Underwater Wireless Optical Communication Detection Integrated System and Method

Abstract

The present invention provides an underwater wireless optical communication and detection integrated system and method, mainly solving the technical problem that the structure of independently designing and using a detection module and a communication module in the existing underwater wireless optical information system will result in a relatively large volume and high power consumption of the platform carrying the underwater wireless optical information system. It includes two communication and detection systems oppositely arranged on both sides of the detection target; the communication and detection system includes a signal generation module, a beam splitting module I, an optical system II, a coaxial optical path module I, a coaxial optical path module II, a scanning module, a window, an optical system I, a photodetector I, a detection signal processing module, a control circuit module I, an optical system III, a photodetector II, a beam splitting module II, an optical system IV, a camera, a control circuit module II, an optical system V, a photodetector III, and a communication signal processing module.

Description

Technical Field

[0001] The present invention relates to an integrated optical communication and detection system and method, and particularly to an integrated underwater wireless optical communication and detection system and method. Background Art

[0002] Light waves have become excellent carriers for underwater information transmission due to their many advantages such as high propagation rate, good directivity, and high modulation bandwidth.

[0003] In existing underwater wireless optical information systems, the communication module is usually designed based on an LED light source with a relatively large divergence angle, which can conveniently and quickly establish a communication link; the detection module usually uses a narrow-pulse laser as the emission light source to ensure the detection resolution; due to the mutual interference between the detection echo signal in the detection module and the communication reception signal in the communication module, the detection module and the communication module are usually designed and used independently.

[0004] However, the structure of independently designing and using the detection module and the communication module in the existing underwater wireless optical information system will result in a relatively large volume and high power consumption of the platform carrying the underwater wireless optical information system. Summary of the Invention

[0005] The object of the present invention is to solve the technical problem that the structure of independently designing and using the detection module and the communication module in the existing underwater wireless optical information system will result in a relatively large volume and high power consumption of the platform carrying the underwater wireless optical information system, and to provide an integrated underwater wireless optical communication and detection system and method.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] An integrated underwater wireless optical communication and detection system, characterized in that: it includes two communication and detection systems oppositely arranged on both sides of a detection target;

[0008] The communication and detection system includes a signal generation module, a beam splitting module I arranged on the emission optical path of the signal generation module, an optical system I and a photodetector I sequentially arranged along the reflection optical path of the beam splitting module I, a detection signal processing module and a control circuit module I respectively electrically connected to the photodetector I, an optical system II, a coaxial optical path module I, a coaxial optical path module II and a scanning module sequentially arranged along the transmission optical path of the beam splitting module I, and a window arranged on the reflection optical path of the scanning module;

[0009] The window is used to transmit the emission signal to the detection target. The emission signal includes a detection signal of a single wavelength and a communication signal of a dual wavelength. After being scattered by the detection target, the detection signal returns to the window, and the communication signal enters the window of another communication detection system. At the same time, the communication signal of another communication detection system enters the window of this communication detection system. The returned detection signal and the received communication signal enter the scanning module, the coaxial optical path module II, and the coaxial optical path module I in sequence through the window.

[0010] The communication detection system further includes an optical system III and a photodetector II arranged in sequence along the reflection optical path of the coaxial optical path module II, a beam splitting module II arranged on the transmission optical path of the coaxial optical path module I, an optical system IV and a camera arranged in sequence along the transmission optical path of the beam splitting module II, a control circuit module II electrically connected to the camera, an optical system V and a photodetector III arranged in sequence along the reflection optical path of the beam splitting module II, and a communication signal processing module electrically connected to the photodetector III.

[0011] The synchronization input terminal of the detection signal processing module is electrically connected to the photodetector I, the signal input terminal is electrically connected to the photodetector II, and the output terminal is electrically connected to the scanning module, and is used to send a position signal to the scanning module. The control circuit module I is electrically connected to the scanning module and is used to send a scanning synchronization signal. The control circuit module II is electrically connected to the scanning module and is used to send a servo control signal.

