Underwater optical positioning device and method

Abstract

The present invention discloses an underwater optical positioning device and method, the device comprises: a waterproof device 1 and a waterproof device 2, the waterproof device 1 is connected to the waterproof device 2, a base station A is installed inside the waterproof device 1, a positioned object B and a feedback element are installed inside the waterproof device 2; the base station A comprises a motor, one end of the motor is connected to the feedback element, a laser emission module is installed inside the motor, one end of the laser emission module is connected to an optical device through a laser reflection optical path, one end of the optical device is connected to the positioned object B through a laser reflection optical path, the positioned object B comprises a photosensitive element and a solution circuit, the photosensitive element and the solution circuit are connected. Through the device and method, an effective underwater optical positioning structure and method are provided, and a very accurate positioning effect can be achieved through a number of optical base stations with low cost and simple structure, and the positioning cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of optical positioning technology, and in particular to an underwater optical positioning device and method. Background Art

[0002] In the prior art, underwater optical positioning is difficult to some extent, and there is a lack of an effective underwater optical positioning system, so accurate positioning cannot be achieved; its positioning signal is emitted by non-located optical sensors, and it cannot support the positioning of a large number of optical sensors at the same time. When multiple optical sensors are located at the same time, their postures cannot be determined. Summary of the invention

[0003] In view of the above technical problems in the related art, the present invention proposes an underwater optical positioning device and method, which can overcome the above shortcomings of the prior art.

[0004] To achieve the above technical objectives, the technical solution of the present invention is implemented as follows:

[0005] A light positioning device, the device comprising: a waterproof device 1 and a waterproof device 2, wherein the waterproof device 1 is connected to the waterproof device 2, a base station A is installed inside the waterproof device 1, and a positioned object B, a feedback element, and an optical device are installed inside the waterproof device 2; the base station A comprises a motor, one end of the motor is connected to the feedback element, a laser emitting module is installed inside the motor, one end of the laser emitting module is connected to the optical device through a laser reflection light path, one end of the optical device is connected to the positioned object B through the laser reflection light path, and the positioned object B comprises a photosensitive element and a solution circuit, and the photosensitive element and the solution circuit are connected.

[0006] Furthermore, there is one motor.

[0007] Furthermore, the light emitted by the laser emission module is blue-violet light.

[0008] According to another aspect of the present invention, there is provided an underwater optical positioning method, the method comprising the following steps:

[0009] S1: The laser emission module drives the laser diode to emit laser and encode the laser. The encoding must be synchronized. The encoding adopts LFSR sequence. Each group of numbers in the encoding period is unique. The entire period is calculated through any code value, and the position of the code in the entire code is obtained. The code value is the synchronization timestamp.

[0010] S2: The laser reflection optical path converts the laser emitted by the laser emission module into a linear output, wherein the emitted laser is blue-violet light, the coded laser emitted by the laser emission module comes from the same light source or the two groups of lasers are synchronously encoded, and the linear output laser lines are perpendicular to each other;

[0011] S3: The motor and the feedback element rotate at a fixed frequency, wherein the feedback element uses an optical coupler as a detection point, measures the rotation frequency of the detection point as feedback data, and adjusts the speed of the motor;

[0012] S4: The photosensitive element on the positioned object B starts scanning the blue-violet laser, wherein the photosensitive element constitutes a positioning point. A plurality of positioning points are provided on the positioned object B. The positioning points are rigid bodies, and the positions of the positioning points remain unchanged.

[0013] S5: The solving circuit uses the solving principle to solve the position and complete the position positioning;

[0014] The solution principle is:

[0015] Initialization, the built-in motor of base station A rotates, and when the optocoupler is triggered, encoding starts from 0;

[0016] Scanning, wherein, during scanning, the laser areas A1 and A2 are tilted 45° left and right respectively and carry coded linear lasers;

[0017] Receiving and solving, the positioning point receives the laser and code from the laser area A1, and combines the initial code to calculate the angle that the laser emitted by A1 rotates relative to the starting point. The plane formed by the emitted and reflected light is taken as a plane. Similarly, a plane is determined for the laser area A2, and a ray is determined to complete the position of the positioning point. Among them, the starting point is the point where the optical coupler is triggered, the two planes are vertical planes, the positioning point is the photosensitive element, the starting point is the point where the optical coupler is triggered, and the ray takes the base station A as the vertex.

