Non-imaging communication and navigation integrated receiver for deep sea environment

Abstract

The embodiment of the invention discloses a non-imaging communication and navigation integrated receiver for a deep sea environment. According to one specific embodiment, the non-imaging communication and navigation integrated receiver for the deep sea environment comprises a front cover, a rear cover, a pressure-resistant cylinder, a detector fixing plate, a guide shaft, a threaded shaft and a detector set, and the front cover and the rear cover are arranged at the two ends of the pressure-resistant cylinder; the guide shaft and the threaded shaft are arranged on the inner side of the front cover, the detector fixing plate is fixed in the pressure-resistant cylinder through the guide shaft and the threaded shaft, the detector group is arranged on the detector fixing plate and comprises at least one detector, and the threaded shaft is constructed to be capable of adjusting the position of the detector fixing plate on the guide shaft; the front cover is made of a light-transmitting material, and the detector group is configured to receive incident light from the front cover. According to the communication and navigation integrated receiver for the deep sea environment, imaging equipment is not needed, the complexity of the equipment can be reduced, and the stability and adaptability of the equipment in the deep sea environment can be improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of underwater wireless optical communication technology, and in particular to a non-imaging communication and navigation integrated receiver for deep sea environments. Background Art

[0002] Underwater submersibles play a key role in ocean exploration and resource development. Their autonomous navigation, positioning and communication capabilities directly affect operational efficiency and safety. As the demand for deep-sea exploration grows, improving the communication and navigation capabilities of submersibles in complex environments has become a key focus of technological development. Underwater wireless optical communication technology has attracted attention due to its high bandwidth, low latency and high data transmission rate. In close-range underwater positioning and navigation, especially when docking and performing certain docking tasks, the underwater submersible systems currently used mostly achieve wireless communication and positioning by setting up modules with imaging technology.

[0003] However, when the above methods are used for communication and positioning, the following technical problems often occur:

[0004] The imaging system of an underwater submersible requires high resolution and sensitivity, which increases the complexity of the system and has a high cost. In addition, visual imaging technology is greatly affected by light and water quality, and communication quality will deteriorate when the water quality is poor.

[0005] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure concept and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0006] The content of this disclosure is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0007] Some embodiments of the present disclosure propose a non-imaging communication and navigation integrated receiver for deep sea environments to solve one or more of the technical problems mentioned in the above background technology section.

[0008] Some embodiments of the present disclosure provide a non-imaging communication and navigation integrated receiver for deep sea environment, characterized in that the non-imaging communication and navigation integrated receiver for deep sea environment includes a front cover, a rear cover, a pressure-resistant cylinder, a detector fixing plate, a guide shaft, a threaded shaft and a detector group, wherein the front cover and the rear cover are arranged at both ends of the pressure-resistant cylinder; the guide shaft and the threaded shaft are arranged on the inner side of the front cover, the detector fixing plate is fixed in the pressure-resistant cylinder through the guide shaft and the threaded shaft, the detector group is arranged on the detector fixing plate, the detector group includes at least one detector, and the threaded shaft is configured to be able to adjust the position of the detector fixing plate on the guide shaft; the front cover is made of light-transmitting material, and the detector group is configured to be able to receive incident light from the front cover.

[0009] Optionally, the center position of the rear cover includes a through-bin hole, and the through-bin hole is configured to be capable of setting a through-bin screw.

[0010] Optionally, the front cover includes a fitting groove and a glass body, the center of the fitting groove is a connecting hole, and the glass body is installed in the fitting groove.

[0011] Optionally, the detector fixing plate comprises an edge raised surface structure, the detector fixing plate is provided with at least one edge raised surface structure, and at least one edge raised surface structure is provided with a guide shaft hole and a threaded shaft hole.

[0012] Optionally, at least one guide shaft is provided in the non-imaging communication and navigation integrated receiver for deep sea environment, and the guide shaft is configured to be able to pass through the guide shaft hole.

[0013] Optionally, the detector group includes a first detector, a second detector, a third detector, a fourth detector and an intermediate detector, and the detector group is configured to receive multi-path light.

[0014] Optionally, the middle detector is arranged at the center of the detector fixing plate, and the first detector, the second detector, the third detector and the fourth detector are distributed in a circular array around the middle detector.

