CN119126005A - Underwater information interaction and guidance integrated system and control method thereof - Google Patents
Underwater information interaction and guidance integrated system and control method thereof Download PDFInfo
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- CN119126005A CN119126005A CN202411607045.5A CN202411607045A CN119126005A CN 119126005 A CN119126005 A CN 119126005A CN 202411607045 A CN202411607045 A CN 202411607045A CN 119126005 A CN119126005 A CN 119126005A
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- 230000003993 interaction Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 230000010365 information processing Effects 0.000 claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 4
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- 238000006243 chemical reaction Methods 0.000 description 4
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- 238000001914 filtration Methods 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/76—Systems for determining direction or position line
- G01S1/80—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional transducers or transducer systems spaced apart, i.e. path-difference systems
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an underwater information interaction and guidance integrated system and a control method thereof, wherein the underwater information interaction and guidance integrated system comprises a fixed submerged buoy and a moving unit, the fixed submerged buoy comprises a first underwater sound transducer, the moving unit comprises an underwater moving carrier and two groups of second underwater sound transducers arranged on the underwater moving carrier, the underwater moving carrier can move relative to the fixed submerged buoy, the two groups of second underwater sound transducers of the moving unit are arranged on two sides of the underwater moving carrier, the first underwater sound transducer and the second underwater sound transducer are horizontal omni-directional transducers, receiving and transmitting signals can be achieved through receiving and transmitting the signals, the two groups of second underwater sound transducers of the moving unit are respectively in signal exchange with the first underwater sound transducer of the fixed submerged buoy, and distances between the two groups of second underwater sound transducers and the first underwater sound transducer can be respectively obtained. The invention can realize the motion guidance and information transmission interaction in the underwater environment.
Description
Technical Field
The invention relates to an underwater device, in particular to an underwater information interaction and guide integrated system, and further relates to an underwater information interaction and guide control method.
Background
The ocean resource has huge value to be developed and utilized, and at present, the ocean exploration is far from enough for human beings, and the main reason is that the equipment for exploring the ocean is influenced by the ocean environment in the hearing and the vision of the deep sea, and can not interact information and guide directions by utilizing equipment such as satellite nodes, land base stations or radio and the like, like land or above-water equipment.
To facilitate ocean transparency, it is necessary to provide direction guidance for ocean exploration equipment and to store and covertly transmit important parameters. However, current land and above-water equipment systems cannot be used in underwater environments.
Therefore, it is desirable to design an interactive guidance system suitable for use in an underwater environment to achieve motion guidance and information transfer interaction in the underwater environment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an underwater information interaction and guidance integrated system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The underwater information interaction and guidance integrated system comprises a fixed submerged buoy and a moving unit, wherein the fixed submerged buoy comprises a first underwater sound transducer, the moving unit comprises an underwater moving carrier and a second underwater sound transducer, the second underwater sound transducer is arranged on the underwater moving carrier, the underwater moving carrier can move relative to the fixed submerged buoy, and the second underwater sound transducer is arranged on two sides of the underwater moving carrier;
the first underwater acoustic transducer and the second underwater acoustic transducer are horizontal omni-directional transducers, the receiving and transmitting combined transducers are adopted, signals can be received and transmitted, the second underwater acoustic transducers of the mobile unit are respectively in signal exchange with the first underwater acoustic transducer of the fixed submerged buoy, and the distances between the second underwater acoustic transducers and the first underwater acoustic transducer of the mobile unit can be respectively obtained.
The invention further provides that the fixed submerged buoy is fixed under water, the underwater moving carrier can move, and the moving direction can be adjusted.
The underwater moving carrier is further arranged that the signals exchanged by the underwater acoustic transducer I and the underwater acoustic transducer II comprise control signals and information signals, and the moving direction of the underwater moving carrier is adjusted according to the control signals.
The invention further provides that the fixed submerged buoy further comprises a pressure sensor, wherein the pressure sensor is used for acquiring water pressure information and acquiring depth information through water pressure.
The invention further provides that the fixed submerged buoy further comprises a storage unit, a transmitting and receiving unit, a power amplifier, an information processing unit and a battery unit, wherein the storage unit of the fixed submerged buoy is used for storing information, and the transmitting and receiving unit of the fixed submerged buoy comprises a signal transmitting circuit and a signal receiving circuit.