[0018] Beneficial effects of the present invention: Through the device and method, an effective underwater optical positioning structure and method are provided, and extremely accurate positioning effects can be achieved through a number of low-cost / simple-structure optical base stations; the positioning cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is a schematic structural diagram of an underwater optical positioning device according to an embodiment of the present invention;

[0021] Figure 2 is a flowchart of an underwater optical positioning method according to an embodiment of the present invention;

[0022] Figure 3 It is a schematic structural diagram of the motor according to the present invention;

[0023] Figure 4 It is a schematic structural diagram of the positioned object B according to the present invention;

[0024] Figure 5 It is a ray schematic diagram of A1B1 < A2B2 according to the present invention;

[0025] Figure 6 It is a ray schematic diagram of A1B1 = A2B2 according to the present invention;

[0026] Figure 7 It is a ray schematic diagram of A1B1 > A2B2 according to the present invention;

[0027] Figure 8 It is a ray schematic diagram of A1B1 ≠ A2B2 according to the present invention;

[0028] Fig. 9 It is a schematic diagram of the arithmetic circuit principle according to the present invention. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0030] As Figure 1 shown, an underwater optical positioning device according to an embodiment of the present invention includes: a waterproof device one and a waterproof device two, the waterproof device one is connected to the waterproof device two, a base station A is installed inside the waterproof device one, and a positioned object B, a feedback element, and an optical device are installed inside the waterproof device two; the base station A includes a motor, one end of the motor is connected to the feedback element, a laser emission module is installed inside the motor, one end of the laser emission module is connected to the optical device through a laser reflection optical path, and one end of the optical device is connected to the positioned object B through the laser reflection optical path. The positioned object B includes a photosensitive element and an arithmetic circuit, and the photosensitive element and the arithmetic circuit are connected.

[0031] In a specific embodiment of the present invention, there is one motor.

[0032] In a specific embodiment of the present invention, the light emitted by the laser emission module is blue-violet light.

[0033] As Figure 2 shown, an underwater optical positioning method according to an embodiment of the present invention includes the following steps:

[0034] S1: The laser emission module drives the laser diode to emit laser and encode the laser. The encoding must be synchronized. The encoding adopts LFSR sequence. Each group of numbers in the encoding period is unique. The entire period is calculated through any code value, and the position of the code in the entire code is obtained. The code value is the synchronization timestamp.

[0035] S2: The laser reflection optical path converts the laser emitted by the laser emission module into a linear output, wherein the emitted laser is blue-violet light, the coded laser emitted by the laser emission module comes from the same light source or the two groups of lasers are synchronously encoded, and the linear output laser lines are perpendicular to each other;

[0036] S3: The motor and the feedback element rotate at a fixed frequency, wherein the feedback element uses an optical coupler as a detection point, measures the rotation frequency of the detection point as feedback data, and adjusts the speed of the motor;

[0037] S4: The photosensitive element on the positioned object B starts scanning the blue-violet laser, wherein the photosensitive element constitutes a positioning point. A plurality of positioning points are provided on the positioned object B. The positioning points are rigid bodies, and the positions of the positioning points remain unchanged.