[0012] The received communication signal of another communication detection system is reflected by the scanning module, then transmitted through the coaxial optical path module II and the coaxial optical path module I in sequence, and then enters the beam splitting module II for beam splitting. The communication signal transmitted through the beam splitting module II enters the camera through the optical system IV for imaging. The communication signal reflected by the beam splitting module II enters the photodetector III through the optical system V.

[0013] The returned detection target is reflected by the scanning module and then enters the coaxial optical path processing module II. After being reflected by the coaxial optical path processing module II, it enters the photodetector II through the optical system III.

[0014] Further, the signal generation module includes a signal generator, a driver, and a laser.

[0015] The output terminal of the signal generator is connected to the input terminal of the driver, and the output terminal of the driver is connected to the input terminal of the laser.

[0016] Further, in order to adapt to the optical band of the seawater window, the laser is a blue-green light band laser.

[0017] Further, the photodetector I is a PIN detector or an APD detector.

[0018] The photodetector II and the photodetector III are PIN detectors, APD detectors, PMT single-photon detectors or SPAD single-photon detectors.

[0019] Furthermore, the optical system I is a focusing objective lens for converging the emission signal onto the photodetector I;

[0020] The optical system II is a fixed-focus optical system or a zoom optical system for adjusting the divergence angle of the emission signal;

[0021] The optical systems III and V have the same structure and both include a focusing objective lens, a collimating objective lens, a narrowband filter and a field stop arranged in sequence along the optical path for shaping, filtering and adjusting the field of view;

[0022] The optical system IV is a focusing objective lens for converging the communication signal onto the surface of the camera.

[0023] Furthermore, the scanning module is a galvanometer or a rotating mirror;

[0024] The communication signal processing module includes a signal synchronization unit, a signal demodulation unit and a signal decoding unit connected in sequence;

[0025] The control circuit module II includes a spot image processing unit, a spot miss distance calculation unit and a scanning servo control unit II connected in sequence;

[0026] The control circuit module I includes a scanning servo control unit I.

[0027] Furthermore, the coaxial optical path module I is a small-hole dichroic mirror or a small-hole reflector; the coaxial optical path module II is a dichroic mirror.

[0028] Furthermore, the beam splitting module I and the beam splitting module II are plane beam splitters or beam splitting prisms; the beam splitting ratio of the beam splitting module I is adapted to the sensitivity of the photodetector I, and the beam splitting ratio of the beam splitting module II is adapted to the sensitivities of the camera and the photodetector III.

[0029] Furthermore, in order to reduce photon loss, an antireflection film is deposited on the focusing objective lens;

[0030] In order to improve the reflection efficiency, a high-reflection film is deposited on the galvanometer or the rotating mirror.

[0031] Meanwhile, the present invention also provides an underwater wireless optical communication detection integrated method, which is based on the underwater wireless optical communication detection integrated system and is characterized in that it includes the following steps:

[0032] 1) The signal emission module emits an emission signal;

[0033] 2) After the transmitted signal is split by the beam splitting module I, the reflected optical path is focused by the optical system I and then acts on the photodetector I for photoelectric conversion. The converted electrical signal enters the detection signal processing module and the control circuit module I as the initial scanning synchronization signal of the scanning module. The transmitted optical path is transmitted to the coaxial optical path module I after the divergence angle is adjusted by the optical system II, reflected by the coaxial optical path module I and then enters the coaxial optical path module II, and then transmitted by the coaxial optical path module II and enters the scanning module. Finally, it is reflected by the scanning module and emitted to the underwater channel through the window.

[0034] 3) The detection signal in the transmitted signal returns to the window after being reflected by the detection target, and the communication signal enters the window of another communication detection system after being scattered by the detection target. At the same time, the communication signal of another communication detection system enters the window of this communication detection system.

[0035] 4) The returned detection signal enters the scanning module through the window, is reflected by the scanning module and the coaxial optical path module II in sequence, and then is shaped, filtered and field-of-view adjusted by the optical system III and acts on the photodetector II for photoelectric conversion. The electrical signal converted by the photodetector II is transmitted to the detection signal processing module. After being processed by the detection signal processing module, the distance information of the measured target is obtained, and the three-dimensional information of the detection target is reconstructed by combining the position information in the scanning module.