The invention further provides that the mobile unit further comprises an information processing unit, a power amplifier, a transmitting and receiving unit and a battery unit, the information processing unit of the mobile unit comprises a receiving module, the receiving module is divided into two paths, the two paths of the receiving module respectively correspond to the two groups of underwater acoustic transducers, the transmitting and receiving unit of the mobile unit comprises a signal transmitting circuit and a signal receiving circuit, the signal receiving circuit is divided into two paths, and the two paths of the signal receiving circuit respectively correspond to the two groups of underwater acoustic transducers.
The invention also provides an underwater information interaction and guidance control method, which adopts the above underwater information interaction and guidance integrated system to guide and control the moving state of the mobile unit relative to the fixed submerged buoy, and the guidance process comprises the following steps:
The first step is that sampling is carried out in real time, sampling data enters a frequency domain through fft after amplification and filtration, and then the frequency domain is calculated:
Points which are Fourier transforms, To collect the position of the signal frequency point,Is the position of the original signal frequency point,Respectively obtaining a starting frequency point position and an ending frequency point position of a signal in a frequency domain for the signal sampling rate;
step two, extracting all frequency points in the acquired signal bandwidth and then performing operation:
Is a correlation coefficient, Is the original signal,Frequency points in the bandwidth of the acquired signals;
Step three, converting the frequency domain into the time domain so as to find a signal starting point:
Step four, finding the position of the maximum value, namely the starting point of the signal, after the modular operation, so as to extract the signal for recognition:
Step five, two groups of channels are formed between the two groups of underwater acoustic transducers II and the underwater acoustic transducer I, the two groups of channels stop timing after waiting for the arrival of signals respectively, specific time delay is obtained, distance is obtained, the submerged buoy direction is judged through the comparison of the distance between the two groups of channels, and the angle is calculated :
Is the azimuth angle of the mobile unit and the fixed submerged buoy,For the first set of channels,For the second set of channels,Two groups of underwater acoustic transducers are separated by two distances;
And step six, after the distance and the angle orientation of the mobile unit from the submerged buoy are obtained, the guiding of the single submerged buoy is realized, and the guiding is performed through multiple ranging responses in the moving process.
The underwater acoustic device is further arranged in such a way that the two groups of underwater acoustic transducers of the mobile unit are respectively in signal exchange with the first underwater acoustic transducer of the fixed submerged buoy, the distances between the two groups of underwater acoustic transducers of the mobile unit and the first underwater acoustic transducer of the fixed submerged buoy are respectively A1 and A2, the distance between the two groups of underwater acoustic transducers of the mobile unit is B, and the distance and the azimuth angle between the mobile unit and the fixed submerged buoy can be obtained through the three distances of A1, A2 and B.
The invention further provides that the moving direction of the moving unit and the straight line of the two groups of underwater sound transducers form an inclination angle z, and the inclination angle z can be adjusted.
The invention is further arranged that the fixed submerged buoy can transmit a control signal to the mobile unit according to the distance and the azimuth angle between the mobile unit and the fixed submerged buoy, the mobile unit can adjust the moving direction according to the control signal, the moving state of the mobile unit is corrected, guiding adjustment is repeated, and guiding of the mobile unit can be realized.
In summary, the invention has the following beneficial effects:
According to the scheme, the underwater fixed submerged buoy and the moving units of the underwater moving carrier are matched with each other to realize work, the two sides of the underwater moving carrier are respectively provided with the underwater acoustic transducer II, the underwater submerged buoy and the underwater acoustic transducer I of the fixed submerged buoy can simultaneously realize signal emission and reception, and due to the fact that a certain distance difference exists between the two underwater acoustic transducers II of the underwater moving carrier, a certain time delay is generated when the underwater submerged buoy and the underwater acoustic transducer I of the fixed submerged buoy exchange signals, the moving units can distinguish the azimuth of the submerged buoy according to the time delay difference received by the two paths of the underwater moving carrier, and the moving track of the underwater submerged buoy is corrected.
