阅读说明：本技术 一种基于蓝绿激光的蛙人和水下航行器探测装置 (Frogman and underwater vehicle detection device based on blue-green laser ) 是由 金佳宾 任俊奎 施维 于 2018-09-05 设计创作，主要内容包括：本发明公开了一种水下领域新型蛙人和水下航行器探测装备,是一种使用蓝绿激光作为探测载体且锚系在重要水道,港口的海床(或河床)上,通过多发多收实现对水下蛙人,水下航行器等小型目标拦截与报警。本发明包括：浮球,承力复合缆,蓝绿激光收发模块和锚座。探测装备通过锚系在重要水道,港口的海床(或河床)上,蓝绿激光收发模块按照设置收发光信号,在锚链之间构成光学栅栏,并将数据反馈给岸基站,若收发异常,经过跟踪判断,即实现蛙人和水下航行器探测。本发明避免了蛙人声纳受水面船只干扰的问题,有效解决水下蛙人主动声纳回声接收存在白点干扰的问题,不影响水面通航,结构简单,更适合于蛙人和水下航行器的探测。(The invention discloses a novel frogman and underwater vehicle detection device in the underwater field, which uses blue-green laser as a detection carrier, is anchored on the seabed (or riverbed) of an important water channel and a port, and realizes interception and alarm of small targets such as underwater frogmans and underwater vehicles through multiple times of sending and receiving. The invention comprises the following steps: the floating ball, the bearing composite cable, the blue-green laser transceiver module and the anchor seat. The detection equipment is tied on the sea bed (or river bed) of an important water channel and a port through an anchor, the blue-green laser transceiving module is used for transceiving optical signals according to the setting, an optical fence is formed between anchor chains, data are fed back to a shore base station, and if the transceiving is abnormal, the frogman and the underwater vehicle can be detected through tracking judgment. The invention avoids the problem that frogman sonar is interfered by water surface ships, effectively solves the problem that echo reception of active sonar by an underwater frogman has white point interference, does not influence water surface navigation, has simple structure and is more suitable for detection of frogmans and underwater vehicles.)

1. The utility model provides a frogman and underwater vehicle detection device based on blue-green laser, includes floater (1), blue-green laser transceiver module (2), compound cable of load (3) and anchorage (4), and a plurality of blue-green laser transceiver module (2) link to each other with floater (1) and anchorage (4) through compound cable of load (3), form the anchor chain to be fixed in the bottom of riverbed or seabed through the anchorage, stand vertically in the aquatic through the floater, constitute the detection anchor chain, many detection anchor chain constitute detection device, detection device pass through compound cable of load and bank base station and link to each other, the equidimension degree of depth sets up blue-green laser transceiver module between two liang of different detection anchor chains, constitutes blue-green laser fence between the detection anchor chain.

2. The frogman and underwater vehicle detection device based on blue-green laser as claimed in claim 1, wherein the anchor chains are spaced apart from each other by a length of no more than 20 meters, and the blue-green laser transceiver module is at a vertical distance of less than 10 centimeters.

3. The frogman and underwater vehicle detection apparatus as claimed in claim 2, wherein said blue-green laser transceiver module comprises a transmitter module and a receiver module for transceiving respective blue-green laser signals at millisecond intervals, said transmitter module comprising an optical system, a laser and a laser head, the laser beam being transmitted from the laser to the laser head via the optical system.

4. A frogman and underwater vehicle detection device based on blue-green laser as claimed in claim 3, characterized in that the laser uses solid Nd: YAG laser with output wavelength of 1.06 μm and frequency doubled green light of 0.53 μm, and the optical receiver in the receiving module adopts an enhanced CCD camera.

5. The frogman and underwater vehicle detection device based on blue-green laser according to claim 4, is characterized in that the number of blue-green laser transceiver modules is increased or decreased according to different water depths, the number of anchor chains is increased or decreased according to different water widths, the width of the anchor chain is properly increased in a clear sea area, the width of the anchor chain is properly decreased in a muddy inland river channel and port water area, and blue-green laser transceiver modules are correspondingly increased according to different water depths and a vertical distance of 10 cm.