[0015] Optionally, the lower ends of the first detector, the second detector, the third detector, the fourth detector and the middle detector are all oriented in different directions.

[0016] Optionally, the threaded shaft includes a motor, the motor is fixed to the inner side of the front cover and connected to the threaded shaft, the motor is configured to adjust the position of the detector panel, and the motor is communicatively connected to the detector group.

[0017] Optionally, the motor is configured to: receive control instructions generated by the single chip microcomputer board; drive the threaded shaft to rotate according to the control instructions so that the detector fixing plate moves along the guide shaft; and stop working when the detector fixing plate moves to a specified position.

[0018] Some embodiments of the present disclosure provide a non-imaging communication and navigation integrated receiver for deep-sea environments, which can provide a detection and communication integrated device that does not require an imaging system, thereby reducing equipment costs while ensuring communication quality. Specifically, the reason why most communication and navigation integrated receivers for deep-sea environments are expensive is that most of the communication and navigation integrated receivers commonly used in deep-sea environments currently achieve wireless communication and positioning by setting up modules with imaging technology, while the imaging system of the communication and navigation integrated receiver for deep-sea environments requires high resolution and sensitivity, which increases the complexity of the system and has a high cost, and the visual imaging technology is greatly affected by light and water quality, and the communication quality will be reduced when the water quality is poor. Based on this, some embodiments of the present disclosure provide a non-imaging communication and navigation integrated receiver for deep sea environment, characterized in that the non-imaging communication and navigation integrated receiver for deep sea environment includes a front cover, a rear cover, a pressure-resistant tube, a detector fixing plate, a guide shaft, a threaded shaft and a detector group, wherein the front cover and the rear cover are arranged at both ends of the pressure-resistant tube; the guide shaft and the threaded shaft are arranged on the inner side of the front cover, the detector fixing plate is fixed in the pressure-resistant tube through the guide shaft and the threaded shaft, the detector group is arranged on the detector fixing plate, the detector group includes at least one detector, and the threaded shaft is configured to be able to adjust the position of the detector fixing plate on the guide shaft; the front cover is made of a light-transmitting material, and the detector group is configured to be able to receive incident light from the front cover. On the one hand, the non-imaging communication and navigation integrated receiver for deep sea environment uses the detector group to replace the imaging system, which reduces the complexity of the equipment, reduces the equipment cost, and improves the stability of the equipment. On the other hand, visual imaging technology has high requirements for lighting conditions and water quality. In the case of insufficient light or poor water quality, the communication effect is greatly reduced. The above-mentioned detector group detects and communicates by receiving light from the deep-sea environment. Compared with the imaging system, this method is relatively less affected by the water quality of the deep-sea environment and has higher environmental adaptability. In this way, while ensuring the basic functions of communication detection, the complexity of the equipment can be reduced and the stability and adaptability of the equipment in the deep-sea environment can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0020] Figure 1 is a schematic diagram of the structure of a non-imaging communication and navigation integrated receiver for deep sea environment according to some embodiments of the present disclosure;

[0021] Figure 2 is a partial cross-sectional view of a non-imaging communication and navigation integrated receiver for deep sea environment according to some embodiments of the present disclosure;

[0022] Figure 3 It is a schematic structural diagram of a detector group and a detector fixing plate of a non-imaging communication and navigation integrated receiver for deep sea environment according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0023] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0024] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0025] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0026] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0027] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0028] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0029] Figure 1 It is a schematic diagram of the structure of a non-imaging communication and navigation integrated receiver for deep sea environment according to some embodiments of the present disclosure. Figure 1It includes a back cover 1, a front cover 2, a glass body 21, a pressure-resistant cylinder 3, a guide shaft 5, a threaded shaft 6, a through hole 7, an information processing board 8 and a single-chip computer board 9.

[0030] Figure 2 It is a partial cross-sectional view of a non-imaging communication and navigation integrated receiver for deep sea environment according to some embodiments of the present disclosure. Figure 2 It includes an engaging groove 22 , a detector group 4 , a first detector 41 , a second detector 42 , a third detector 43 , a fourth detector 44 , an intermediate detector 45 , a threaded shaft 6 , a motor 61 and a detector fixing plate 10 .

