Laser guide and communication device for underwater vehicle docking

Abstract

The invention relates to a laser guide and communication device and particularly relates to a laser guide and communication device for underwater vehicle docking. The device comprises a supersonic wave water sound positioning device fixedly mounted on an underwater vehicle, an underwater vehicle end laser transceiver which is fixedly packaged at the front of a cabin body of the underwater vehicle, and a platform end laser transceiver which is used for carrying out communication docking with the underwater vehicle and comprises a holder and the sealed cabin body, wherein the underwater vehicle end laser transceiver comprises a position solution and control unit, a docking laser device, a docking beam collimation lens, an underwater device photoelectric detection device and an electric light modulator. The device employs two laser beams on the underwater device and the docking platform as position indicating means for docking, a four-quadrant photoelectric detector or an image sensor and double silicon band amplification photoelectric detectors are employed for docking and communication, docking precision can be improved, and underwater wireless communication can be realized. The device has advantages of simple structure, flexible operation, technological cost reduction and strong versatility.

Description

technical field [0001] The invention relates to a laser guidance and communication device, in particular to a laser guidance and communication device for underwater submersible docking. Background technique [0002] With the development of oceans and rivers, the scale of human underwater activities is increasing. Underwater submersibles have important and extensive applications in military reconnaissance, weapon delivery, scientific investigation, marine environment monitoring, and underwater anti-terrorism. Limited by size and mass, the energy carried by underwater submersibles is often very limited. During long-term operations, a connection must be established with the docking platform to replenish energy and read information. At present, there are two commonly used underwater docking methods. One is the sonar-based navigation-guidance-docking integration method, which directly uses the underwater vehicle's own navigation equipment for guidance and positioning. Although t...

AI Technical Summary

Problems solved by technology

Although this method has a long range, the accuracy of sonar guidance is low, and a complex mechanical structure is required to ensure the reliability of docking in the short-distance docking type

The other is a guided docking method based on visual servoing. This method requires underwater photoelectric imaging image processing technology, high-precision data measurement algorithms, etc. as technical support, and has high requirements for underwater camera imaging quality, and the system structure is complex.

[0003] Chinese patent 201110178669.6 discloses the "docking device between an autonomous underwater vehicle and a submarine observation network", the main content of the invention lies in the docking device for power and signal transmission between the underwater vehicle and the submarine observation network, without considering the underwater navigation before docking Boot problem

Chinese patent 201410150881.5 discloses "a sonar detection device and detection method for docking an underwater robot and an underwater working platform" using sonar guidance to realize the guided docking of the underwater robot and the underwater working platform, which needs to be designed Complex control system and installation of guidance system around the docking port of the underwater working platform are expensive and complicated, making it difficult to use flexibly

Chinese patent 200810064010.6 discloses "a real-time binocular vision guidance method for underwater vehicles" provides a real-time binocular vision guidance method for underwater vehicles. Eye vision algorithm, the designed algorithm is relatively complex, and the binocular vision system is not easy to achieve miniaturization, and it is not easy to integrate underwater mobile equipment

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