CN204790575U - A laser guide and communication device that ware butt joint that is used for under water diving - Google Patents
A laser guide and communication device that ware butt joint that is used for under water diving Download PDFInfo
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- CN204790575U CN204790575U CN201520412974.0U CN201520412974U CN204790575U CN 204790575 U CN204790575 U CN 204790575U CN 201520412974 U CN201520412974 U CN 201520412974U CN 204790575 U CN204790575 U CN 204790575U
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Abstract
The utility model relates to a laser guide and communication device, concretely relates to a laser guide and communication device that ware butt joint that is used for under water diving, it includes ultrasonic wave underwater sound positioner, fixed mounting dives on the ware under water, the ware end laser send -receiver device that dives, the built -in package ware cabin body dead ahead of diving under water is including position solution and the control unit, butt joint laser instrument, butt joint beam collimation camera lens, ware photoelectric detection device and electric optic modem dive, and platform end laser send -receiver device for with the communication butt joint of the ware of diving under water, including the cloud platform and the pressurized cabin body. The utility model discloses an install two bundles of laser on dive ware and butt joint platform respectively and as the position indicator means of butt joint, adopt four -quadrant photoelectric detector or image sensor and silicon ribbon to enlarge photoelectric detector pair detectors and dock and communicate, can improve the precision of butt joint to can realize underwater radio communication. The device simple structure, use nimble, reduced technological cost, and the commonality is strong.
Description
Technical field
The utility model relates to a kind of las er-guidance and communicator, specifically a kind of las er-guidance for underwater hiding-machine docking and communicator.
Background technology
Along with the exploitation of ocean, rivers, the scale of mankind's underwater movement is increasing, and underwater hiding-machine has important in the field such as military surveillance, weapon delivery, scientific investigation, marine environmental monitoring, under water anti-terrorism and applies widely.Acceptor sum quality limitations, the energy entrained by underwater hiding-machine is often very limited, must connect with makeup energy with docking platform and read information during long working.At present conventional underwater mating mode has two kinds, and a kind of is navigation---guiding---docking integral method based on sonar, and this method directly utilizes the navigator of underwater hiding-machine self to carry out guiding and locates.Although this method operating distance is far away, the precision of sonar guiding is lower, and the physical construction complicated at closely dock needs ensures to dock to obtain reliability.Another kind is the guiding docking calculation of view-based access control model servo, and this method needs the image processing techniques of Underwater Imaging, and high accuracy data Measurement Algorithm etc. are as technical support, higher to camera Underwater Imaging quality requirements, and system architecture is complicated.
Disclosed " Autonomous Underwater Vehicle and the submarine observation network docking facilities " BROAD SUMMARY of Chinese patent 201110178669.6 is the docking facilities of electric energy between submarine navigation device and seabed observation network and Signal transmissions, considers that the submarine navigation device before docking guides problem.Chinese patent 201410150881.5 disclosed " a kind of sonar detection device of docking with underwater operation platform for underwater robot and detection method thereof " adopts sonar to guide to realize underwater robot and docks with the guiding of underwater operation platform, complicated control system need be designed and around the docking group mouth of workbench under water, guidance system is installed, cost is higher and comparatively complicated, is difficult to flexible use.Chinese patent 200810064010.6 disclosed " a kind of real-time binocular vision guidance method towards underwater research vehicle " provides a kind of real-time binocular vision guidance method towards underwater research vehicle, the method adopts pyramid normalized covariance binocular vision algorithm, designed algorithm is comparatively complicated, and binocular vision system not easily realizes miniaturization, it is integrated to be not easy to mobile device under water.
Therefore design a kind of low cost, flexible, the reliable las er-guidance for underwater hiding-machine docking and communicator very necessary, be conducive to the development promoting ocean development and Underwater Engineering.
