Underwater laser rendezvous and docking system for unmanned underwater vehicle and use method of underwater laser rendezvous and docking system

Abstract

The invention relates to an underwater laser rendezvous and docking system for an unmanned underwater vehicle and a use method thereof.The underwater laser rendezvous and docking system for the unmanned underwater vehicle comprises a target UUV part and a tracking UUV part, the target UUV part comprises an illumination light source and an optical cooperative target, and the tracking UUV part comprises an optical cooperative target and a target light source; the tracking UUV part comprises a capturing and tracking CCD module, an underwater laser radar, a servo mechanism and a comprehensive processing module. The laser rendezvous and docking distance precision can reach the centimeter level, the angle measurement precision can reach 0.1 degree, and the rendezvous and docking precision is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of underwater optoelectronic technology, and in particular to an underwater laser rendezvous and docking system for an unmanned underwater vehicle and a method for using the system. Background Art

[0002] As unmanned submersibles spend more and more time underwater, the accumulated error of existing inertial navigation is not satisfactory, and unmanned submersibles cannot surface frequently. Existing GPS satellite positioning can correct inertial navigation errors, but it may reduce the time it takes to perform its mission due to up and down trips.

[0003] Traditionally, the rendezvous and docking of unmanned underwater vehicles (UUVs) or autonomous underwater vehicles (AUVs) with mother ships uses hydroacoustic detection technology. That is, the short baseline measurement principle is used to obtain the angle and distance information between the target UUV and the mother ship, thereby achieving the rendezvous and docking of the UUV and the mother ship, and then recovering the UUV; the measurement distance accuracy is relatively low, generally 0.2m, and the angle accuracy is 0.2°. Summary of the invention

[0004] The present invention aims to solve the deficiencies of the prior art and provides an underwater laser rendezvous and docking system for an unmanned underwater vehicle and a method of using the system.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an underwater laser rendezvous and docking system for an unmanned underwater vehicle, comprising a target UUV part and a tracking UUV part, wherein the target UUV part comprises an illumination light source and an optical cooperation target, and the tracking UUV part comprises a capture and tracking CCD module, an underwater laser radar, a servo mechanism, and a comprehensive processing module;

[0006] An illumination light source, which is arranged on the target UUV, is used to provide coarse guidance for the capture and tracking CCD module, so that the underwater laser radar can track the optical cooperative target;

[0007] The optical cooperation target is set on the target UUV to provide a target for the underwater laser radar so that the emitted laser beam returns along the original path;

[0008] The capture and tracking CCD module includes a CCD detector and an image processing unit that are connected to each other and are arranged on the tracking UUV. It is used to complete the capture of the illumination light source emitted by the target UUV, extract the miss amount, send the miss amount to the servo mechanism, and timely adjust the azimuth and pitch of the underwater laser radar so that the underwater laser radar emits a light beam to illuminate the optical cooperation target in real time;

[0009] The underwater laser radar includes a laser emission unit, a laser docking unit, an optical unit, a distance angle calculation unit, and a power supply unit which are connected to each other and are arranged on the tracking UUV, and are used to complete the distance measurement and angle measurement of the target UUV;

[0010] The servo mechanism includes an azimuth motor, a pitch motor, and a servo processing unit arranged on the tracking UUV. The azimuth motor and the pitch motor are respectively connected to the servo processing unit, and the azimuth motor is fixedly connected to the output shaft of the pitch motor. The underwater laser radar is installed on the output shaft of the azimuth motor, and is used to complete the capture and tracking of the target UUV, timely adjust the angle of the underwater laser radar light source, align it with the optical cooperation target, measure in real time, and output angle information in real time to complete the positioning of the target UUV;

[0011] The integrated processing module is used to communicate with the tracking UUV, output distance and angle information, and provide power supply for the tracking UUV and control of the entire system.

[0012] Particularly, the illumination light source is a blue light source with a wavelength of 450 nm.

[0013] In particular, the optical co-target diameter is 30 mm.

[0014] In particular, the pixel size of the CCD detector is not less than 1024×1024, and the field of view is 30°.

[0015] In particular, the light source of the underwater laser radar is a green laser light source with a wavelength of 532nm, the laser emission repetition rate is not less than 5Hz, the laser receiving aperture is 30mm, the data output frame rate is 5Hz, and the power supply voltage is 24V.

[0016] Particularly, the azimuth and pitch angles of the servo mechanism are not less than 30°, and the pointing accuracy is not less than 0.05°.

