CN109927865B

CN109927865B - External driving control operation method for underwater machine

Info

Publication number: CN109927865B
Application number: CN201910006897.1A
Authority: CN
Inventors: 江启航
Original assignee: Beijing An Guang Info Tech Corp ltd
Current assignee: Beijing An Guang Info Tech Corp ltd
Priority date: 2019-01-04
Filing date: 2019-01-04
Publication date: 2021-05-07
Anticipated expiration: 2039-01-04
Also published as: CN109927865A

Abstract

Underwater machineThe invention discloses a unique method for solving the problem of reliability of underwater laser communication. A detailed scheme of how to accomplish each major task of deep sea development work using this technology is set forth. The implementation of the scheme has the following capacity effects: 1) error rate of more than 10 for driver^‑13The underwater machinery is controlled by the laser communication from the outside with high reliability, if the underwater machinery is communicated for 24 hours every day and 1 ten thousand characters are communicated every second, the underwater machinery works for 100 years continuously, and the total wrong characters are less than half characters; 2) when the driver needs to float out of the water, the underwater machine is still stopped underwater and does not float out of the water; 3) all disassembly and assembly required for the renovation of the maintenance of underwater machines is done in water. 4) One driver may operate several underwater machines simultaneously. The application range of the invention is not limited by water depth.

Description

External driving control operation method for underwater machine

The technical field is as follows:

deep sea development is a great target that humans strive for a long time, and ocean mineral reserves far exceed the sum of land mineral reserves. But is too difficult. The mining needs to use ultra-large unmanned machines in deep sea on a large scale, and the operation of control machines needs to find a highly reliable and high-speed underwater communication hot plug technology. For hundreds of years, how much human efforts have been directed toward this goal has not been done. We focus on the approach of communicating with a laser under water to solve this problem. The invention discloses a high-reliability underwater laser communication technology and a communication transceiving method for identifying data by width, namely a width method. The principle that highly reliable laser communication can be successful is detailed. Also discloses a one-pipe bidirectional type underwater laser bus of the industrial control network. The method brings about a method for organizing a high-integration assembly body with functions of mutual cooperation, consistent action pace and seamless matching with a top dress by using an underwater machine which is separately and independently constructed. Rather than a simple stack like a container. This assembly is called smart assembly. The general synthesis of the above technical contents accurately aims at the great goal of ocean development, and we conclude as "a working method for external steering control of underwater machinery". The invention relates to a basic transceiving principle of data communication, underwater laser communication, an underwater industrial control network, an underwater laser bus, a driving operation function of underwater machinery separated to the outside of a cabin and the like. The importance of the separate and independent construction technical characteristics of the underwater machine firstly solves the problem of how to do the maintenance. And when a new requirement is suddenly met, the function cabin is changed. This also has to be dismantled. "demolition" and "loading" are common machines on the ground that cannot work as usual, but are difficult to do when going underwater, to the deep sea. It is quite a matter of technical strength. The meaning of "decoupled" includes firstly the decoupling of the steering function to the outside of the cabin. The technical characteristics of operation, maintenance and debugging can not be realized everywhere and can not be realized in decades all over the world. The intelligent clothes are a specific method and a technical direction which are provided for keeping functional integrity after separate and independent construction, cooperate with each other according to functions, have consistent action pace and are integrated with the seamless standard of a top dress. Our technical disclosure of high reliability, blue-green laser, underwater communication, one-pipe two-way, underwater laser bus, etc., hopefully should be interpreted by the word "smart-pack".

Background art:

the laser communication has good confidentiality, high bandwidth, good anti-interference performance, no electromagnetic radiation, no pollution, high channel quality, parallel light beams, small power and capability of transmitting large distance, can penetrate through water bodies, atmosphere, cloud layers, ice layers, fine rain and mist, and is very important for various countries for a long time, but the laser communication has not been successful. The invention discloses a method for solving the problem, called as a width method, which is a communication transceiving method for identifying data by width. Meanwhile, in order to independently build each cabin body and achieve the integral working capacity which is strong enough after being combined into a whole, the underwater laser bus technology of the underwater industrial control network is provided, and the solid technical road of intelligent installation is actually clarified.

