Acousto-optic cooperative underwater target detection method and detection device
By combining laser vibration measurement technology with underwater active acoustic technology, laser vibration measurement equipment is used to measure water surface vibration information, the existing underwater target detection methods have solved the problem of single detection methods and low detection efficiency, and the accurate detection and efficient detection of underwater targets have been achieved.
Patent Information
- Application Number
- CN202510482905.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-17
- Publication Date
- 2025-06-13
AI Technical Summary
The existing underwater target detection methods have single detection methods. The pure acoustic detection method carries ships or underwater vehicles, with slow navigation speed and low detection efficiency; the pure optical detection method has a close detection distance.
Combining laser vibration measurement technology with underwater active acoustic technology, high-frequency acoustic signals are emitted through underwater sound sources, and the target reflects sound waves to cause water surface vibration. The laser vibration measurement equipment is used to measure the water surface vibration information to achieve accurate detection of underwater targets.
It achieves accurate detection of underwater targets, with long detection distance, high detection efficiency and high signal-to-noise ratio, and is suitable for flexible platforms equipped with drones or manned aircraft.
Smart Images
Figure CN120143299A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of acousto-optic cross fusion, and particularly relates to an acousto-optic collaborative underwater target detection method and detection device. Background Art
[0002] Optical detection methods and acoustic detection methods are two important means of underwater target detection technology. The optical detection method generally directly uses an optical detection device to directly measure the water surface, receives the reflected light wave of the target, and demodulates the signal of the reflected light wave to achieve precise detection of underwater targets.
[0003] The advantages of optical detection technology are high flexibility of the carrying platform and high detection efficiency. However, due to the severe attenuation of light underwater, the detection distance is limited.
[0004] The acoustic detection method is to actively emit acoustic signals through a sonar device, receive the scattered echo of the acoustic wave reflected on the target surface, and estimate the contour and scattering intensity of the target to achieve acoustic detection of underwater targets. The advantage of acoustic detection technology is the long detection distance. However, sonars usually need to be carried on ships or underwater vehicles for detection, and the navigation speed is slow, which greatly limits the detection efficiency. Especially for fast-moving underwater targets, effective detection and tracking cannot be achieved.
[0005] Whether it is the optical detection method or the acoustic detection method, there are defects in a single detection system. Summary of the Invention
[0006] The present invention aims to solve the technical problems in the prior art that the existing underwater target detection methods have a single detection means, the pure acoustic detection method generally needs to be carried on a ship or an underwater vehicle with a slow navigation speed and low detection efficiency; the pure optical detection method has a short detection distance. By combining the laser vibration measurement technology with the underwater active acoustic technology, an acousto-optic collaborative underwater target detection method and detection device are provided.
[0007] To solve the above technical problems, the technical solution of the present invention is specifically as follows:
[0008] An acousto-optic collaborative underwater target detection device includes: a laser vibration measurement device and an underwater active acoustic device;
[0009] The laser vibration measurement device includes: a transceiver integrated lens, a laser vibration measurement device, a signal acquisition card, and an industrial control computer connected in sequence;
[0010] The underwater active acoustic device includes: a power supply, an acoustic signal driving source, a power amplifier, and an underwater sound source connected in sequence; the power supply is used to supply power to the acoustic signal driving source; the acoustic signal driving source is used to drive the underwater sound source to actively emit acoustic wave signals; the power amplifier is used to amplify the driving signal emitted by the acoustic signal driving source;
[0011] The underwater sound source is disposed in the water medium; the power supply, the sound signal driving source, the power amplifier, the transceiver integrated lens, the laser vibration measuring device, the signal acquisition card, and the industrial control computer are respectively disposed in the air medium; an underwater target is also provided in the water medium;
[0012] The underwater target is used to actively emit sound, and the generated signal frequency is much higher than the frequency generated by the natural fluctuation of the water surface itself;
[0013] The transceiver integrated lens is used to emit signal laser and receive the reflected light signal containing vibration frequency information;
[0014] The laser vibration measuring device is used to measure the vibration of the water surface, and the measured water surface vibration signal enters the industrial control computer through the signal acquisition card.