[0036] After the received communication signal enters the window, it is split by the beam splitting module II after being reflected by the scanning module inside and transmitted by the coaxial optical path module II and the coaxial optical path module I. The transmitted optical path of the beam splitting module II enters the photosensitive surface of the camera through the optical system IV. The camera transmits the obtained communication signal spot position information to the control circuit module II. The control module II calculates the central offset of the spot on the camera according to the obtained communication signal spot position information, and then sends a servo control signal to feedback the central offset to the scanning module. The scanning module adjusts its attitude according to the central offset until the spot is adjusted to the center position of the camera, and at this time the communication link is established. The reflected optical path of the beam splitting module II is shaped, filtered and field-of-view adjusted by the optical system V and then acts on the photodetector III for photoelectric conversion. The photodetector III transmits the converted electrical signal to the communication signal processing module, and the communication signal processing module processes the electrical signal to obtain the initial transmitted signal information.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] 1. The system of the present invention shares a signal generating module through a detection module and a communication module, and isolates communication signals and detection signals through the provided coaxial optical path module I and coaxial optical path module II, enabling the communication signals to enter the control circuit module II for communication link establishment and the communication signal processing module for communication signal analysis separately after transmission through the coaxial optical path module I and coaxial optical path module II. At the same time, the detection signals enter the detection signal processing module for detection signal analysis after being reflected by the coaxial optical path module I, solving the problem of crosstalk between communication received signals and detection echo signals. And the control circuit module II adjusts the scanning module according to the spot position on the camera, facilitating the establishment of the communication link, thus solving the problem that it is relatively difficult to establish a communication link using a narrow laser beam in the communication module. Finally, an integrated design of the communication module and the detection module is achieved, which is beneficial to reducing the system volume and system power consumption.

[0039] 2. The blue-green laser provided can match the optical band of the seawater window, which is beneficial to improving the detection accuracy and the multipath effect of photons.

[0040] 3. The highly reflective film plated can effectively improve the transmission efficiency of optical signals, and the antireflection film plated can reduce the energy loss during optical signal transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is the schematic diagram of the integrated underwater wireless optical communication and detection system of the present invention;

[0042] Figure 2 is the schematic diagram of the communication and detection system in the embodiment of the integrated underwater wireless optical communication and detection system of the present invention.

[0043] In the figure, 01 - communication signal, 02 - detection signal, 03 - detection target. DETAILED DESCRIPTION OF THE INVENTION

[0044] To make the objectives, advantages, and features of the present invention clearer, the following further details the integrated underwater wireless optical communication and detection system and method proposed by the present invention with reference to the accompanying drawings and specific embodiments. According to the following detailed description, the advantages and features of the present invention will be clearer. It should be noted that: the accompanying drawings are all in a very simplified form and use non-precise scales, only for conveniently and clearly assisting in explaining the objectives of the embodiments of the present invention; secondly, the structures shown in the accompanying drawings are often part of the actual structures.

[0045] Such as Figure 1 and Figure 2As shown in the figure, an underwater wireless optical communication detection integrated system of the present invention includes two communication detection systems oppositely arranged on both sides of a detection target 03; the communication detection system includes a signal generation module, a beam splitting module Ⅰ arranged on the emission optical path of the signal generation module, an optical system Ⅰ and a photodetector Ⅰ arranged in sequence along the reflection optical path of the beam splitting module Ⅰ, a detection signal processing module and a control circuit module Ⅰ respectively electrically connected to the photodetector Ⅰ, an optical system Ⅱ, a coaxial optical path module Ⅰ, a coaxial optical path module Ⅱ and a scanning module arranged in sequence along the transmission optical path of the beam splitting module Ⅰ, and a window arranged on the reflection optical path of the scanning module; the window is used to transmit the emission signal to the detection target, and the emission signal includes a detection signal with a single wavelength and a communication signal with a double wavelength; after being scattered by the detection target, the detection signal returns to the window, and the communication signal enters the window of another communication detection system, and at the same time, the communication signal of another communication detection system enters the window of this communication detection system; the returned detection signal and the received communication signal enter the scanning module, the coaxial optical path module Ⅱ, and the coaxial optical path module Ⅰ in sequence through the window;