[0017] In particular, the integrated processing module includes a communication interface and a power supply interface, which are respectively connected to the capture and tracking CCD module, underwater laser radar, and servo mechanism through the communication interface, and are respectively connected to the capture and tracking CCD module, underwater laser radar, and servo mechanism through the power supply interface.

[0018] A method for using an underwater laser rendezvous and docking system for an unmanned underwater vehicle comprises the following steps:

[0019] Step 1: The target UUV emits an illumination light source, and the CCD detector of the tracking UUV captures the light source. The image processing unit performs image processing to obtain the relative angle information of the target UUV, and controls the servo mechanism on the tracking UUV to point the laser light source of the underwater laser radar to the target UUV, thus completing the guidance between the target UUV and the tracking UUV.

[0020] Step 2: Guide the laser beam emitted by the laser emitting unit to illuminate the optical cooperation target on the target UUV. The laser docking unit obtains the laser signal reflected by the optical cooperation target, further obtains the deviation between the target UUV and the tracking UUV through the CCD detector, adjusts the direction of the laser beam in real time, and completes the closed-loop tracking of the target UUV by the tracking UUV.

[0021] Step 3: The distance angle calculation unit calculates the distance information between the target UUV and the tracking UUV according to the time when the underwater laser radar transmits the laser signal and receives the laser signal. By obtaining the azimuth and pitch information of the servo mechanism, the relative angle information between the target UUV and the tracking UUV is completed, and then the rendezvous and docking between the target UUV and the tracking UUV is completed.

[0022] The beneficial effects of the present invention are as follows: the distance accuracy of the laser rendezvous and docking of the present invention can reach the centimeter level, and the angle measurement accuracy can reach 0.1°, which greatly improves the accuracy of rendezvous and docking; the underwater laser radar greatly improves the navigation and positioning capability of the unmanned submersible by virtue of the advantage of high temporal and spatial resolution; at the same time, the high-resolution laser radar technology greatly reduces the detection error of the unmanned submersible, which can meet the task execution in complex environments, and compared with aquatic detection technology, the system can be further reduced in size, making it possible to design a smaller unmanned submersible, thereby improving the flexible and maneuverable performance of the submersible and reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a block diagram of the underwater laser rendezvous and docking system of the present invention;

[0024] Figure 2 This is a schematic diagram of the preliminary installation of the underwater laser rendezvous and docking system of the present invention;

[0025] In the figure: 1- underwater laser rendezvous and docking system; 2- optical cooperation target; 3- capture and tracking CCD module; 31- CCD detector; 32- image processing unit; 4- underwater laser radar; 41- laser emission unit; 42- laser docking unit; 43- optical unit; 44- distance angle solving unit; 45- power supply unit; 5- servo mechanism; 51- azimuth motor; 52- pitch motor; 53- servo processing unit; 6- integrated processing module; 61- communication interface; 62- power supply interface;

[0026] The following is a detailed description of the embodiments of the present invention with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with embodiments:

[0028] like Figure 1-Figure 2As shown, an underwater laser rendezvous and docking system for an unmanned underwater vehicle includes a target UUV part and a tracking UUV part, wherein the target UUV part includes an illumination light source 1 and an optical cooperation target 2, and the tracking UUV part includes a capture and tracking CCD module 3, an underwater laser radar 4, a servo mechanism 5, and a comprehensive processing module 6;

[0029] The illumination light source 1 is arranged on the target UUV and is used to provide rough guidance for the capture and tracking CCD module 3 so that the underwater laser radar 4 can track the optical cooperation target 2; the illumination light source 1 is a blue light source with a wavelength of 450nm, and the number can be set to 4;

[0030] The optical cooperation target 2 is set on the target UUV to provide a target for the underwater laser radar 4 so that the emitted laser beam returns along the original path; the diameter of the optical cooperation target 2 is 30 mm;

[0031] The capture and tracking CCD module 3 includes a CCD detector 31 and an image processing unit 32 which are connected to each other and are arranged on the tracking UUV, and is used to complete the capture of the illumination light source 1 emitted by the target UUV, and extract the miss amount, and send the miss amount to the servo mechanism 5, so as to timely adjust the azimuth and pitch of the underwater laser radar 4, so that the underwater laser radar 4 emits a light beam to illuminate the optical cooperation target 2 in real time; the pixel of the CCD detector 31 is not less than 1024×1024, and the field of view angle is 30°;