Meanwhile, information transmission can be realized before the fixed submerged buoy and the mobile unit, and the information transmission can be facilitated through the relay effect of the fixed submerged buoy, so that the long-distance, stable and reliable information is ensured.
Drawings
FIG. 1 is a schematic diagram of a fixed submerged buoy according to the present embodiment;
fig. 2 is a schematic block diagram of a mobile unit according to the present embodiment;
FIG. 3 is a schematic diagram of signal transceiving between a fixed submerged buoy and a mobile unit in the present embodiment;
fig. 4 is a schematic diagram illustrating a position between a fixed submerged buoy and a mobile unit in the present embodiment.
The reference numeral 100, a fixed submerged buoy, 101, a first underwater acoustic transducer, 200, a mobile unit, 201, an underwater mobile carrier, 202, and a second underwater acoustic transducer;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment discloses an integrated system for underwater information interaction and guidance, which is shown with reference to fig. 1-4, and comprises a fixed submerged buoy 100 and a mobile unit 200, wherein the fixed submerged buoy 100 is fixedly installed at a specific underwater position, and the positioning depth information and the letter information of the fixed submerged buoy 100 are stored in the fixed submerged buoy. Under the condition of no interaction and guide work, the low-power-consumption duty mode operation can be maintained for a long time, and the wake-up instruction is passively waited.
The mobile unit 200 includes an underwater mobile carrier 201 capable of moving underwater, and when passing in the vicinity of the stationary submerged buoy 100, the mobile unit 200 is capable of transmitting a signal to the stationary submerged buoy 100 to wake up the stationary submerged buoy 100, and the stationary submerged buoy 100 will enter an operating state. Through the exchange of signals between the stationary submerged buoy 100 and the mobile unit 200, the mobile unit 200 is able to obtain location, depth information of the stationary submerged buoy 100, and "letter" information pre-stored within the stationary submerged buoy 100. The signals exchanged between the stationary submerged buoy 100 and the mobile unit 200 include control signals for guiding the specific movement state of the submerged mobile carrier 201, and information signals including information such as "letter" information for the transfer of important information.
The mobile unit 200 can correct its own movement track, and at the same time, the mobile unit 200 can obtain the "letter" information of the fixed submerged buoy 100 by sending a "letter" instruction, and can also send a "letter" instruction to store the "letter" information in the submerged buoy. The "letter" information can be obtained by the underwater moving carrier 201 which cooperates around to realize the relay and the transfer of the signals between each fixed submerged buoy 100 and the moving unit 200. In addition, through the movement of the underwater moving carrier 201, the moving unit 200 can pass through the vicinity of different fixed submerged buoy 100, the distance that the information of the "letters" is transmitted through the relay information of the fixed submerged buoy 100 is further, the information of the "letters" can be repeatedly extracted for many times, and the long-distance, stable and reliable hidden transmission of the information is ensured.
Referring to fig. 1, the stationary submerged buoy 100 includes a first underwater acoustic transducer 101, a pressure sensor, a storage unit, a transmitting and receiving unit, a power amplifier, an information processing unit, and a battery unit.
The information processing unit of the fixed submerged buoy 100 comprises an MSP430 module and an FPGA module, wherein the MSP430 module is used for controlling a low-power-consumption duty circuit and capable of demodulating a frequency domain underwater sound wake-up signal, and the FPGA module is used for software filtering, forward and reverse Fourier transform, code sending, code receiving and demodulation of the underwater sound signal. And the FPGA module is also used for controlling the releaser, storing and reading information and performing intersection processing of depth information.
The releaser of the fixed type submerged buoy 100 plays a role in controlling the retraction of the whole submerged buoy, and generally comprises a pressure-resistant shell, a mechanical release mechanism and a release motor for driving and driving, and is used for the deployment and the recovery of the submerged buoy.
The underwater acoustic transducer 101 of the fixed submerged buoy 100 is a horizontal omni-directional type, and the receiving and transmitting combined transducer is adopted, so that the receiving and transmitting of signals can be realized. Signal exchange between the stationary submerged buoy 100 and the mobile unit 200 can be achieved by the underwater acoustic transducer one 101.
The pressure sensor can acquire pressure information of the external environment, namely water pressure, and can acquire current depth information according to the water pressure information. The pressure sensor can collect current depth information and send the current depth information to the information processing unit, and the information processing unit is required to send a request instruction when the current depth is required.