[0031] Figure 3 It is a structural diagram of a detector group and a detector fixing plate of a non-imaging communication and navigation integrated receiver for deep-sea environment according to some embodiments of the present disclosure. Figure 3 It includes an edge raised surface structure 101 , a threaded shaft hole 1011 and a guide shaft hole 1012 .

[0032] In some embodiments, a non-imaging communication and navigation integrated receiver for deep-sea environment may include a front cover 2, a rear cover 1, a pressure-resistant cylinder 3, a detector fixing plate 10, a guide shaft 5, a threaded shaft 6 and a detector group 4. The front cover 2 may be used to seal one end of the pressure-resistant cylinder 3. The front cover 2 may be fixed to the pressure-resistant cylinder 3 by interlocking, which is not specifically limited. The rear cover 1 may be used to seal the other end of the pressure-resistant cylinder 3. The rear cover 1 may be fixed to the pressure-resistant cylinder by interlocking, which is not specifically limited. The detector fixing plate 10 may be used to fix the detector group 4. The detector group 4 may be composed of at least one microchannel plate photomultiplier tube (MCP-PMT). The material of the pressure-resistant cylinder 3 may be adjusted according to actual conditions. For example, aluminum alloy may be used in shallow water areas, stainless steel may be used in deep water areas, and titanium alloy may be used in extremely deep areas. It should be noted that Figure 1 The pressure-resistant tube 3 shown is made transparent for the convenience of description, but it is not actually made of a light-transmitting material. The pressure-resistant tube 3 can be used to protect the various components inside the tube to a certain extent. The guide shaft 5 can be used to limit the movable direction of the detector fixing plate 10. The threaded shaft 6 can be a pipe threaded shaft, and the size can meet the requirements without specific limitation. The detector fixing plate 10 can be adjusted in position through the threaded shaft 6.

[0033] In some embodiments, the front cover 2 and the rear cover 1 may be disposed at both ends of the pressure-resistant cylinder 3 to form a space in the pressure-resistant cylinder 3 that is waterproof to a certain extent.

[0034] In some embodiments, the guide shaft 5 and the threaded shaft 6 may be disposed on the inner side of the front cover 2. The detector fixing plate 10 may be fixed in the pressure-resistant cylinder 3 by means of the guide shaft 5 and the threaded shaft 6. The detector group 4 may be disposed on the detector fixing plate 10. The detector group 4 may be disposed on the detector fixing plate 10 in a manner of being embedded. The detector group 4 may be a fixed structure on the detector fixing plate 10. The detector group 4 includes at least one detector. The threaded shaft 6 may be configured to be capable of adjusting the position of the detector fixing plate 10 on the guide shaft. The threaded shaft 6 may drive the detector fixing plate 10 to move bidirectionally along the guide shaft 5 by self-rotation so that the thread drives the detector fixing plate 10.

[0035] In some embodiments, the front cover 2 may be made of a light-transmitting material. The light-transmitting material may be glass. The detector group 4 may be configured to receive incident light from the front cover. The detector group 4 may achieve communication by converting the incident light into an electrical signal.

[0036] Alternatively, if Figure 1 As shown, the center position of the back cover 1 may include a through hole 7. The through hole 7 may be configured to be provided with a through screw. The through hole 7 and the through screw may be used for threading and connecting the non-imaging communication and navigation integrated receiver for deep sea environment in an underwater environment. It should be noted that: Figure 1 The above-mentioned screw for penetrating the chamber is not shown. The above-mentioned screw for penetrating the chamber can be a threading screw or a wide-angle balancing bolt, and the size can be consistent, and no specific limitation is made.

[0037] Alternatively, if Figure 1-2 As shown, the front cover 2 may include a fitting groove 22 and a glass body 21. The center of the fitting groove 22 may be a connecting hole so that incident light can pass through the front cover 2. The glass body 21 may be installed in the fitting groove 22 to ensure the waterproof effect in the pressure-resistant cylinder 3 to a certain extent. It should be noted that the Figure 2 Only the pressure-resistant cylinder 3, the front cover 2 and the rear cover 1 are cut away, and the other internal components are not cut away.

