An Underwater Obstacle Detector Based on Lunber Lens

Abstract

The invention discloses an underwater obstacle detector based on a Lunberian lens, which comprises a hydroacoustic Lunberian lens, an acoustic surface, a piezoelectric ceramic array and a casing. The shell and the acoustic surface form a closed waterproof cavity, and the hydroacoustic Lunber lens is fixed in the airtight waterproof cavity; the acoustic surface is used to bridge the impedance difference between the water and the hydroacoustic Lunburg lens, and is fixed in the cylindrical water On the side wall of the Acoustic Lunberian lens; the piezoelectric ceramic array is arranged on the other side of the sidewall of the Acoustic Lunberian lens corresponding to the acoustic surface, and is used to receive external excitation signals to generate ultrasonic waves that diffuse through the Acoustic Lunberian lens from the The acoustic surface emits and receives reflected sound waves received from the acoustic surface and focused by the hydroacoustic Lunburg lens to generate electrical signals and transmit them to the outside world. The invention has the advantages of wide viewing angle, high detection precision, fast detection speed and high signal gain, can quickly and accurately distinguish obstacles in the surrounding environment, and is suitable for a barrier system of an underwater robot.

Description

technical field [0001] The invention relates to the field of underwater acoustic obstacle detection, in particular to an underwater obstacle detector based on a Lunburg lens. Background technique [0002] Underwater robots have a wide range of applications in marine scientific research, marine development, underwater engineering, and military affairs, and are a hot topic of exploration in recent years. Robots need reasonable obstacle avoidance devices. For example, when working in the air, infrared ranging can be used to identify and avoid obstacles. When working underwater, the light tends to attenuate very quickly, so it is necessary to rely on ultrasonic waves to avoid obstacles. There are two types of underwater acoustic obstacle avoidance, ranging sonar and image sonar. At present, ranging sonar is widely used. However, ranging sonar usually only returns the distance information of obstacles, but the direction information cannot be obtained. Therefore, it is usually ...

AI Technical Summary

Problems solved by technology

However, the obstacle avoidance angle of view of the invention is still very narrow, requiring complex algorithms to determine the position of obstacles

[0006] At present, the Lunburg lens has not been applied in the field of underwater acoustics, because there is a lack of suitable underwater acoustic gradient refractive index materials to realize the underwater acoustic Lunburg lens.

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