[0038] S5: The solving circuit uses the solving principle to solve the position and complete the position positioning;

[0039] The solution principle is:

[0040] Initialization, the built-in motor of base station A rotates, and when the optocoupler is triggered, encoding starts from 0;

[0041] Scanning, wherein, during scanning, the laser areas A1 and A2 are tilted 45° left and right respectively and carry coded linear lasers;

[0042] Receiving and solving, the positioning point receives the laser and code from the laser area A1, and combines the initial code to calculate the angle that the laser emitted by A1 rotates relative to the starting point. The plane formed by the emitted and reflected light is taken as a plane. Similarly, a plane is determined for the laser area A2, and a ray is determined to complete the position of the positioning point. Among them, the starting point is the point where the optical coupler is triggered, the two planes are vertical planes, the positioning point is the photosensitive element, the starting point is the point where the optical coupler is triggered, and the ray takes the base station A as the vertex.

[0043] In order to facilitate understanding of the above technical solutions of the present invention, the above technical solutions of the present invention are described in detail below.

[0044] like Figure 1-9 As shown, the key components in this technology are base station A and the positioned object B:

[0045] Base station A has a laser emission module and related circuits, a laser reflection optical path and related optical devices, a motor and feedback components, which are described in detail as follows:

[0046] 1. The laser emission module and related circuits are used to drive the laser diode to emit laser and encode the laser. The encoding A123456 uses the LFSR sequence with a period of 2^19-1. Each group of numbers in the period is unique. The original code of the entire period, i.e. 2^19-1 in length, can be deduced from any code value, and the position of the code in the entire code can be obtained. Therefore, the code value can be used as a synchronization timestamp.

[0047] 2. Laser reflection optical path and related optical devices, the function of which is to convert laser into linear output (point laser can be irradiated onto a straight mirror, which is extremely simple to implement in engineering). Figure 3 As shown, two sets of laser areas A1 and A2 are set on the motor with completely synchronized encoding (the optical path can be set so that the lasers come from the same light source; the two sets of lasers can also be encoded synchronously), and their laser lines are perpendicular to each other. Figure 3 ).

[0048] 3. The function of the motor and feedback element is to achieve fixed frequency (adjustable) rotation. The feedback element can be an optocoupler device as a "detection point". The measured rotation frequency is used as feedback data to adjust the motor speed.

[0049] There are several positioning points B1, B2, B3... on the positioned object B ( Figure 4 The cross-shaped box in the figure) and the solving circuit are described in detail as follows:

[0050] 1. The positioned body B and its positioning points B1, B2, and B3 are regarded as rigid bodies, and their relative position relationship will not change. Figure 4 As shown:

[0051] 2. Positioning points B1, B2, and B3 are respectively composed of photosensitive elements (mature chips are available on the market).

[0052] 3. The calculation circuit is responsible for completing the position calculation function. The calculation principle is explained in detail below:

[0053] Initialization: The built-in motor of base station A rotates. When the optocoupler is triggered, the code A123456 starts from 0 (recorded as A123456-X0);

[0054] Scanning: Laser areas A1 and A2, which are tilted 45° to the left and right, emit coded linear lasers;

[0055] Receiving and solving: Positioning point B1 receives the laser from laser area A1 and its code A123456-X1. Combined with its initial code A123456-X0, it can calculate the angle that the laser emitted by A1 has rotated relative to the starting point (the point where the optical coupler is triggered). B must be on the plane of this angle. Similarly, A2 can also determine a plane. The above two planes are perpendicular (because the lasers emitted by laser areas A1 and A2 are perpendicular). Therefore, a ray (with the base station as the vertex) can be determined, and positioning point B1 must be on this ray.

[0056] Similarly, the positioning points B2 and B3 must also be on a certain ray (with the base station as the vertex). Because the positioned body B and its positioning points B1, B2, and B3 are considered rigid bodies, their relative positions will not change. At this time, the positioning problem becomes: given three rays l, m, and n with the same vertex and triangle ABC, where points A, B, and C are located on rays l, m, and n respectively, can the spatial position of the known triangle ABC be uniquely determined? The conclusion is that it can be easily proved by contradiction.

[0057] like Figure 5-8 As shown, the proof is as follows:

[0058] Assuming that the rays l, m, n with the same vertices and the three points A, B, C on them cannot uniquely determine the spatial position of the known triangle ABC, multiple triangles ABC can be determined, which are recorded as A1B1C1, A2B2C2...AnBnCn respectively.