6. Method of use of a probe device according to one of claims 1 to 5, comprising the following steps:

the method comprises the following steps: determining the number of blue-green laser transceiving modules and detection anchor chains used by the detection device according to the water quality condition of a detection area before laying;

step two: setting laser transceiving program parameters of blue-green laser transceiving modules, and mutually transceiving blue-green laser signals between every two detection anchor chains through the blue-green laser transceiving modules with equal depth to form a blue-green laser fence between the detection anchor chains;

step three: if frogman and underwater vehicle appear between the detection anchor chain and the detection anchor chain, which causes the receiving and sending abnormality of the blue-green laser receiving and sending module, firstly judging whether the receiving and sending abnormality number of the blue-green laser receiving and sending module is larger than a quantity threshold value, if so, entering the fourth step, otherwise, continuing to detect;

step four: tracking and calculating the receiving and sending abnormal time, judging whether the receiving and sending abnormal time is greater than a time threshold value, and if so, sending an early warning signal.

Technical Field

The invention belongs to the technical field of underwater motion small target detection, and mainly uses a blue-green laser transceiver module as a detection instrument and an anchor system on a seabed (or a riverbed) to realize effective interception and alarm on small targets such as underwater frogmans, underwater vehicles and the like.

Background

With the complication of world security situations, there are increasing water or underwater attack events. In 1995, a ship parked near a port by the slland card government suffered suicide attacks of divers issued by terrorist organizations, and in 2003, a rubber boat attacked a U.S. "kor" warship parked in santa hongkong, the warship was seriously damaged, 54 army injuries and deaths, along with the development of miniaturization of underwater weaponry, terrorists and enemies are very likely to suffer from underwater attacks by terrorists and enemies, such as navy ship bases, civil ports, offshore drilling platforms, important facilities on the beach, and the like, so that the problem of protection against the invasion of frogmans or underwater vehicles such as frogmans and underwater vehicles is highlighted, a complete set of underwater security mechanism is established, tight monitoring is implemented on a heavy water area, and the safety of key facilities is guaranteed to be very important.

In recent years, the research of safety defense technology in shallow sea water areas has been the focus of attention in developed countries in western countries, and a lot of frogman detection equipment has been put into use, such as a mediu house dog 360 of quintic in the united kingdom, a DDS series of DSIT corporation in israel, an SM2000/9000 series of norwegian constert, a digital multi-beam frogman detection sonar of acoustic institute of domestic academy, and the like. All adopt initiative frogman detection sonar mode above the product, utilize large-scale transducer array under water to improve target spatial resolution, realize the all-round and fixed range search of target through electronic scanning, inevitably have the complicated and serious problem of background interference of channel, in order to accomplish all-round search moreover, have that processing circuit is complicated, the size is big, problem with high costs. Although some efforts have been made in these areas, the chenmundrin et al patent (application No. 201210364141.2) separates the sonar from the attitude and creates a tethered platform to maintain the depth of the sonar, the cano et al patent (application No. 201020126226.3) proposes the use of mechanical scanning instead of electronic scanning, and so on. However, the above methods cannot solve the essential problems of complex acoustic signal channels and serious background interference.

Light waves are transmitted in a water body and are greatly attenuated, so that the light waves are not suitable for serving as a medium for long-distance signal transmission, but compared with short-distance transmission in shallow sea areas, ports, riverways and the like, the light waves have realizability by adopting blue-green laser as a signal medium. In 1963, Duntley S.Q and Gilbert G.D and the like, when studying the propagation characteristics of light waves in the ocean, have proved that a light-transmitting window similar to that in the atmosphere exists in the ocean, the attenuation of blue-green light in a wave band of 0.47-0.58 μm is weak, and the detectable distance reaches more than 30 meters. By utilizing airborne blue-green laser transmitting and receiving equipment and transmitting high-power narrow-pulse laser, marine hydrological surveying (including shallow sea water depth, submarine landform surveying and mapping, remote measurement of seawater optical parameters and the like), and detection of a mine, a submarine or a fish school can be completed.