[0015] In the above technical solution, the acoustic wave signal emitted by the underwater sound source has a divergence angle.
[0016] In the above technical solution, the laser vibration measuring device uses a near-infrared laser light source as the signal light. Taking wavelengths such as 1064nm, 1310nm, and 1550nm as examples, a visible light laser light source is used as the indicating light. Taking wavelengths such as 532nm, 632nm, and 655nm as examples.
[0017] In the above technical solution, the laser vibration measuring device uses a near-infrared laser light source with a wavelength of 1064nm, 1310nm, or 1550nm as the signal light; a laser light source in the visible light spectrum with a wavelength of 532nm, 632nm, or 655nm is used as the indicating light.
[0018] In the above technical solution, the sound signal driving source emits a single high-frequency sine wave signal, and the frequency selection range is: 200 - 5000Hz.
[0019] In the above technical solution, a database of characteristic frequency information is provided in the industrial control computer.
[0020] A detection method applicable to the above acousto-optic collaborative underwater target detection device includes the following steps:
[0021] First, initialize the acousto-optic collaborative underwater target detection device;
[0022] The laser vibration measuring device measures the vibration data of the water surface, and after demodulating the reflected light, obtains the water surface vibration frequency information:
[0023] If there is a high-frequency component in the water surface vibration frequency information detected by the laser vibration measuring device, it is compared with the characteristic frequency in the database. If the database also has the target characteristic frequency information, the underwater target detection is completed at this time; if the database does not have the underwater target characteristic frequency information, the detected water surface vibration frequency information is added to the target characteristic database.
[0024] If there is no high - frequency component in the water surface vibration frequency detected by the laser vibration measuring device, turn on the switches of the power supply, acoustic signal driving source, and power amplifier. The underwater sound source emits high - frequency acoustic signals. The underwater acoustic wave signals are reflected by the underwater target and generate high - frequency micro - vibration signals on the water - air surface. Use the laser vibration measuring device to measure and demodulate the water surface vibration signals: If high - frequency components are detected in the water surface vibration signals, compare them with the characteristic frequencies in the database. If the target characteristic frequency information also exists in the database, the detection of the underwater target is completed at this time; if the target characteristic frequency information does not exist in the database, add the detected water surface vibration frequency information to the target characteristic database; if no high - frequency components are detected in the water surface vibration signals, it is determined that there is no underwater target.
[0025] The present invention has the following beneficial effects:
[0026] The acoustic - optic collaborative underwater target detection method of the present invention combines laser coherent vibration measurement technology with underwater active acoustic technology. The frequency of the underwater sound source signal is the same as the vibration frequency of the water surface wave caused by the vibration of the target - reflected sound source. Use optical vibration measurement technology to measure the water surface vibration information, and through the water surface vibration characteristics directly or indirectly caused by the underwater target and the propagation mechanism of sound in the medium, achieve precise detection of underwater targets.
[0027] The acoustic - optic collaborative underwater target detection method of the present invention adopts the method of combining underwater active acoustics and optical vibration measurement technology. It can detect underwater sound - emitting targets through optical vibration measurement, and can also detect underwater non - sound - emitting targets through the combination of underwater active acoustics and optical vibration measurement.
[0028] The acoustic - optic collaborative underwater target detection device of the present invention can be carried by an unmanned aerial vehicle / manned aircraft. The carrying platform is flexible and mobile. The acoustic - optic collaborative detection device has the advantages of long detection distance, high detection efficiency, and high signal - to - noise ratio. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] The present invention will be further described in detail below with reference to the drawings and specific embodiments.
[0030] Figure 1 It is a schematic structural diagram of the acoustic - optic collaborative underwater target detection device of the present invention.
[0031] Figure 2 It is a schematic detection flow diagram of the acoustic - optic collaborative underwater target detection method of the present invention.