Utility model content
In order to solve problems of the prior art, the utility model provides a kind of las er-guidance for underwater hiding-machine docking and communicator, the impact of surge under water can be overcome, realize the guiding between underwater hiding-machine with docking platform and finally realize accurately docking and communicate.
Las er-guidance for underwater hiding-machine docking described in the utility model and communicator, comprising: ultrasound wave hydrolocation device, is fixedly mounted on underwater hiding-machine; Latent device end laser transmitting-receiving device, is fixedly encapsulated in body dead ahead, underwater hiding-machine cabin, and platform end laser transmitting-receiving device, for docking with the communication of underwater hiding-machine.Device end laser transmitting-receiving device of wherein diving comprises: location compute and control module, docking laser device, docking beam collimation camera lens, latent device Electro-Optical Sensor Set and electrooptic modulator; Docking laser device, electrooptic modulator and docking beam collimation camera lens fixedly mount and common optical axis from inside to outside successively; Location compute and control module are for controlling docking laser device and electrooptic modulator; Device Electro-Optical Sensor Set of diving is parallel with the optical axis of docking laser device, for the spot signal received is sent to location compute and control module; The data received are sent to latent device attitude control system by location compute and control module.Platform end laser transmitting-receiving device comprises: The Cloud Terrace, guiding catch laser instrument, guiding catches beam collimation camera lens, central controller, platform Electro-Optical Sensor Set and sealing cabin, sealing cabin is fixedly mounted on The Cloud Terrace, is packaged with guiding and catches laser instrument, guiding seizure beam collimation camera lens, central controller and platform Electro-Optical Sensor Set in sealing cabin; Guiding catches beam collimation camera lens and is fixedly mounted on the front and common optical axis of guiding and catching laser instrument; Central controller has outputed signal control guiding being caught to laser instrument and The Cloud Terrace; It is parallel that platform Electro-Optical Sensor Set and guiding catch laser optical axis, platform Electro-Optical Sensor Set is undertaken processing and uploading by being sent to central controller after the spot signal process received, when The Cloud Terrace is in initial position, the axis of sealing cabin and docking platform group mouth place axis being parallel.
Preferably, device Electro-Optical Sensor Set of diving is four-quadrant photo detector, also can be imageing sensor.
Preferably, platform Electro-Optical Sensor Set is that silicon ribbon amplifies photodetector.
Preferably, docking laser device is blue light source laser instrument, or the one in green-light source laser instrument; It is one in blue light source laser instrument or green-light source laser instrument that guiding catches laser instrument, thus reduces water body to the impact of signal intensity.
Preferably, the field angle of docking beam collimation camera lens is more than or equal to the field angle that guiding catches beam collimation camera lens, after ensureing that platform Electro-Optical Sensor Set receives docking laser device, the signal that guiding seizure laser instrument sends can be received by latent device Electro-Optical Sensor Set.
The course of work of the utility model device is: when underwater hiding-machine needs to dock with docking platform, underwater hiding-machine is by the cardinal principle submarine site of ultrasound wave hydrolocation device determination docking platform, the device that turns on the power is constantly close to docking platform, when ultrasonic positioner detects that underwater hiding-machine enters las er-guidance docking region, device end laser transmitting-receiving device of diving makes it open laser warning signal along navigation direction, platform end laser transmitting-receiving device is pressed desired trajectory and is searched laser warning signal, when searching, guiding catches laser instrument and sends las er-guidance signal, after this signal processes by device end laser transmitting-receiving device of diving, be transferred to underwater hiding-machine attitude control system to control the attitude of latent device to las er-guidance Signal approximation, meanwhile, The Cloud Terrace on docking platform drives guiding seizure laser instrument and platform Electro-Optical Sensor Set to the slow return of its initial position, underwater hiding-machine constantly adjusts attitude to approach las er-guidance signal, when The Cloud Terrace gets back to initial position, underwater hiding-machine is also guided on docking platform group mouth place axis direction, underwater hiding-machine continues to travel forward along las er-guidance signal, achieves a butt joint until enter docking platform.