[0032] The underwater laser radar 4 includes a laser emitting unit 41, a laser docking unit 42, an optical unit 43, a distance angle solving unit 44, and a power supply unit 45, which are connected to each other and arranged on the tracking UUV, and is used to complete the distance measurement and angle measurement of the target UUV; the light source of the underwater laser radar 4 is a green laser light source with a wavelength of 532nm, the laser emission repetition frequency is not less than 5Hz, the laser receiving aperture is 30mm, the data output frame frequency is 5Hz, and the power supply voltage is 24V;

[0033] The servo mechanism 5 includes an azimuth motor 51, a pitch motor 52, and a servo processing unit 53 arranged on the tracking UUV. The azimuth motor 51 and the pitch motor 52 are respectively connected to the servo processing unit 53, and the azimuth motor 51 is fixedly connected to the output shaft of the pitch motor 52. The underwater laser radar 5 is installed on the output shaft of the azimuth motor 51, and is used to complete the capture and tracking of the target UUV, timely adjust the light source angle of the underwater laser radar 4, align it with the optical cooperation target 2, measure in real time, and output angle information in real time to complete the positioning of the target UUV; the azimuth and pitch angles of the servo mechanism 5 are not less than 30°, the pointing accuracy is not less than 0.05°, and the system is a two-axis frame;

[0034] The integrated processing module 6 is used to communicate with the tracking UUV, output distance and angle information, and provide power supply for the tracking UUV and control of the entire system. The integrated processing module 6 includes a communication interface 61 and a power supply interface 62. The integrated processing module 6 is connected to the capture and tracking CCD module 3, the underwater laser radar 4, and the servo mechanism 5 through the communication interface 61, and is connected to the capture and tracking CCD module 3, the underwater laser radar 4, and the servo mechanism 5 through the power supply interface 62.

[0035] A method for using an underwater laser rendezvous and docking system for an unmanned underwater vehicle comprises the following steps:

[0036] Step 1: The target UUV emits an illumination light source 1, and the CCD detector 31 of the tracking UUV captures the light source. The image processing unit 32 performs image processing to obtain the relative angle information of the target UUV, and controls the servo mechanism 5 on the tracking UUV to make the laser light source of the underwater laser radar 4 point to the target UUV, thereby completing the guidance between the target UUV and the tracking UUV;

[0037] Step 2: guide the laser beam emitted by the laser emitting unit 41 to irradiate the optical cooperation target 2 on the target UUV, the laser docking unit 42 obtains the laser signal reflected by the optical cooperation target 2, further obtains the deviation between the target UUV and the tracking UUV through the CCD detector 31, adjusts the direction of the laser beam in real time, and completes the closed-loop tracking of the target UUV by the tracking UUV;

[0038] Step 3: The distance angle calculation unit 44 calculates the distance information between the target UUV and the tracking UUV according to the laser signal emission time and the laser signal reception time of the underwater laser radar 4, and completes the relative angle information between the target UUV and the tracking UUV by acquiring the azimuth and pitch information of the servo mechanism 5, thereby completing the rendezvous and docking between the target UUV and the tracking UUV.

[0039] The measuring distance in the above method is not less than 50m; the measuring accuracy is 1cm; the data refresh rate is not less than 5Hz; the field of view of the CCD detector 31 is 30°; the laser wavelength is 532nm; the size of the optical cooperation target 2 is: Target UUV light source: blue light source 450nm.