[0032] The reference numerals in the drawings are shown as:
[0033] 1 - power supply, 2 - acoustic signal driving source, 3 - power amplifier, 4 - air medium, 5 - water medium,
[0034] 6 - Underwater sound source, 7 - Underwater target, 8 - Transceiver integrated lens, 9 - Laser vibration measurement device,
[0035] 10 - Signal acquisition card, 11 - Industrial control computer. Detailed implementation mode
[0036] The inventive concept of the present invention is as follows:
[0037] The acoustic - optical collaborative underwater target detection method and detection device of the present invention combine laser vibration measurement with underwater active acoustic technology. An underwater active acoustic device is used to generate high - frequency underwater acoustic wave signals. The acoustic wave signals are reflected on the surface of the underwater target, and the reflected acoustic waves generate weak high - frequency vibration ripples on the water - air surface. The laser vibration measurement device detects the information of the water surface vibration ripples to obtain the vibration ripple signals. The underwater propagation process of the acoustic wave signals has the characteristics of constant frequency and energy attenuation. Therefore, the water surface vibration signals with the same frequency as the active acoustic device can be detected by the laser vibration measurement device. At the same time, the platform carrying the laser vibration measurement device is flexible and mobile, and the acoustic - optical collaborative underwater target detection system has the advantages of high detection accuracy, long detection distance, and high detection efficiency.
[0038] The present invention will be described in detail below with reference to the accompanying drawings.
[0039] See Figure 1 , the acoustic - optical collaborative underwater target detection device of the present invention includes two parts: a laser vibration measurement device and an underwater active acoustic device. The laser vibration measurement device includes, connected in sequence: a transceiver integrated lens 8, a laser vibration measurement device 9, a signal acquisition card 10, and an industrial control computer 11; the underwater active acoustic device includes, connected in sequence: a power supply 1, an acoustic signal driving source 2, a power amplifier 3, and an underwater sound source 6.
[0040] The underwater sound source 6 is arranged in the water medium 5; an underwater target 7 is also arranged in the water medium 5; the power supply 1, the acoustic signal driving source 2, the power amplifier 3, the transceiver integrated lens 8, the laser vibration measurement device 9, the signal acquisition card 10, and the industrial control computer 11 are respectively arranged in the air medium 4. The power supply 1 is used to supply power to the acoustic signal driving source 2; the acoustic signal driving source 2 is used to drive the underwater sound source 6 to actively emit acoustic wave signals; the power amplifier 3 is used to amplify the driving signals sent by the acoustic signal driving source 2; the underwater target 7 is used to actively generate sound, and the generated signal frequency is much higher than the frequency generated by the natural fluctuation of the water surface itself; the transceiver integrated lens 8 is used to emit signal laser and receive the reflected light signal containing vibration frequency information; the laser vibration measurement device 9 is used to measure the vibration of the water surface, and the measured water surface vibration signals enter the industrial control computer 11 through the signal acquisition card 10.
[0041] In the laser vibration measurement device 9, a laser light source in the near-infrared spectral band is generally used as the signal light, and a laser light source in the visible spectral band is used as the indicating light. Specifically, the laser vibration measurement device uses a near-infrared laser light source as the signal light, taking wavelengths such as 1064 nm, 1310 nm, and 1550 nm as examples; and uses a visible-light laser light source as the indicating light, taking wavelengths such as 532 nm, 632 nm, and 655 nm as examples.
[0042] For the underwater active acoustic device, different sound source powers can be designed according to information such as the depth to be detected, the target size, and the target characteristics. Generally speaking, the detection ability of a high-power sound source is stronger, and the amplitude of the water surface vibration ripples caused by the target reflecting sound waves is also larger, making it easier to detect. The acoustic signal driving source 2, as the sound source driving device, generally emits a single high-frequency sine wave signal, and the selectable frequency range is 200 - 5000 Hz, and the specific frequency can be changed according to the detection requirements. In this specific embodiment, the frequency of the high-frequency sine wave signal is selected as 2000 Hz.