The storage unit of the fixed type submerged buoy 100 is used for storing information, and specifically, an EEPROM (electrically erasable programmable read-only memory) with no data loss after power failure can be adopted, so that important information can be stored conveniently.
The transmitting and receiving unit of the fixed type submerged buoy 100 comprises a signal transmitting circuit and a signal receiving circuit, wherein the signal transmitting circuit comprises a DA analog-to-digital conversion circuit, a signal amplifying circuit and an amplitude modulation circuit, the signal transmitting circuit can convert a digital signal modulated by the information processing unit into an analog signal and transmit the analog signal to the power amplifying module through twice amplification, the amplitude modulation circuit can adjust the transmitting amplitude according to the transmitting sound source level requirement, the signal receiving circuit comprises a signal amplifying circuit, a filtering circuit and an AD analog-to-digital conversion circuit, when the acting distance is far, the received underwater sound signal is weak, a primary AD620 pre-small signal amplifier needs to be added, the signal is amplified and then subjected to filtering processing, and the amplification processing of AD8065 is carried out again to enter the AD analog-to-digital conversion, then the signal is obtained and is transmitted to the information processing unit.
The power amplifier of the stationary submerged buoy 100 includes an impedance matching circuit and an excitation amplifying circuit, and is configured to amplify the analog signal after DA conversion, and then send the amplified signal through the underwater acoustic transducer one 101.
The battery unit of the fixed submerged buoy 100 comprises a plurality of groups of batteries, which are used for the functions of each unit of the fixed submerged buoy 100, can be composed of a plurality of groups of 18650 batteries, and is designed around the power consumption and the volume according to the power consumption accounting, the use frequency deduction and the service time requirement and is arranged in the fixed submerged buoy 100.
Referring to fig. 2 and 4, the mobile unit 200 has an underwater mobile carrier 201 as a carrier to be mounted, and specifically includes two sets of underwater acoustic transducers 202, an information processing unit, a power amplifier, a transmitting and receiving unit, and a battery unit. Wherein the underwater moving carrier 201 can move underwater and can actively control the moving direction thereof.
Referring to fig. 4, two sets of underwater acoustic transducers 202 are respectively installed on two sides of the underwater moving carrier 201, and the underwater acoustic transducers 202 of the moving unit 200 are horizontal omni-directional transducers, and can receive and transmit signals by adopting a transceiver. The two groups of the underwater acoustic transducers 202 of the mobile unit 200 respectively realize signal exchange with the underwater acoustic transducer 101 of the fixed submerged buoy 100, so that the distance between the two groups of the underwater acoustic transducers 202 of the mobile unit 200 and the underwater acoustic transducer 101 of the fixed submerged buoy 100 can be obtained. Since the width of the underwater moving carrier 201 is determined, the installation positions of the two sets of underwater acoustic transducers 202 are fixed, and thus the space between the two sets of underwater acoustic transducers 202 is also fixed.
The two groups of underwater sound transducers 202 of the underwater moving carrier 201 and the first underwater sound transducer 101 of the fixed submerged buoy 100 can form three reference point positions, and then the relative orientation of the underwater moving carrier 201 and the fixed submerged buoy 100 can be obtained.
The information processing unit of the mobile unit 200 is substantially similar to the transmitting and receiving unit of the stationary submerged buoy 100. Since the information processing unit of the mobile unit 200 needs to control the signal transmission and reception of the two underwater sound transducers 202 on both sides, the information processing unit of the mobile unit 200 is divided into two paths and can be simultaneously resolved, and the resolving result is the time delay of the signal of the two underwater sound transducers 202 on both sides. The distance difference between the two sides can be obtained through the signal time delay between the two sides, so that the azimuth of the mobile unit 200 relative to the fixed submerged buoy 100 can be further judged, and the moving state of the underwater moving carrier 201 can be guided.
The transmitting and receiving unit of the mobile unit 200 includes a signal transmitting circuit and a signal receiving circuit, the signal receiving circuit is divided into two paths of structures, the two paths of structures can respectively control the two underwater acoustic transducers 202 on two sides, and the signal receiving circuit also includes a signal isolation circuit, wherein the signal isolation circuit is used for preventing the two paths of signals from being disturbed.