[0046] The communication detection system further includes an optical system Ⅲ and a photodetector Ⅱ arranged in sequence along the reflection optical path of the coaxial optical path module Ⅱ, a beam splitting module Ⅱ arranged on the transmission optical path of the coaxial optical path module Ⅰ, an optical system Ⅳ and a camera arranged in sequence along the transmission optical path of the beam splitting module Ⅱ, a control circuit module Ⅱ electrically connected to the camera, an optical system Ⅴ and a photodetector Ⅲ arranged in sequence along the reflection optical path of the beam splitting module Ⅱ, and a communication signal processing module electrically connected to the photodetector Ⅲ; the synchronous input end of the detection signal processing module is electrically connected to the photodetector Ⅰ, the signal input end is connected to the photodetector Ⅱ, and the output end is electrically connected to the scanning module for sending a position signal; the control circuit module Ⅰ is electrically connected to the scanning module for sending a scanning synchronization signal; the control circuit module Ⅱ is electrically connected to the scanning module for sending a servo control signal.

[0047] The received communication signal of another communication detection system enters the beam splitting module Ⅱ for beam splitting after being reflected by the scanning module and then transmitted through the coaxial optical path module Ⅱ and the coaxial optical path module Ⅰ in sequence, and the communication signal transmitted through the beam splitting module Ⅱ enters the camera for imaging after passing through the optical system Ⅳ; the communication signal reflected by the beam splitting module Ⅱ enters the photodetector Ⅲ through the optical system Ⅴ; the returned detection signal enters the coaxial optical path processing module Ⅱ after being reflected by the scanning module, and enters the photodetector Ⅱ through the optical system Ⅲ after being reflected by the coaxial optical path processing module Ⅱ.

[0048] The signal generation module includes a signal generator, a driver, and a laser; the output end of the signal generator is connected to the input end of the driver, and the output end of the driver is connected to the input end of the laser. An electrical signal waveform of the transmitted signal is generated by the signal generator, the electrical signal waveform of the transmitted signal is modulated onto the laser by the driver, and the transmitted signal in the form of an optical signal is emitted by the laser. The laser is preferably a blue-green light band laser. In other embodiments of the present invention, other lasers with narrow pulses, high peak power, and high repetition frequency can also be selected. Among them, the narrow pulse width is beneficial to improving the detection accuracy and the backscattering of photons, the high peak power can extend the communication and detection distance, and the high repetition frequency is beneficial to improving the communication and detection efficiency.

[0049] Optical system Ⅰ is a focusing objective lens, which is used to converge the transmitted signal to photodetector Ⅰ, making the energy more concentrated. At the same time, in order to reduce the energy transmission loss of the optical signal, an antireflection film can be coated on the mirror surface of the focusing objective lens; optical system Ⅱ is a fixed-focus optical system or a zoom optical system, which is used to adjust the divergence angle of the transmitted signal according to the working distance of the system; optical systems Ⅲ and Ⅴ have the same structure, and both include a focusing objective lens, a collimating objective lens, a narrowband filter, and a field stop arranged in sequence along the optical path, which are used for shaping, filtering, and adjusting the field of view; optical system Ⅳ is a focusing objective lens, which is used to converge the communication signal to the lens surface of the camera. The image elements covered by the light spot after the action of optical system Ⅳ should meet the tracking requirements of the camera. At the same time, the field of view angle of the combination of optical system Ⅳ and the camera meets the tracking requirements of the camera.

[0050] Coaxial optical path module Ⅰ is used to reflect the transmitted signal and isolate communication signal 01 and detection signal 02, and a small hole dichroic mirror or a small hole reflector is adopted; coaxial optical path module Ⅱ is used to transmit the transmitted signal and isolate communication signal 01 and detection signal 02, and a dichroic mirror is adopted. Its characteristic is that it can almost completely transmit the optical signal of a certain wavelength, and at the same time almost completely reflect the optical signal of some other wavelengths. In the present invention, by setting the dichroic mirror, detection signal 02 can be reflected, and at the same time communication signal 01 can be transmitted, so as to achieve the purpose of isolating detection signal 02 and communication signal 01.