[0038] Alternatively, if Figure 2-3 As shown, the detector fixing plate 10 may include an edge raised surface structure 101. The detector fixing plate 10 may include at least one edge raised surface structure 101. For example, Figure 2As shown, two edge raised surface structures 101 may be provided on the detector fixing plate 10, and at least one edge raised surface structure may be provided with a guide shaft hole 1012 and a threaded shaft hole 1011. The guide shaft hole 1012 may be used to set the guide shaft 5. The threaded shaft hole 1011 may be used to set the threaded shaft 6. The threaded shaft hole 1011 may be provided with a thread matching the threaded shaft 6, so that the detector fixing plate 10 may be adjusted in position through the threaded shaft 6.

[0039] Alternatively, if Figure 1 As shown, at least one guide shaft 5 may be provided in the non-imaging communication and navigation integrated receiver for deep sea environment. Figure 1 As shown, two guide shafts 5 may be provided. The two guide shafts 5 may be located at opposite positions on both sides of the detector fixing plate 10. The guide shaft 5 may be configured to pass through the guide shaft hole 1012.

[0040] Alternatively, if Figure 2 As shown, the detector group 4 may include a first detector 41, a second detector 42, a third detector 43, a fourth detector 44 and an intermediate detector 45. The first detector 41, the second detector 42, the third detector 43, the fourth detector 44 and the intermediate detector 45 may all be microchannel plate photomultiplier tubes (MCP-PMTs), which are not specifically limited. The detector group 4 may be configured to receive multiple light beams.

[0041] Alternatively, if Figure 2 As shown, the middle detector 45 can be arranged at the center of the detector fixing plate 10. The first detector 41, the second detector 42, the third detector 43 and the fourth detector 44 are arranged in a circular array around the middle detector so that each detector can receive the incident light more fully.

[0042] Alternatively, if Figure 2 As shown, the lower ends of the first detector 41, the second detector 42, the third detector 43, the fourth detector 44 and the middle detector 45 are all oriented in different directions, so that the detector group 4 can receive incident light from different directions. Figure 2 As shown, the upper end surface of the middle detector 45 can be parallel to the upper end surface of the detector fixing plate 10. The first detector 41, the second detector 42, the third detector 43 and the fourth detector 44 all have an angle difference with the middle detector 45, and the angle difference is not specifically limited and can be adjusted as needed, as long as the angle differences between the detectors are different.

[0043] Alternatively, if Figure 1-2As shown, the threaded shaft 6 may include a motor 61. The motor 61 may be a stepping motor. The motor 61 and the threaded shaft 6 may be connected by a ball screw, and the motor 61 may be used to rotate the threaded shaft 6 to drive the detector fixing plate 10. The motor 61 may be fixed inside the front cover 2 and may be connected to the threaded shaft 6. The motor 61 may be configured to adjust the position of the detector panel 10.

[0044] Optionally, the motor 61 may be configured as follows:

[0045] The first step is to receive the control instruction generated by the single-chip microcomputer board 9. The single-chip microcomputer of the single-chip microcomputer board 9 can be a STM32 series single-chip microcomputer. It should be noted that Figure 1 The single-chip microcomputer board 9 shown is only a simplified structure, and no specific details are drawn. The control instruction can be a direction control signal. The direction control signal can be used to control the motor 61 to drive the threaded shaft 6 to rotate. For example, the state of the switch tube in the H-bridge drive circuit can be controlled by setting the state of the GPIO (general input and output port) to achieve forward rotation, reverse rotation and braking of the motor 61. The control instruction can be to make the motor 61 drive the threaded shaft 6 to rotate counterclockwise or clockwise, so as to drive the controller fixing plate 10 to move forward or backward along the guide shaft 5.

[0046] In the second step, the threaded shaft 6 is driven to rotate according to the control command, so that the detector fixing plate moves along the guide shaft 5. For example, when the threaded shaft 6 rotates clockwise, the controller fixing plate 10 moves forward along the guide shaft 5, and when the threaded shaft 6 rotates counterclockwise, the controller fixing plate 10 moves backward along the guide shaft 5.