[0043] The acoustic-optical collaborative underwater target detection device of the present invention has two working modes:
[0044] (1) When detecting an underwater actively sounding target, the laser vibration measurement device 9 is directly used to measure the vibration of the water surface. Generally, the signal frequency generated by the artificial underwater target 7 actively emitting sound is much higher than the frequency generated by the water surface's own fluctuations. As long as the laser vibration measurement device 9 detects the high-frequency vibration characteristic information, it indicates the existence of an actively sounding underwater target 7. The water surface vibration signal enters the industrial control computer 11 through the signal acquisition card 10, and the existing database in the industrial control computer 11 is used to compare and analyze the detected water surface vibration characteristic information. If the detected characteristic frequency information exists in the database, the detection of the underwater target 7 is completed at this time; if the detected characteristic frequency information does not exist in the database, the detected characteristic frequency information of the underwater target 7 needs to be added to the database.
[0045] (2) When detecting an underwater non-sounding target, the switches of the power supply 1 and the acoustic signal driving source 2 are turned on, and the underwater sound source 6 actively emits an acoustic signal. Since the acoustic signal emitted by the underwater sound source 6 has a divergence angle, an underwater scanning mechanism can be installed if necessary to achieve underwater full-domain scanning detection. The acoustic signal is reflected on the surface of the underwater target 7, and the reflected acoustic wave generates vibration ripples at the water-air interface of the water medium 5 and the air medium 4. The laser vibration measurement device 9 detects the water surface vibration ripples, and the detection process is the same as the first mode.
[0046] The following combines Figure 1 to introduce and illustrate the acoustic-optical collaborative underwater target detection method of the present invention, that is, the detection process of the above-mentioned acoustic-optical collaborative underwater target detection device, which is specifically as follows:
[0047] First, initialize the acoustic-optical collaborative underwater target detection device;
[0048] The laser vibration measurement device 9 measures the vibration data of the water surface, and obtains the water surface vibration frequency information after demodulating the reflected light:
[0049] If there are high-frequency components in the water surface vibration frequency information detected by the laser vibration measurement device 9, it is compared with the characteristic frequencies in the database. If the target characteristic frequency information also exists in the database, the underwater target 7 is detected at this time; if the underwater target 7 characteristic frequency information does not exist in the database, the detected water surface vibration frequency information is added to the target characteristic database. Generally, the high-frequency components are distributed in the range of dozens to 10KHz, but it is not excluded that the high-frequency vibration signals generated by special targets exceed this range.
[0050] If there are no high-frequency components in the water surface vibration frequency detected by the laser vibration measurement device 9, the switches of the power supply 1, the acoustic signal driving source 2 and the power amplifier 3 are turned on, and the underwater sound source 6 emits high-frequency acoustic signals (a line scanning mechanism can be added if necessary to achieve underwater full-domain line scanning detection). The underwater acoustic wave signals are reflected by the underwater target 7, generating high-frequency micro-vibration signals on the water-air surface; the laser vibration measurement device 9 is used to measure and demodulate the water surface vibration signals: if high-frequency components exist in the detected water surface vibration signals, they are compared with the characteristic frequencies in the database. If the target characteristic frequency information also exists in the database, the detection of the underwater target 7 is completed at this time; if the target characteristic frequency information does not exist in the database, the detected water surface vibration frequency information is added to the target characteristic database. If no high-frequency components exist in the detected water surface vibration signals, it is determined that there is no underwater target 7.
[0051] The acoustic-optic collaborative underwater target detection method of the present invention combines the laser coherent vibration measurement technology with the underwater active acoustic technology. The frequency of the underwater sound source signal is the same as the vibration frequency of the water surface wave caused by the vibration of the target reflected sound source. The optical vibration measurement technology is used to measure the water surface vibration information, and the accurate detection of the underwater target is realized through the water surface vibration characteristics directly or indirectly caused by the underwater target and the propagation mechanism of sound in the medium.
[0052] The acoustic-optic collaborative underwater target detection method of the present invention adopts the combination of underwater active acoustics and optical vibration measurement technology. It can detect the underwater sound-emitting target by optical vibration measurement, and can also detect the underwater non-sound-emitting target by combining underwater active acoustics and optical vibration measurement.
[0053] The acoustic-optic collaborative underwater target detection device of the present invention can be carried by an unmanned aerial vehicle / maned aircraft. The carrying platform is flexible and mobile. The acoustic-optic collaborative detection device has the advantages of long detection distance, high detection efficiency and high signal-to-noise ratio.
