | 鹏城实验室 | Underwater optical communication capturing device and method based on acousto-optic combination |
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