[0059] From the above, triangle ABC is known, so triangles A1B1C1 and A2B2C2 are congruent, that is, A1B1= A2B2, A1C1=A2C2, B1C1 =B2C2.

[0060] Only observe A and B on the two rays l and m:

[0061] We found that in order to satisfy A1B1= A2B2, the two must intersect.

[0062] Similarly, to satisfy B1C1 = B2C2, the two must intersect.

[0063] However, this will cause A1C1 and A2C2 to be unable to intersect, that is, A1C1≠A2C2.

[0064] The above conditions do not match the original question, so there must be three known rays l, m, n and triangle ABC with the same vertex, where points A, B, and C are located on rays l, m, and n respectively. The spatial position of the known triangle ABC can be uniquely determined.

[0065] At this point, positioning is completed.

[0066] To sum up, with the help of the above-mentioned technical solution of the present invention, an effective underwater optical positioning structure and method are provided through the device and method. Through several low-cost / simple-structure optical base stations, extremely accurate positioning effects can be achieved, thereby reducing the positioning cost.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater optical positioning method of an underwater optical positioning device, the underwater optical positioning device comprising a waterproof device 1 and a waterproof device 2, the waterproof device 1 being connected to the waterproof device 2, a base station A being installed inside the waterproof device 1, a positioned object B, a feedback element, and an optical device being installed inside the waterproof device 2; the base station A comprising a motor, one end of the motor being connected to the feedback element, a laser emitting module being installed inside the motor, one end of the laser emitting module being connected to the optical device via a laser reflection optical path, one end of the optical device being connected to the positioned object B via the laser reflection optical path, the positioned object B comprising a photosensitive element and a solution circuit, the photosensitive element being connected to the solution circuit, characterized in that: The following steps are involved: S1: The laser emission module drives the laser diode to emit laser and encode the laser. The encoding must be synchronized. The encoding adopts LFSR sequence. Each group of numbers in the encoding period is unique. The entire period is calculated through any code value, and the position of the code in the entire code is obtained. The code value is the synchronization timestamp. S2: The laser reflection optical path converts the laser emitted by the laser emission module into a linear output, wherein the emitted laser is blue-violet light, the coded laser emitted by the laser emission module comes from the same light source or the two groups of lasers are synchronously encoded, and the linear output laser lines are perpendicular to each other; S3: The motor and the feedback element rotate at a fixed frequency, wherein the feedback element uses an optical coupler as a detection point, measures the rotation frequency of the detection point as feedback data, and adjusts the speed of the motor; S4: The photosensitive element on the positioned object B starts scanning the blue-violet laser, wherein the photosensitive element constitutes a positioning point. A plurality of positioning points are provided on the positioned object B. The positioning points are rigid bodies, and the positions of the positioning points remain unchanged. S5: The solving circuit uses the solving principle to solve the position and complete the position positioning; The solution principle is: Initialization, the built-in motor of base station A rotates, and when the optocoupler is triggered, encoding starts from 0; Scanning, wherein, during scanning, the laser areas A1 and A2 are tilted 45° left and right respectively and carry coded linear lasers; Receiving and solving, the positioning point receives the laser and code from the laser area A1, and combines the initial code to calculate the angle that the laser emitted by A1 rotates relative to the starting point. The plane formed by the emitted and reflected light is taken as a plane. Similarly, a plane is determined for the laser area A2, and a ray is determined to complete the position of the positioning point. Among them, the starting point is the point where the optical coupler is triggered, the two planes are vertical planes, the positioning point is the photosensitive element, the starting point is the point where the optical coupler is triggered, and the ray takes the base station A as the vertex.

2. The underwater optical positioning method according to claim 1, characterized in that: The number of the motor is one.

3. The underwater optical positioning method according to claim 1, characterized in that: The light emitted by the laser emission module is blue-violet light.

Images