[0040] The laser rendezvous and docking distance accuracy of the present invention can reach the centimeter level, and the angle measurement accuracy can reach 0.1°, which greatly improves the accuracy of rendezvous and docking; the underwater laser radar 4 has greatly improved the navigation and positioning capability of the unmanned submersible by virtue of its high temporal and spatial resolution; at the same time, the high-resolution laser radar technology has greatly reduced the detection error of the unmanned submersible, which can meet the task execution in complex environments, and compared with aquatic detection technology, the system can be further reduced in size, making it possible to design a smaller unmanned submersible, thereby improving the flexible and maneuverable performance of the submersible and reducing energy consumption.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The above is an exemplary description of the present invention. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or they are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. An underwater laser rendezvous and docking system for an unmanned underwater vehicle, comprising a target UUV part and a tracking UUV part, characterized in that: The target UUV part includes an illumination light source (1) and an optical cooperation target (2), and the tracking UUV part includes a capture and tracking CCD module (3), an underwater laser radar (4), a servo mechanism (5), and a comprehensive processing module (6); An illumination light source (1) is disposed on the target UUV and is used to provide coarse guidance for a capture and tracking CCD module (3) so that an underwater laser radar (4) can track an optical cooperative target (2); An optical cooperation target (2) is arranged on the target UUV to provide a target for the underwater laser radar (4) so ​​that the emitted laser beam returns along the original path; The capture and tracking CCD module (3) comprises a CCD detector (31) and an image processing unit (32) which are connected to each other and are arranged on the tracking UUV, and is used to complete the capture of the illumination light source (1) emitted by the target UUV, extract the miss amount, send the miss amount to the servo mechanism (5), and timely adjust the azimuth and pitch of the underwater laser radar (4) so ​​that the underwater laser radar (4) emits a light beam to illuminate the optical cooperation target (2) in real time; An underwater laser radar (4) comprises a laser emission unit (41), a laser docking unit (42), an optical unit (43), a distance angle calculation unit (44), and a power supply unit (45) which are arranged on the tracking UUV and are connected to each other, and is used to complete distance measurement and angle measurement of the target UUV; The servo mechanism (5) comprises an azimuth motor (51), a pitch motor (52), and a servo processing unit (53) arranged on the tracking UUV. The azimuth motor (51) and the pitch motor (52) are respectively connected to the servo processing unit (53), and the azimuth motor (51) is fixedly connected to the output shaft of the pitch motor (52). The underwater laser radar (5) is installed on the output shaft of the azimuth motor (51) and is used to complete the capture and tracking of the target UUV, timely adjust the light source angle of the underwater laser radar (4) to align with the optical cooperation target (2), measure in real time, and output angle information in real time to complete the positioning of the target UUV. The integrated processing module (6) is used to communicate with the tracking UUV, output distance and angle information, and provide power supply for the tracking UUV and control of the entire system.

2. The underwater laser rendezvous and docking system for an unmanned underwater vehicle according to claim 1, characterized in that: The illumination light source (1) is a blue light source with a wavelength of 450 nm.

3. The underwater laser rendezvous and docking system for an unmanned underwater vehicle according to claim 1, characterized in that: The diameter of the optical co-target (2) is 30 mm.

4. The underwater laser rendezvous and docking system for an unmanned underwater vehicle according to claim 1, characterized in that: The pixel of the CCD detector (31) is not less than 1024×1024, and the viewing angle is 30°.

5. The underwater laser rendezvous and docking system for an unmanned underwater vehicle according to claim 1, characterized in that: The light source of the underwater laser radar (4) is a green laser light source with a wavelength of 532nm, the laser emission repetition rate is not less than 5Hz, the laser receiving aperture is 30mm, the data output frame frequency is 5Hz, and the power supply voltage is 24V.

6. The underwater laser rendezvous and docking system for an unmanned underwater vehicle according to claim 1, characterized in that: The azimuth and elevation angles of the servo mechanism (5) are not less than 30°, and the pointing accuracy is not less than 0.05°.

7. The underwater laser rendezvous and docking system for an unmanned underwater vehicle according to claim 1, characterized in that: The integrated processing module (6) comprises a communication interface (61) and a power supply interface (62), and is respectively connected to the capture and tracking CCD module (3), the underwater laser radar (4), and the servo mechanism (5) through the communication interface (61), and is respectively connected to the capture and tracking CCD module (3), the underwater laser radar (4), and the servo mechanism (5) through the power supply interface (62).

8. A method for using the underwater laser rendezvous and docking system for an unmanned underwater vehicle according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: The target UUV emits an illumination light source (1), the CCD detector (31) of the tracking UUV captures the light source, and the image processing unit (32) performs image processing to obtain the relative angle information of the target UUV, and controls the servo mechanism (5) on the tracking UUV to make the laser light source of the underwater laser radar (4) point to the target UUV, thereby completing the guidance between the target UUV and the tracking UUV; Step 2: guiding the laser beam emitted by the laser emitting unit (41) to illuminate the optical cooperation target (2) on the target UUV, the laser docking unit (42) obtains the laser signal reflected by the optical cooperation target (2), further obtains the deviation between the target UUV and the tracking UUV through the CCD detector (31), adjusts the direction of the laser beam in real time, and completes the closed-loop tracking of the target UUV by the tracking UUV; Step 3: The distance angle calculation unit (44) calculates the distance information between the target UUV and the tracking UUV according to the laser signal emission time and the laser signal reception time of the underwater laser radar (4), and completes the relative angle information between the target UUV and the tracking UUV by obtaining the azimuth and pitch information of the servo mechanism (5), thereby completing the rendezvous and docking between the target UUV and the tracking UUV.

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