The power amplifier and battery pack portions of the mobile unit 200 substantially correspond to those of the fixed submerged buoy, as will be described in detail herein.
The underwater information interaction and guidance integrated system in this embodiment is fixed under water when put into use, and a plurality of fixed submerged buoy 100 are arranged in advance at different positions under water as required. To determine the precise location of the mobile unit 200, the location may be performed by a plurality of stationary submerged markers 100 in common. The underwater moving carrier 201 is movable and the moving direction is adjustable.
The two underwater sound transducers 202 of the underwater moving carrier 201 form two points, and a straight line L can be determined. The underwater moving carrier 201 forms an inclination z with the straight line L in the moving direction. When the underwater moving carrier 201 moves forward and backward, the inclination z is approximately 90 °, and when the motion state of the underwater moving carrier 201 is adjusted, that is, when the underwater moving carrier 201 turns, the moving direction of the underwater moving carrier 201 will change, that is, the inclination z between the moving direction and the straight line L will also change, so as to control the moving direction of the underwater moving carrier 201.
The embodiment also discloses a control method for the interaction and guidance of the underwater information, which adopts the integrated system for the interaction and guidance of the underwater information in the above embodiment to adjust the moving state of the moving unit 200 relative to the fixed submerged buoy 100.
Referring to fig. 4, the two sets of underwater acoustic transducers 202 of the mobile unit 200 are respectively in signal exchange with the first underwater acoustic transducer 101 of the fixed submerged buoy 100, so that the distances between the two sets of underwater acoustic transducers 202 of the mobile unit 200 and the first underwater acoustic transducer 101 of the fixed submerged buoy 100 can be obtained, namely, the distances A1 and A2, respectively, the distances between the two sets of underwater acoustic transducers 202 of the mobile unit 200 are B, and the distances and the azimuth angles between the mobile unit 200 and the fixed submerged buoy 100 can be obtained through the three distances A1, A2 and B.
According to the distance and azimuth angle between the mobile unit 200 and the fixed submerged buoy 100, the fixed submerged buoy 100 can transmit a control signal to the mobile unit 200, the mobile unit 200 can adjust the moving direction according to the control signal, the moving state of the mobile unit 200 is corrected, and the above steps are repeated, so that the guidance of the mobile unit 200 can be realized.
In the control system of the present embodiment, the booting process includes the steps of:
(1) AD real-time sampling, and after amplification and filtration, sampling data enter a frequency domain for resolving through fft:
Points which are Fourier transforms, To collect the position of the signal frequency point,Is the position of the original signal frequency point,And (3) respectively obtaining the initial frequency point position and the end frequency point position of the signal in the frequency domain by using the formula (1) as the signal sampling rate.
(2) Extracting all frequency points in the acquired signal bandwidth and then performing related operation:
Is a correlation coefficient, Is the original signal,Is the frequency point in the bandwidth of the acquired signal.
(3) Converting the frequency domain into the time domain to find a signal starting point:
(4) After the modulo operation, the position of the maximum value, namely the starting point of the signal, is found, so that the signal is extracted for recognition.
(5) Two groups of underwater acoustic transducers 202 of the mobile unit form two groups of channels, the two groups of channels stop timing after waiting for signals to arrive respectively, specific time delay is obtained, distance is obtained, the direction of the submerged buoy is judged through the comparison of the distance between the two channels, and an angle b is calculated:
is the azimuth angle of the mobile unit and the fixed submerged buoy, For the first set of channels,For the second set of channels,The distance between the two channels of the platform is the size.
(6) After the distance and the angle direction of the mobile unit from the submerged buoy are acquired, the guiding of the single submerged buoy can be realized, and the guiding process can be completed through repeated ranging response in the moving process. The fixed submerged buoy can transmit a control signal to the mobile unit, the mobile unit realizes corresponding actions according to the control signal, corrects the moving state, then detects the distance and the azimuth angle for a plurality of times by adopting the method, repeatedly corrects the moving state of the mobile unit for a plurality of times, and realizes guiding of the mobile unit.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (10)
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| CN119126005B (en) | 2025-04-08 |
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