[0054] Obviously, the above embodiments are merely examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.
Claims
1. An acoustic-optical coordinated underwater target detection device, characterized in that: include: Laser vibrometers and underwater active acoustic devices; The laser vibration measuring device comprises: a transceiver integrated lens (8), a laser vibration measuring device (9), a signal acquisition card (10) and an industrial control computer (11) which are connected in sequence; The underwater active sound-generating device comprises: a power supply (1), an acoustic signal driving source (2), a power amplifier (3), and an underwater sound source (6) which are connected in sequence; the power supply (1) is used to supply power to the acoustic signal driving source (2); the acoustic signal driving source (2) is used to drive the underwater sound source (6) to actively emit sound wave signals; the power amplifier (3) is used to amplify the driving signal emitted by the acoustic signal driving source (2); An underwater sound source (6) is arranged in a water medium (5); a power source (1), a sound signal driving source (2), a power amplifier (3), a transceiver integrated lens (8), a laser vibration measurement device (9), a signal acquisition card (10) and an industrial control computer (11) are respectively arranged in an air medium (4); an underwater target (7) is also arranged in the water medium (5); The underwater target (7) is used to actively generate sound, and the frequency of the signal generated is much higher than the frequency generated by the water surface's own fluctuations; The transceiver integrated lens (8) is used to transmit the signal laser and receive the echo light signal containing the vibration frequency information; The laser vibration measuring device (9) is used to measure the vibration of the water surface, and the water surface vibration signal obtained by the measurement enters the industrial control computer (11) through the signal acquisition card (10).
2. The acoustic-optical coordinated underwater target detection device according to claim 1, characterized in that: The sound wave signal emitted by the underwater sound source (6) has a divergence angle.
3. The acoustic-optical coordinated underwater target detection device according to claim 1, characterized in that: The laser vibration measuring device (9) uses a laser light source in the near infrared spectrum as signal light and a laser light source in the visible spectrum as indicator light.
4. The acoustic-optical coordinated underwater target detection device according to claim 3, characterized in that: The laser vibration measuring device (9) uses a near-infrared laser light source with a wavelength of 1064nm, 1310nm or 1550nm as signal light; and uses a laser light source in the visible spectrum with a wavelength of 532nm, 632nm or 655nm as indicator light.
5. The acoustic-optical coordinated underwater target detection device according to claim 1, characterized in that: The acoustic signal driving source (2) emits a single high-frequency sine wave signal, and the frequency selection range is: 200-5000Hz.
6. The acoustic-optical coordinated underwater target detection device according to claim 1, characterized in that: The industrial control computer (11) is provided with a database of characteristic frequency information.
7. A detection method applicable to the acoustic-optical coordinated underwater target detection device according to claim 1, characterized in that: The following steps are involved: First, the acoustic-optical coordinated underwater target detection device is initialized; The laser vibration measuring device (9) measures the vibration data of the water surface and obtains the water surface vibration frequency information after demodulating the echo light: If the water surface vibration frequency information detected by the laser vibration measuring device (9) contains a high frequency component, it is compared with the characteristic frequency in the database. If the database also contains the target characteristic frequency information, the underwater target (7) is detected. If the database does not contain the underwater target (7) characteristic frequency information, the detected water surface vibration frequency information is added to the target characteristic database. If the water surface vibration frequency detected by the laser vibration measuring device (9) does not contain a high-frequency component, the power supply (1), the acoustic signal driving source (2) and the power amplifier (3) are turned on, and the underwater sound source (6) emits a high-frequency acoustic signal. The underwater acoustic wave signal is reflected by the underwater target (7) and generates a high-frequency micro-vibration signal on the water vapor surface; the water surface vibration signal is measured and demodulated using the laser vibration measuring device (9); if the water surface vibration signal is detected to contain a high-frequency component, it is compared with the characteristic frequency in the database; if the database also contains the target characteristic frequency information, the underwater target (7) is detected; if the database does not contain the target characteristic frequency information, the detected water surface vibration frequency information is added to the target characteristic database; If the detected water surface vibration signal does not contain a high-frequency component, it is determined that there is no underwater target (7).