[0047] The third step is to stop working when the detector fixing plate 10 moves to the designated position. The designated position can be a position where each detector in the detector group can normally receive the incident light. In practice, since the incident light from the front cover 2 may be partially blocked by the edge of the front cover 2, this may cause each detector in the detector group 4 to not receive the incident light normally. Therefore, the designated position can be judged according to the intensity of the incident light that can be received. Among them, the incident light intensity refers to the total energy of photons incident on a unit area of ​​metal along the propagation direction of light per unit time, and its international unit is candela, abbreviated as cd. The stronger the intensity of the incident light, the stronger the photocurrent generated by the photoelectric effect. The incident light intensity can be determined according to the electrical signal intensity generated by the detectors in different directions in the detector group 4, within the range where each detector in the detector group 4 can normally receive the incident light. The above judgment of the optical signal can be performed by setting an FPGA board in the pressure-resistant cylinder 3, and the relevant position information can be sent to the single-chip computer board 9.

[0048] Alternatively, if Figure 1 As shown, the non-imaging communication and navigation integrated receiver for deep sea environment may further include an information processing board 8. The information processing board 8 may be an FPGA board. It should be noted that Figure 1 The information processing board 8 shown is only a simplified structure, and no specific details are drawn. The information processing board 8 can be used for signal processing. The information processing board 8 can be set on the back cover 1. Each detector in the detector group 4 is configured to perform the following steps:

[0049] In the first step, incident light is received from the front cover 2 to obtain a preliminary light information signal. Each detector in the detector group 4 may be the first detector 41, the second detector 42, the third detector 43, the fourth detector 44 and the intermediate detector 45. Each detector in the detector group 4 may receive incident light at the same time. In practice, the detector may receive incident light through a target surface included in the detector.

[0050] The second step is to convert the preliminary light signal into preliminary photoelectrons to obtain preliminary photoelectron signals. In practice, when light irradiates the photocathode of the detector, the photoelectric effect causes the photocathode to generate photoelectrons.

[0051] The third step is to pre-process the preliminary photoelectron signal to obtain a preliminary electrical signal. In practice, the photoelectrons are pulled into the MCP capillary tube in the detector under the action of the electric field, collide with the inner wall, and repeatedly multiply to obtain the preliminary electrical signal.

[0052] The fourth step is to send the preliminary electrical signal to the information processing board 8. In practice, the information processing board 8 can be configured to determine the deviation position of the incident light according to the received preliminary electrical signals to obtain the light source evaluation information. In practice, the orientations of the detectors in the detector group 4 are different, and the incident light from different directions can be received, providing a basis for the judgment of the intensity of the light source. The judgment of the deviation position of the incident light can be based on the intermediate detector 45. The light source position evaluation information can include the intensity of the incident light. The light source position evaluation information is sent to the single chip computer board 9. The single chip computer board 9 is configured to drive the motor 61 to drive the threaded shaft to rotate.

[0053] The fifth step is to move to the target position through the motor 61. In practice, the target position is the position where each detector in the detector group 4 can receive light. The information processing board 8 can receive the incident light intensity contained in the light source position evaluation information, and determine the position within the movable range where each detector in the detector group 4 can normally receive the incident light based on the incident light intensity analysis. The coordinate information of the position where each detector in the detector group 4 can normally receive the incident light is sent to the single chip board 9, and the single chip board 9 can drive the motor 61 according to the coordinate information to drive the detector fixing plate 10 to move to the target position.

[0054] Step 6: receiving the incident light at the target position from the front cover to obtain an optical signal. In practice, the specific implementation of this step can refer to the first step.

[0055] The seventh step is to convert the optical signal into photoelectrons to obtain photoelectron signals. In practice, the specific implementation of this step can refer to the second step above.

[0056] The eighth step is to pre-process the photoelectron signal to obtain an electrical signal. In practice, the specific implementation of this step can refer to the third step above.

[0057] The ninth step is to send the electrical signal and channel information to the information processing board 8. The electrical signal may include a saturation parameter, and the channel information may include a secondary emission function shape parameter and a DC parameter charge. The saturation parameter may be the ratio of the charge consumed by the input pulse within a certain period of time to the charge initially stored in the detector channel. Secondary emission may refer to the fact that when an electron hits the surface of the detector, more electrons can be excited. The secondary emission function shape parameter may be used to describe the efficiency or characteristics of the secondary emission process. The secondary emission function shape parameter is related to the physical properties, structural design and operating voltage of the detector material. The DC parameter charge may be the charge stored inside the detector when there is no signal input or the charge transfer characteristics under DC conditions. This parameter plays a normalizing role in the gain calculation to ensure that the gain calculation matches the DC characteristics of the detector.