The laser signal that location compute and control module control electrooptic modulator docking laser device send is modulated to signal of communication, start communication, platform Electro-Optical Sensor Set generates corresponding electric signal according to the laser signal received, after central controller processes this electric signal, obtain underwater hiding-machine the Content of Communication sent out, until underwater hiding-machine Content of Communication is sent.Needs according to circumstances, namely communication function can start to carry out in docking operation, effectively shortens T.T..Therefore the utility model can strengthen the precision of underwater hiding-machine docking, and radio communication under water can be realized.
Employing the beneficial effects of the utility model are, have employed and be arranged on the position indicatory device of two bundle laser on latent device and docking platform as docking respectively, adopt four-quadrant photo detector or imageing sensor to amplify photodetector double detector with silicon ribbon to carry out docking and communicate, the precision of docking can be improved, and radio communication under water can be realized.This apparatus structure is simple, use flexibly, reduce technical costs, and highly versatile, is applicable to various types of underwater hiding-machine and lash ship, workbench, docking station, the docking of carrier platform, steered communication function, has good application value.
Accompanying drawing explanation
The schematic diagram of Fig. 1 las er-guidance that to be the utility model dock for underwater hiding-machine and communicator.
In figure: 1, ultrasound wave hydrolocation device; 2, location compute and control module; 3, docking laser device; 4, beam collimation camera lens is docked; 5, latent device Electro-Optical Sensor Set; 6, guiding catches laser instrument; 7, guiding catches beam collimation camera lens; 8, central controller; 9, platform Electro-Optical Sensor Set; 10, sealing cabin; 11, The Cloud Terrace; 12, electrooptic modulator.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Embodiment 1
In FIG, this device is caught beam collimation camera lens 7, central controller 8, platform Electro-Optical Sensor Set 9, sealing cabin 10, The Cloud Terrace 11 and electrooptic modulator 12 formed by ultrasound wave hydrolocation device 1, location compute and control module 2, docking laser device 3, docking beam collimation camera lens 4, device Electro-Optical Sensor Set 5 of diving, guiding seizure laser instrument 6, guiding, ultrasound wave hydrolocation device 1 is fixedly mounted on underwater hiding-machine, location compute and control module 2, docking laser device 3, docking beam collimation camera lens 4, latent device Electro-Optical Sensor Set 5 and electrooptic modulator 12 are encapsulated in the dead ahead of underwater hiding-machine cabin body, docking laser device 3, electrooptic modulator 12 and docking beam collimation camera lens 4 fixedly mount from inside to outside successively, each optical axis on the same axis, and it is parallel with the optical axis of latent device Electro-Optical Sensor Set 5, location compute and control module 2 have outputed signal the control to docking laser device 3 and electrooptic modulator 12, device Electro-Optical Sensor Set 5 of diving carries out data in location compute and control module 2 resolve being sent to after the spot signal process received, net result is sent to latent device attitude control system, guiding catches laser instrument 6, guiding catches beam collimation camera lens 7, central controller 8 and platform Electro-Optical Sensor Set 9 are encapsulated in sealing cabin 10, guiding catches beam collimation camera lens 7 and is fixedly mounted on guiding and catches the front of laser instrument 6 and coaxial with it, and it is parallel with the optical axis of platform Electro-Optical Sensor Set 9, central controller 8 has outputed signal control guiding being caught to laser instrument 6 and The Cloud Terrace 11, platform Electro-Optical Sensor Set 9 is undertaken processing and uploading by being sent to central controller 8 after the spot signal process received, sealing cabin 10 is fixedly mounted on The Cloud Terrace 11, The Cloud Terrace 11 is fixedly mounted on docking platform, and when The Cloud Terrace 11 is in initial position, the axis of sealing cabin 10 and docking platform group mouth place axis being parallel.