[0051] Photodetector Ⅰ functions to provide an initial synchronous scanning signal, and the requirement for sensitivity is not high. It can be a PIN detector or an APD detector, etc.; when the requirement for sensitivity is not high, photodetectors Ⅱ and Ⅲ are PIN detectors or APD detectors. If the requirement for sensitivity is relatively high, a PMT single-photon detector or a SPAD single-photon detector, etc. can be selected; in other embodiments of the present invention, those skilled in the art can select appropriate models of photodetectors according to specific usage requirements, etc.

[0052] The scanning module functions as a scanning beam and can be a galvanometer or a rotating mirror or other similar devices. When strict requirements are imposed on light transmission, a high-reflection film can be deposited on the mirror surface of the galvanometer or the rotating mirror. The window serves the purpose of the optical signal input system and the output system. In the present invention, window glass is used to facilitate the passage of optical signals of various wavelengths and at the same time prevent water and the like from entering the system.

[0053] Both the beam splitting module I and the beam splitting module II are plane beam splitters or beam splitting prisms. Among them, the beam splitting ratio of the beam splitting module I is adapted to the sensitivity of the photodetector I, meeting the synchronization requirements of the electrical signal output by the photodetector I and the detection processing module as well as the working requirements of the control electrical signal module I. The beam splitting ratio of the beam splitting module II is adapted to the sensitivities of the camera and the photodetector III, and is used to make the communication signal 01 powers received by the camera and the photodetector III meet the requirements for establishing a communication link and processing the communication signal 01 respectively;

[0054] The communication signal processing module includes a signal synchronization unit, a signal demodulation unit, and a signal decoding unit connected in sequence. Among them, the signal synchronization unit, the signal demodulation unit, and the signal decoding unit are all prior arts and are used to perform synchronization, demodulation, and decoding processing on the signals entering them. The control circuit module II includes a spot image processing unit, a spot off-target amount calculation unit, and a scanning servo control unit II connected in sequence. Among them, the spot image processing unit and the spot off-target amount calculation unit are both prior arts and can calculate the off-target amount according to the spot position, providing an implementation basis for moving the spot to the center position of the camera. The control circuit module I includes a scanning servo control unit I. The scanning servo control unit I and the scanning servo control unit II are both prior arts and can correspondingly control the position change of the scanning unit according to the control instruction, facilitating communication link establishment.

[0055] An underwater wireless optical communication detection integration method, based on an underwater wireless optical communication detection integration system, includes the following steps:

[0056] 1) The signal transmission module emits a transmission signal;

[0057] 2) After the transmission signal is split by the beam splitting module I, the reflected light path is focused by the optical system I and then acts on the photodetector I for photoelectric conversion. The converted electrical signal enters the detection signal processing module and the control circuit module I as the initial scanning synchronization signal of the scanning module. The transmitted light path adjusts the divergence angle through the optical system II and then is transmitted to the coaxial optical path module I. After being reflected by the coaxial optical path module I, it enters the coaxial optical path module II, and then after being transmitted by the coaxial optical path module II, it enters the scanning module. Finally, after being reflected by the scanning module, it is emitted through the window to the underwater channel;

[0058] 3) The detection signal 02 in the transmitted signal returns to the window after being reflected by the detection target 03, and the communication signal 01 enters the window of another communication detection system after being scattered by the detection target 03; at the same time, the communication signal of another communication detection system enters the window of this communication detection system;

[0059] 4) The returned detection signal 02 enters the scanning module through the window. After being reflected by the scanning module and the coaxial optical path module II in sequence, it is then shaped, filtered, and field-of-view adjusted by the optical system III and acts on the photodetector II for photoelectric conversion. The electrical signal converted by the photodetector II is transmitted to the detection signal processing module. After being processed by the detection signal processing module, the distance information of the detection target is restored according to the flight time of the photons. The spatio-temporal distribution characteristics of the received photon count are constructed based on the single-pulse photon count obtained from multiple repeated detections, and the gray information of the detection target image is reconstructed therefrom. The three-dimensional information of the detection target is reconstructed by combining the angular position information of the scanning module;

