Pyramid device laser reflection based underwater robot three-dimensional positioning and communication device and method

Abstract

The invention discloses a pyramid device laser reflection based underwater robot three-dimensional positioning and communication device and method, and belongs to the field of positioning and communication of underwater robots. The device includes a laser transmitting end base station located on the seabed and a laser reflection end installed on the underwater robot. The laser transmitting end base station includes a first sealed cavity with a window mirror and a laser generator, a vibrating mirror system, a charge coupled camera and a transmitter processor which are arranged in the first sealed cavity. The laser reflection end includes a photosensitive receiver, a communication pyramid device and a reflection end processor. Polymer dispersed liquid crystals are fixed to outer circumference of the communication pyramid device. A positioning pyramid device array used for reflecting lasers to the charge coupled camera is arranged outside a second sealed cavity. Therefore, the two-way communication between the underwater robot and the submarine base station is realized. The device has advantages of simple structure, low power consumption, small size, high reliability and low cost.

Description

technical field [0001] The invention relates to the field of positioning and communication of underwater robots, in particular to a three-dimensional positioning communication device and method for underwater robots based on pyramid laser reflection. Background technique [0002] The commonly used positioning communication method for underwater robots is based on the acoustic method, which has the characteristics of long communication transmission distance, but its power consumption is relatively large. Optical positioning has the characteristics of high spatial resolution and is suitable for short-distance high-precision positioning. The commonly used method is to use a pulsed laser light source and assist time-of-flight sampling to detect the distance of the underwater retroreflector. The maximum detection distance can reach 100 meters, but the time-of-flight detection requires an ultra-high-speed analog-to-digital converter and a high-power nanosecond pulsed laser source....

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a three-dimensional positioning and communication device for underwater robots based on laser reflection of a pyramid, another object of the present invention is to provide a three-dimensional positioning and communication method for underwater robots based on laser reflection of a pyramid, the device The method overcomes the defects of the existing underwater acoustic positioning communication method and the positioning method based on pulsed laser light source and auxiliary time-of-flight sampling, such as high cost, high power consumption, and relatively complicated implementation, and realizes the three-dimensional positioning of the underwater robot by the submarine base station and two-way communication

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