[0058] The technical solutions of the first step to the eighth step are an inventive point of the embodiment of the present disclosure, which solves the technical problem that "the quality of the optical signal received by the integrated communication and navigation device underwater is poor, the position of the incident light cannot be adjusted, and the flexibility is poor". If the above factors are solved, the problem that the integrated communication and navigation device cannot adjust the position of the incident light and has poor flexibility is solved. In order to achieve this effect, the present disclosure adjusts the position of the detector fixing plate through the following steps: First, the incident light is received from the front cover to obtain a preliminary light information signal. Thus, the detector group obtains the optical signal at the initial position. Then, the preliminary optical signal is converted into preliminary photoelectrons to obtain preliminary photoelectron signals. Thus, the detector group obtains the photoelectron signal at the initial position. Then, the preliminary photoelectron signal is preprocessed to obtain a preliminary electrical signal. Thus, the detector group obtains the electrical signal at the initial position. Then, the preliminary electrical signal is sent to the information processing board. Among them, the information processing board is configured to be able to judge the deviation position of the incident light according to each received preliminary electrical signal, obtain light source evaluation information, and send the light source position evaluation information to the single-chip microcomputer board. The above-mentioned single-chip computer board is configured to be able to drive the above-mentioned motor to drive the above-mentioned threaded shaft to rotate. As a result, the above-mentioned information processing board receives the electrical signal to be processed. Then, the above-mentioned motor moves to the target position, wherein the above-mentioned target position is the position where each detector of the above-mentioned detector group can receive light. As a result, the above-mentioned detector group can receive the incident light again at a relatively most suitable place. Then, the incident light is received from the above-mentioned front cover at the above-mentioned target position to obtain a light signal. As a result, the incident light can be obtained at the updated position. Then, the above-mentioned light signal is converted into photoelectrons to obtain a photoelectron signal. As a result, the photoelectron signal can be obtained at the updated position. Then, the above-mentioned photoelectron signal is preprocessed to obtain an electrical signal. As a result, the electrical signal can be obtained at the updated position. Finally, the above-mentioned electrical signal and channel information are sent to the above-mentioned information processing board, wherein the above-mentioned electrical signal includes a saturation parameter, and the above-mentioned channel information includes a secondary emission function shape parameter and a DC parameter charge amount. As a result, the information processing board can process electrical signals with higher quality. The above steps enable the integrated communication and navigation device to fine-tune the position of receiving light through the cooperation of the motor, the detector group and the information processing board to improve the reception quality of the incident light. Thus, the position where the integrated communication and navigation device receives the incident light can be adjusted to improve the flexibility of the receiver.

[0059] Optionally, the information processing board 8 may be configured to process the electrical signal by the following steps:

[0060] The first step is to receive the electrical signals sent by the first detector 41, the second detector 42, the third detector 43, the fourth detector 44 and the intermediate detector 45 in the detector group 4 to obtain an electrical signal set. In practice, the acquisition position of the electrical signal set is the target position.

[0061] The second step is to receive the channel information of the first detector 41, the second detector 42, the third detector 43, the fourth detector 44 and the intermediate detector 45 to obtain a channel information set. In practice, the channel information set may be composed of the channel information of the first detector 41, the second detector 42, the third detector 43, the fourth detector 44 and the intermediate detector 45 in the detector group 4.

[0062] In the third step, according to the electrical signal set and the channel information set, the channel gain values ​​of the first detector 41, the second detector 42, the third detector 43, the fourth detector 44 and the intermediate detector 45 are obtained to obtain a channel gain value set. Each channel gain value in the gain value set may correspond to each electrical signal in the electrical signal set. For example, the electrical signal emitted by the first detector 41 corresponds to the channel gain value of the first detector 41. In practice, the channel gain value g n It can be calculated by the gain formula, which can be shown as follows:

[0063]

[0064] Among them, the above G n It can be the shape parameter of the secondary emission function of the nth detector, which is a fixed parameter of each detector. n It can be the DC parameter charge of the nth detector, which is a fixed parameter of each detector. n It can be the saturation parameter of the nth detector. The above n is the detector serial number. The above saturation parameter can be the ratio of the amount of charge consumed by the input pulse within a certain period of time to the amount of charge initially stored in the above detector channel. The above saturation parameter is positively correlated with the electrical signal in the above electrical signal set. The higher the intensity of the above electrical signal, the longer the duration and the higher the frequency, the greater the saturation parameter.