[0060] After the received communication signal 01 enters the window, it is reflected by the scanning module therein, transmitted through the coaxial optical path module II and the coaxial optical path module I, and then enters the beam splitting module II for beam splitting. The transmitted optical path of the beam splitting module II enters the photosensitive surface of the camera through the optical system IV. The camera transmits the spot position information of the communication signal 01 obtained to the control circuit module II. The control module II calculates the central offset of the spot on the camera according to the obtained spot position information of the communication signal 01, and then sends a servo control signal to feedback the central offset to the scanning module. The scanning module adjusts its attitude according to the central offset until the spot is adjusted to the center position of the camera, and at this time the communication link is established; the reflected optical path of the beam splitting module II is shaped, filtered, and field-of-view adjusted by the optical system V and then acts on the photodetector III for photoelectric conversion. The photodetector III transmits the converted electrical signal to the communication signal processing module, and the communication signal processing module processes the electrical signal to obtain the initial transmitted signal information.

Claims

1. An integrated underwater wireless optical communication detection system, characterized in that: It includes two communication detection systems that are relatively arranged on both sides of the detection target; The communication detection system includes a signal generation module, a beam splitting module Ⅰ arranged on the emission optical path of the signal generation module, an optical system Ⅰ and a photodetector Ⅰ arranged in sequence along the reflection optical path of the beam splitting module Ⅰ, a detection signal processing module and a control circuit module Ⅰ that are respectively electrically connected to the photodetector Ⅰ, an optical system Ⅱ, a coaxial optical path module Ⅰ, a coaxial optical path module Ⅱ and a scanning module arranged in sequence along the transmission optical path of the beam splitting module Ⅰ, and a window arranged on the reflection optical path of the scanning module; The window is used to emit the emission signal to the detection target, and the emission signal includes a detection signal with a single wavelength and a communication signal with a double wavelength; after being scattered by the detection target, the detection signal returns to the window, the communication signal enters the window of another communication detection system, and at the same time the communication signal of another communication detection system enters the window of this communication detection system; the returned detection signal and the received communication signal enter the scanning module, the coaxial optical path module Ⅱ and the coaxial optical path module Ⅰ in sequence through the window; The communication detection system further includes an optical system Ⅲ and a photodetector Ⅱ arranged in sequence along the reflection optical path of the coaxial optical path module Ⅱ, a beam splitting module Ⅱ arranged on the transmission optical path of the coaxial optical path module Ⅰ, an optical system Ⅳ and a camera arranged in sequence along the transmission optical path of the beam splitting module Ⅱ, a control circuit module Ⅱ electrically connected to the camera, an optical system Ⅴ and a photodetector Ⅲ arranged in sequence along the reflection optical path of the beam splitting module Ⅱ, and a communication signal processing module electrically connected to the photodetector Ⅲ; The synchronous input end of the detection signal processing module is electrically connected to the photodetector Ⅰ, the signal input end is electrically connected to the photodetector Ⅱ, and the output end is electrically connected to the scanning module, and is used to send a position signal to the scanning module; the control circuit module Ⅰ is electrically connected to the scanning module and is used to send a scanning synchronous signal; the control circuit module Ⅱ is electrically connected to the scanning module and is used to send a servo control signal.

2. The integrated underwater wireless optical communication detection system according to claim 1, wherein: The signal generation module includes a signal generator, a driver and a laser; The output end of the signal generator is connected to the input end of the driver, and the output end of the driver is connected to the input end of the laser.

3. The integrated underwater wireless optical communication detection system according to claim 2, characterized in that: The laser is a blue-green light band laser.

4. The integrated underwater wireless optical communication detection system according to claim 3, wherein: The photodetector Ⅰ is a PIN detector or an APD detector; The photodetector Ⅱ and the photodetector Ⅲ are a PIN detector, an APD detector, a PMT single photon detector or a SPAD single photon detector.