Disclosure of Invention

1. Objects of the invention

In view of the above, the invention provides a frogman and underwater vehicle detection device based on blue-green laser, which adopts the blue-green laser as a medium of a target detection and identification fence, completes effective interception and alarm of frogman and underwater vehicle through a specific receiving and sending mode, avoids the problems of active frogman sonar in principle, and has the advantages of simple structure, low cost and good detection effect.

2. Technical scheme

A frogman and underwater vehicle detection device based on blue-green laser comprises a floating ball, blue-green laser transceiver modules, a load-bearing composite cable and an anchor seat, wherein the blue-green laser transceiver modules are connected with the floating ball and the anchor seat through the load-bearing composite cable to form an anchor chain, the anchor chain is fixed at the bottom of a riverbed (seabed) through the anchor seat, the floating ball vertically stands in water to form a detection anchor chain, the detection device is formed by a plurality of detection anchor chains, and the detection device is connected with a shore base station through the load-bearing composite cable. Blue-green laser transceiving modules are arranged between every two different detection anchor chains at equal depth, and blue-green laser fences are formed between the detection anchor chains.

The frogman and underwater vehicle detection device based on blue-green laser is composed of a plurality of detection anchor chains, in view of the turbidity degree of a river channel, the interval length between each two anchor chains is not more than 20 meters, the frogman transversely passes through the normal male lying height, and the vertical distance of the blue-green laser receiving and transmitting module is smaller than 10 centimeters.

Specifically, the blue-green laser transceiver module comprises a transmitting module and a receiving module. The transmitting module includes an optical system, a laser and a laser head, and laser beams are transmitted from the laser to the laser head through the optical system to transceive respective blue-green laser signals at millisecond intervals. Preferably, a solid Nd: YAG laser, with an output wavelength of 1.06 μm, frequency doubled to produce 0.53 μm of green light, this wavelength being just in the "optical window" of the water. The optical receiver in the receiving module is a high-sensitivity low-light-level camera, preferably an enhanced CCD camera, which has good responsivity to laser light of 0.53 μm wavelength.

Frogman and underwater vehicle detection device based on blue-green laser can increase and decrease blue-green laser transceiver module number according to different depth of water, can increase and decrease according to different water width and survey anchor chain number, is applicable to waters conditions such as arbitrary water course, harbour, strait.

The using method of the frogman and underwater vehicle detection device based on the blue-green laser comprises the following steps:

(1) determining blue-green laser transceiving modules and the number of detection anchor chains used by the detection device before laying;

(2) setting laser transceiving program parameters of blue-green laser transceiving modules, and mutually transceiving blue-green laser signals between every two detection anchor chains through the blue-green laser transceiving modules with equal depth to form a blue-green laser fence between the detection anchor chains;

(3) if frogman and underwater vehicle appear between the detection anchor chain and the detection anchor chain, which causes the receiving and sending abnormality of the blue-green laser receiving and sending module, firstly judging whether the receiving and sending abnormality number of the blue-green laser receiving and sending module is larger than a quantity threshold value, if so, entering the fourth step, otherwise, continuing to detect;

(4) tracking and calculating the receiving and sending abnormal time, judging whether the receiving and sending abnormal time is greater than a time threshold value, and if so, sending an early warning signal.

3. Technical effects

The frogman and underwater vehicle detection device based on the blue-green laser has the advantages of simple structure, low manufacturing cost, simple arrangement and recovery, small influence by ocean background factors, no influence on water surface navigation, effective solution to the problem of identification of the existing active frogman sonar, and realization of effective interception and alarm of the frogman and the underwater vehicle.