[0065] The fourth step is to perform complex conjugate processing on each channel gain value in the above-mentioned channel gain value set to obtain a weight coefficient set. The above-mentioned complex conjugate processing can be a basic operation on complex numbers in mathematics, which can be to negate the imaginary part of a complex number. In practice, each weight coefficient in the above-mentioned weight coefficient set corresponds to each electrical signal in the above-mentioned electrical signal set. For example, the channel gain value of the above-mentioned first detector 41 is subjected to complex conjugate processing to obtain the weight coefficient of the above-mentioned first detector 41. The saturation parameter in the channel gain value of the above-mentioned first detector 41 is affected by the electrical signal emitted by the above-mentioned first detector 41.

[0066] The fifth step is to perform weighted processing on each electrical signal in the electrical signal set according to the weight coefficient set to obtain a weighted electrical signal set, wherein the weight coefficient corresponding to each electrical signal may be the weight coefficient corresponding to the electrical signal in the weight coefficient set.

[0067] In the seventh step, each weighted electrical signal in the weighted electrical signal set is combined to obtain a combined weighted electrical signal. The combination may be the sum of the weighted electrical signals of the first detector 41, the second detector 42, the third detector 43, the fourth detector 44 and the intermediate detector 45. In practice, the combined weighted electrical signal may be further optimized by maximizing the signal-to-noise ratio (SNR).

[0068] Step 8: Decode the combined weighted electrical signal to obtain communication data. The decoding is the process of converting the received electrical signal back into digital information. The decoding process may include steps such as demodulation, decryption, and error correction to ensure the integrity and accuracy of the data.

[0069] The technical solutions of the first step to the eighth step are an inventive point of an embodiment of the present disclosure, which solves the technical problem of "poor communication quality in the case of a large number of receiving optical paths in a deep-sea environment". If the above factors are solved, the problem of poor underwater communication quality will be solved. In order to achieve this effect, the present disclosure processes the received electrical signal set through the following steps: First, the electrical signals emitted by the above-mentioned first detector, the above-mentioned second detector, the above-mentioned third detector, the above-mentioned fourth detector and the above-mentioned intermediate detector in the above-mentioned detector group are received to obtain an electrical signal set. Thus, electrical signals from detectors in different directions are received. Then, the channel information of the above-mentioned first detector, the above-mentioned second detector, the above-mentioned third detector, the above-mentioned fourth detector and the above-mentioned intermediate detector is received to obtain a channel information set. Thus, preparations can be made for the subsequent weight coefficient calculation. Then, according to the above-mentioned electrical signal set and the channel information set, the channel gain values ​​of the above-mentioned first detector, the above-mentioned second detector, the above-mentioned third detector, the above-mentioned fourth detector and the above-mentioned intermediate detector are obtained to obtain a channel gain value set. Then, each channel gain value in the above-mentioned channel gain value set is subjected to complex conjugate processing to obtain a weight coefficient set. Then, according to the above-mentioned weight coefficient set, each electrical signal in the above-mentioned electrical signal set is weighted to obtain a weighted electrical signal set. Then, each weighted electrical signal in the above-mentioned weighted electrical signal set is merged to obtain a merged weighted electrical signal. In this way, the optical signals detected by detectors in different directions can be integrated. Finally, the above-mentioned merged weighted electrical signal is decoded to obtain communication data. In this way, high-quality communication data is obtained. The above steps can again utilize the detectors in different directions on the above-mentioned detector fixing plate, and combine with relevant algorithms to optimize the communication quality. In this way, multi-directional detectors can be fully utilized to improve the quality of underwater communications.