5. The underwater wireless optical communication detection integrated system according to claim 4, wherein: The optical system Ⅰ is a converging objective lens, which is used to converge the emission signal to the photodetector Ⅰ; The optical system Ⅱ is a fixed-focus optical system or a zoom optical system, which is used to adjust the divergence angle of the emission signal; The optical system Ⅲ and the optical system Ⅴ have the same structure, and both include a focusing objective lens, a collimating objective lens, a narrow-band filter and a field stop arranged in sequence along the optical path, which are used for shaping, filtering and adjusting the field of view; The optical system Ⅳ is a converging objective lens, which is used to converge the communication signal to the surface of the camera.

6. The integrated underwater wireless optical communication detection system according to claim 5, characterized in that: The scanning module is a galvanometer or a rotating mirror; Both the communication signal processing module and the detection signal processing module include a signal synchronization unit, a signal demodulation unit and a signal decoding unit that are connected in sequence; The control circuit module II includes a spot image processing unit, a spot off-target amount calculation unit, and a scanning servo control unit II that are connected in sequence; The control circuit module I includes a scanning servo control unit I.

7. The integrated underwater wireless optical communication detection system according to claim 6, characterized in that: The coaxial optical path module I is a small-hole dichroic mirror or a small-hole reflector; the coaxial optical path module II is a dichroic mirror.

8. The integrated underwater wireless optical communication detection system according to claim 7, characterized in that: The beam splitting module I and the beam splitting module II are plane beam splitters or beam splitting prisms; the beam splitting ratio of the beam splitting module I is adapted to the sensitivity of the photodetector I, and the beam splitting ratio of the beam splitting module II is adapted to the sensitivities of the camera and the photodetector III.

9. The integrated underwater wireless optical communication detection system according to claim 8, wherein: An antireflection film is coated on the focusing objective lens; A high-reflection film is coated on the galvanometer or the rotating mirror.

10. An integrated underwater wireless optical communication detection method, based on the integrated underwater wireless optical communication detection system according to any one of claims 1-9, characterized in that, It includes the following steps: 1) The signal transmitting module emits a transmission signal; 2) After the transmission signal is split by the beam splitting module I, the reflected optical path is focused by the optical system I and then acts on the photodetector I for photoelectric conversion. The converted electrical signal enters the detection signal processing module and the control circuit module I as the initial scanning synchronization signal of the scanning module; The transmitted optical path adjusts the divergence angle through the optical system II and then is transmitted to the coaxial optical path module I. After being reflected by the coaxial optical path module I, it enters the coaxial optical path module II, and then after being transmitted by the coaxial optical path module II, it enters the scanning module. Finally, after being reflected by the scanning module, it is emitted through the window to the underwater channel; 3) The detection signal in the transmission signal returns to the window after being reflected by the detection target, and the communication signal enters the window of another communication detection system after being scattered by the detection target; at the same time, the communication signal of another communication detection system enters the window of this communication detection system; 4) The returned detection signal enters the scanning module through the window. After being reflected by the scanning module and the coaxial optical path module II in sequence, it is then shaped, filtered, and field-of-view adjusted by the optical system III and then acts on the photodetector II for photoelectric conversion. The electrical signal converted by the photodetector II is transmitted to the detection signal processing module. After being processed by the detection signal processing module, the distance information of the measured target is obtained, and the three-dimensional information of the detection target is reconstructed by combining the position information in the scanning module; After the received communication signal enters the window, it is split by the beam splitting module II after being reflected by the scanning module inside and transmitted by the coaxial optical path module II and the coaxial optical path module I. The transmitted optical path of the beam splitting module II enters the photosensitive surface of the camera through the optical system IV. The camera transmits the obtained communication signal spot position information to the control circuit module II. The control module II calculates the central offset of the spot on the camera according to the obtained communication signal spot position information, and then sends a servo control signal to feedback the central offset to the scanning module. The scanning module adjusts its attitude according to the central offset until the spot is adjusted to the center position of the camera. At this time, the communication link is established; the reflected optical path of the beam splitting module II is shaped, filtered, and field-of-view adjusted by the optical system V and then acts on the photodetector III for photoelectric conversion. The photodetector III transmits the converted electrical signal to the communication signal processing module, and the communication signal processing module processes the electrical signal to obtain the initial transmission signal information.

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