Device Electro-Optical Sensor Set 5 of diving is four-quadrant photo detector.Platform Electro-Optical Sensor Set 9 is silicon ribbon amplification photodetector.Docking laser device 3 and guiding catch laser instrument 6 and are blue light source laser instrument.The field angle of docking beam collimation camera lens 4 is more than or equal to the field angle that guiding catches beam collimation camera lens 7.
When underwater hiding-machine needs to dock with docking platform, underwater hiding-machine determines the cardinal principle submarine site of docking platform by ultrasound wave hydrolocation device 1, the device that turns on the power is constantly close to docking platform, when ultrasonic positioner 1 detects that underwater hiding-machine enters las er-guidance region, location compute and control module 2 control docking laser device 3, it is made to open laser warning signal along navigation direction, The Cloud Terrace 11 on docking platform searches by desired trajectory the laser warning signal that docking laser device 3 sends with moving platform Electro-Optical Sensor Set 9 under the control of central controller 8, when searching, guiding catches laser instrument 6 and sends las er-guidance signal, because the field angle of docking beam collimation camera lens 4 is more than or equal to the field angle that guiding catches beam collimation camera lens 7, therefore device Electro-Optical Sensor Set 5 of diving necessarily can receive las er-guidance signal, latent device Electro-Optical Sensor Set 5 produces the deviation angle relative to this las er-guidance signal by the position of this signal on its imaging surface, after location compute and control module 2 process this signal, be transferred to underwater hiding-machine attitude control system to control the attitude of latent device to las er-guidance Signal approximation, meanwhile, The Cloud Terrace 11 on docking platform drives guiding seizure laser instrument 6 and platform Electro-Optical Sensor Set 9 to the slow return of its initial position under the control of central controller 8, underwater hiding-machine constantly adjusts attitude to approach las er-guidance signal, when The Cloud Terrace 11 gets back to initial position, underwater hiding-machine is also guided on docking platform group mouth place axis direction, underwater hiding-machine continues to travel forward along las er-guidance signal, achieve a butt joint until enter docking platform, location compute and control module 2 control electrooptic modulator 12 and the laser signal that docking laser device 3 sends are modulated to signal of communication, start communication, platform Electro-Optical Sensor Set 9 can generate corresponding electric signal according to the laser signal received, after central controller 8 processes this electric signal, obtain underwater hiding-machine the Content of Communication sent out, until underwater hiding-machine Content of Communication is sent.
Must Chen Ming, the above is preferred embodiment of the present utility model, if the change done with conception of the present utility model, its function produced do not exceed that instructions and diagram contain yet spiritual time, all should in scope of the present utility model.
Claims (6)
1. the las er-guidance for underwater hiding-machine docking and communicator, comprise ultrasound wave hydrolocation device (1), described ultrasound wave hydrolocation device (1) is fixedly mounted on underwater hiding-machine, for locating the position of docking platform, it is characterized in that: also comprise:
Latent device end laser transmitting-receiving device, fixedly be encapsulated in body dead ahead, underwater hiding-machine cabin, described latent device end laser transmitting-receiving device comprises: location compute and control module (2), docking laser device (3), docking beam collimation camera lens (4), latent device Electro-Optical Sensor Set (5) and electrooptic modulator (12); Described docking laser device (3), electrooptic modulator (12) and docking beam collimation camera lens (4) fixedly mount and common optical axis from inside to outside successively; Described location compute and control module (2) are for controlling docking laser device (3) and electrooptic modulator (12); Described latent device Electro-Optical Sensor Set (5) is parallel with the optical axis of docking laser device (3), for the spot signal received being sent to location compute and control module (2); The data received are sent to latent device attitude control system by described location compute and control module (2); And,
Platform end laser transmitting-receiving device, for guiding and communication with underwater hiding-machine, described platform end laser transmitting-receiving device comprises: The Cloud Terrace (11), guiding catches laser instrument (6), guiding catches beam collimation camera lens (7), central controller (8), platform Electro-Optical Sensor Set (9) and sealing cabin (10), described sealing cabin (10) is fixedly mounted on The Cloud Terrace (11), be packaged with guiding in described sealing cabin (10) and catch laser instrument (6), guiding catches beam collimation camera lens (7), central controller (8) and platform Electro-Optical Sensor Set (9), described guiding catches beam collimation camera lens (7) and is fixedly mounted on the front and common optical axis of guiding and catching laser instrument (6), described central controller (8) controls guiding and catches laser instrument (6) and The Cloud Terrace (11), it is parallel that described platform Electro-Optical Sensor Set (9) and guiding catch laser instrument (6) optical axis, for the spot signal received is sent to central controller (8).