[0070] Some embodiments of the present disclosure provide a non-imaging communication and navigation integrated receiver for deep-sea environments, which can provide a detection and communication integrated device that does not require an imaging system, thereby reducing equipment costs while ensuring communication quality. Specifically, the reason why most communication and navigation integrated receivers for deep-sea environments are expensive is that most of the communication and navigation integrated receivers commonly used in deep-sea environments currently achieve wireless communication and positioning by setting up modules with imaging technology, while the imaging system of the communication and navigation integrated receiver for deep-sea environments requires high resolution and sensitivity, which increases the complexity of the system and has a high cost, and the visual imaging technology is greatly affected by light and water quality, and the communication quality will be reduced when the water quality is poor. Based on this, some embodiments of the present disclosure provide a non-imaging communication and navigation integrated receiver for deep sea environment, characterized in that the non-imaging communication and navigation integrated receiver for deep sea environment includes a front cover, a rear cover, a pressure-resistant tube, a detector fixing plate, a guide shaft, a threaded shaft and a detector group, wherein the front cover and the rear cover are arranged at both ends of the pressure-resistant tube; the guide shaft and the threaded shaft are arranged on the inner side of the front cover, the detector fixing plate is fixed in the pressure-resistant tube through the guide shaft and the threaded shaft, the detector group is arranged on the detector fixing plate, the detector group includes at least one detector, and the threaded shaft is configured to be able to adjust the position of the detector fixing plate on the guide shaft; the front cover is made of a light-transmitting material, and the detector group is configured to be able to receive incident light from the front cover. On the one hand, the non-imaging communication and navigation integrated receiver for deep sea environment uses the detector group to replace the imaging system, which reduces the complexity of the equipment, reduces the equipment cost, and improves the stability of the equipment. On the other hand, visual imaging technology has high requirements for lighting conditions and water quality. In the case of insufficient light or poor water quality, the communication effect is greatly reduced. The above-mentioned detector group detects and communicates by receiving light from the deep-sea environment. Compared with the imaging system, this method is relatively less affected by the water quality of the deep-sea environment and has higher environmental adaptability. In this way, while ensuring the basic functions of communication detection, the complexity of the equipment can be reduced and the stability and adaptability of the equipment in the deep-sea environment can be improved.

[0071] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A non-imaging communication and navigation integrated receiver for deep sea environment, characterized in that: The non-imaging communication and navigation integrated receiver for deep sea environment comprises a front cover, a rear cover, a pressure-resistant cylinder, a detector fixing plate, a guide shaft, a threaded shaft and a detector group, wherein: The front cover and the rear cover are arranged at two ends of the pressure-resistant cylinder; The guide shaft and the threaded shaft are arranged on the inner side of the front cover, the detector fixing plate is fixed in the pressure-resistant cylinder through the guide shaft and the threaded shaft, the detector group is arranged on the detector fixing plate, the detector group includes at least one detector, and the threaded shaft is configured to be able to adjust the position of the detector fixing plate on the guide shaft; The front cover is made of a light-transmitting material, and the detector group is configured to receive incident light from the front cover.

2. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 1, characterized in that: The center position of the rear cover includes a through-bin hole, and the through-bin hole is configured to be able to set a through-bin screw.

3. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 1, characterized in that: The front cover comprises an embedding groove and a glass body, the center of the embedding groove is a communicating hole, and the glass body is installed in the embedding groove.

4. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 1, characterized in that: The detector fixing plate comprises an edge raised surface structure, the detector fixing plate is provided with at least one edge raised surface structure, and at least one edge raised surface structure is provided with a guide shaft hole and a threaded shaft hole.

5. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 4, characterized in that: At least one guide shaft is arranged in the non-imaging communication and navigation integrated receiver for deep sea environment, and the guide shaft is constructed to be able to pass through the guide shaft hole.

6. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 1, characterized in that: The detector group includes a first detector, a second detector, a third detector, a fourth detector and an intermediate detector, and the detector group is configured to receive multi-path light.

7. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 6, characterized in that: The middle detector is arranged at the center of the detector fixing plate, and the first detector, the second detector, the third detector and the fourth detector are distributed in a circular array around the middle detector.

8. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 7, characterized in that: The lower ends of the first detector, the second detector, the third detector, the fourth detector and the middle detector are all oriented in different directions.

9. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 8, characterized in that: The threaded shaft includes a motor, which is fixed inside the front cover and connected to the threaded shaft. The motor is configured to adjust the position of the detector panel, and the motor is communicatively connected to the detector group.

10. The non-imaging communication and navigation integrated receiver for deep sea environment according to claim 9, characterized in that: The motor is configured to: Receive control instructions generated by the microcontroller board; driving the threaded shaft to rotate according to the control instruction so that the detector fixing plate moves along the guide shaft; When the detector fixing plate moves to a specified position, the detector stops working.

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