Drawings

FIG. 1 is a schematic structural diagram of a frogman and underwater vehicle detection device based on blue-green laser;

FIG. 2 is a flowchart of a blue-green laser based frogman and underwater vehicle detection device detection method;

FIG. 3 is a diagram of real-time monitoring of targets by frogmans and underwater vehicle detection devices based on blue-green laser;

in the figure, 1 is a floating ball, 2 is a blue-green laser transceiver module, 3 is a bearing composite cable, and 4 is an anchor seat.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, frogman and underwater vehicle detection device based on blue-green laser includes floater (1), blue-green laser transceiver module (2), compound cable of load (3) and anchorage (4), a plurality of blue-green laser transceiver module (2) link to each other with floater (1) and anchorage (4) through compound cable of load (3), form the anchor chain, and be fixed in the bottom of riverbed (seabed) through anchorage (4), erect in aqueous through floater (1), detection device links to each other with the shore base station through compound cable of load (3). The frogman and underwater vehicle detection device based on blue-green laser is formed by a plurality of detection anchor chain projects, and the interval length between each two anchor chains is not more than 20 meters.

Wherein the bearing composite cable (3) bears the pulling force between the floating ball (1), the blue-green laser transceiver module (2) and the anchor seat (4), and the communication between the shore base station and the blue-green laser transceiver module (2) is realized.

Fig. 2 is a flowchart of a target monitoring algorithm of a frogman and underwater vehicle detection device based on blue-green laser, and the specific steps include:

the method comprises the following steps: determining blue-green laser transceiving modules and the number of detection anchor chains used by the detection device before laying; in view of the turbidity degree of the river channel, the interval length between the anchor chains is not more than 20 meters, the frogman is normal lying height of the male when crossing, and the vertical distance of the blue-green laser transceiver module is less than 10 centimeters;

step two: setting laser transceiving program parameters of blue-green laser transceiving modules, and mutually transceiving blue-green laser signals between every two detection anchor chains through the blue-green laser transceiving modules with equal depth to form a blue-green laser fence between the detection anchor chains;

step three; if frogman and underwater vehicle appear between the detection anchor chain and the detection anchor chain, which causes the receiving and sending abnormality of the blue-green laser receiving and sending module, firstly judging whether the receiving and sending abnormality number of the blue-green laser receiving and sending module is larger than a quantity threshold value, if so, entering the fourth step, otherwise, continuing to detect;

step four: tracking and calculating the receiving and sending abnormal time, judging whether the receiving and sending abnormal time is greater than a time threshold value, and if so, sending an early warning signal.

Fig. 3 is a schematic diagram of real-time target monitoring of a frogman and underwater vehicle detection device based on blue-green laser, the abscissa is monitoring time, the ordinate is depth of water, when a blue-green laser transceiver module receives a blue-green laser signal, the color reaching the blue-green laser signal is determined through the amplitude, if the blue-green laser transceiver module receives the blue-green laser signal, the amplitude of the received signal is weaker or the received signal is not displayed at all, and the monitoring result is displayed along with time tracking, namely, on fig. 3. During the period from 8 th to 18 th seconds, a suspected target passes through the space between the system anchor chain optical fence devices, blue-green laser is shielded, real-time communication is blocked, the target contour is displayed on a real-time monitoring picture along with time tracking, an AUV is suspected to be underwater, and an underwater frogman or an underwater vehicle is started to alarm.

Frogman and underwater vehicle detection device based on blue-green laser can increase and decrease blue-green laser transceiver module number according to different depth of water, can increase and decrease according to different water width and survey anchor chain number, is applicable to waters conditions such as arbitrary water course, harbour, strait. The anchor chain width can be properly increased in a clear sea area, the anchor chain width can be properly reduced in turbid inland river channels and port water areas, and the blue-green laser receiving and transmitting modules can be correspondingly increased according to the vertical distance of 10 centimeters according to different water depths.

In addition to the above embodiments, any technical solutions formed by equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.