2. the las er-guidance for underwater hiding-machine docking according to claim 1 and communicator, is characterized in that: described latent device Electro-Optical Sensor Set (5) is the one in four-quadrant photo detector or imageing sensor.
3. the las er-guidance for underwater hiding-machine docking according to claim 1 and communicator, is characterized in that: described platform Electro-Optical Sensor Set (9) is silicon ribbon amplification photodetector.
4. the las er-guidance for underwater hiding-machine docking according to claim 1 and communicator, is characterized in that: described docking laser device (3) is the one in blue light source laser instrument or green-light source laser instrument.
5. the las er-guidance for underwater hiding-machine docking according to claim 1 and communicator, is characterized in that: it is the one in blue light source laser instrument or green-light source laser instrument that described guiding catches laser instrument (6).
6. the las er-guidance for underwater hiding-machine docking according to claim 1 and communicator, is characterized in that: the field angle of described docking beam collimation camera lens (4) is more than or equal to the field angle that guiding catches beam collimation camera lens (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520412974.0U CN204790575U (en) | 2015-06-16 | 2015-06-16 | A laser guide and communication device that ware butt joint that is used for under water diving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520412974.0U CN204790575U (en) | 2015-06-16 | 2015-06-16 | A laser guide and communication device that ware butt joint that is used for under water diving |
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| CN204790575U true CN204790575U (en) | 2015-11-18 |
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| CN201520412974.0U Withdrawn - After Issue CN204790575U (en) | 2015-06-16 | 2015-06-16 | A laser guide and communication device that ware butt joint that is used for under water diving |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182991A (en) * | 2015-06-16 | 2015-12-23 | 青岛市光电工程技术研究院 | Laser guide and communication device for underwater vehicle docking |
| CN105739509A (en) * | 2016-03-16 | 2016-07-06 | 哈尔滨工程大学 | Multi-UUV dock cabin type rapid deploying and retrieving system |
| CN109460058A (en) * | 2018-11-22 | 2019-03-12 | 中国船舶重工集团公司第七0五研究所 | A kind of tail portion propulsion traversing control method of low speed submarine navigation device underwater mating |
-
2015
- 2015-06-16 CN CN201520412974.0U patent/CN204790575U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182991A (en) * | 2015-06-16 | 2015-12-23 | 青岛市光电工程技术研究院 | Laser guide and communication device for underwater vehicle docking |
| CN105182991B (en) * | 2015-06-16 | 2018-05-18 | 青岛市光电工程技术研究院 | For the las er-guidance and communicator of underwater hiding-machine docking |
| CN105739509A (en) * | 2016-03-16 | 2016-07-06 | 哈尔滨工程大学 | Multi-UUV dock cabin type rapid deploying and retrieving system |
| CN105739509B (en) * | 2016-03-16 | 2018-08-17 | 哈尔滨工程大学 | More depressed places UUV cabin formula Quick distributor recovery system |
| CN109460058A (en) * | 2018-11-22 | 2019-03-12 | 中国船舶重工集团公司第七0五研究所 | A kind of tail portion propulsion traversing control method of low speed submarine navigation device underwater mating |
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Granted publication date: 20151118 Effective date of abandoning: 20180518 |
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| AV01 | Patent right actively abandoned |