In the prior art, a water area below 1000 meters is regarded as a forbidden area, and the water area is never involved in military and civil use except scientific research and exploration. Let alone ocean exploitation. The error rate is better than 10^-13The laser communication technology of (2) means continuous communication for tens of hundreds of years, and at most one communication dislocation occurs.

The invention content is as follows:

1) a communication transceiving method for identifying data by width, which is called a 'width method' for short, comprises the following steps: (1) judging the signal value to be 0 or 1 by the rising and falling direction of the data signal; (2) extracting the duration width of the continuous signal from the data line; (3) interpreting the number of the continuous signals from the signal width; (4) a suitable coding scheme comprising: determining the code length of the message, determining the length limit of inserting the different numbers, selecting the filling code and selecting the command code.

2) The width method is characterized in that: the sending rate of the other party can be analyzed from the data line; the command words can be used for dynamically coordinating the rates of the two parties and managing the line; the two communication parties do not need synchronous clocks (including quasi-synchronous clocks and pseudo-synchronous clocks), synchronous clock lines are not needed, and the preset speed, the start bit and the stop bit are not needed.

3) An underwater machine in which laser light is controlled from the outside with high reliability. The method is characterized in that: receiving high-reliability control of external hot-pluggable; the method is unmanned; giant-scale processing; the underwater machine can be used for achieving the aim of continuously working underwater for a long time, and the time can be months, years or more than decades; the giant die is characterized in that: relying on a smart-pack construction method. The bit error rate of underwater blue-green laser communication is better than 10^-13. Is characterized in that: the high-power laser has the advantages of good confidentiality, high bandwidth, no electromagnetic radiation, no pollution, high channel quality, parallel light beams, low power, capability of transmitting large distance, capability of penetrating through water, atmosphere, cloud layer, ice layer, fine rain and mist, high anti-interference capability and capability of not interfering the communication process even if the laser with the same wavelength and opposite direction impact.

4) The underwater mechanical driving operation control function is separated out of the cabin. The driving operation control items are involved from now on, and no manual work is needed to participate in the cabin. The separation method for independently building the underwater machine comprises the following steps: the driving operation control function itself can also be divided into a plurality of sections; along with the separation of the driving operation control function, the cabin body is also separated more finely. The small degree of separated fragments is most beneficial to the disassembly of deep sea maintenance in the future and the disassembly operation with improved technology; the degree of fragmentation is small to ensure that the quality of the extra-cabin ride control is not degraded.

5) The one-pipe bidirectional type underwater laser bus of the industrial control network is characterized in that: the light path bending is controllable; hot plug of all underwater communication; one pipe is simultaneously communicated with two-way laser communication; a master multi-slave mode of operation; fish prevention and sewage prevention; the deep sea high pressure is resisted; working in exposed water; 36918, 36836; controlling the bending of the light path; hot plug of all underwater communication; one pipe is simultaneously communicated with two-way laser communication; a master multi-slave mode of operation; the structure of the bus control protection tube comprises (a) the bus control protection tube is a slender tube which is soft, bendable, not flat, good in inner wall reflection, large or small in outer diameter, open at two ends, water-filled inside and resistant to deep sea high pressure. (b) The controlled stations cling to the outer wall of the long pipe, excessive downlink communication laser is separated out from the long pipe by a method of controlling the light splitting amount according to the bending angle, the downlink communication laser emitted by the master control station is sent to each controlled station, the master control station is blocked at the upper end of the inner wall of the long pipe, the uplink communication laser emitted by the authorized controlled stations is received in a full injection posture, and the downlink communication laser is emitted. (c) The communication laser beam is along the long pipe, which satisfies the two-way simultaneous working and is contained to pass through the long pipe in a zigzag way. A bi-directional laser bus is established that is contained within an elongated tube.

6) The underwater mechanical functional cabin which is separately and independently built is intelligently assembled into a whole by matching with the seamless standard of a top coat according to the mutual cooperation of functions and consistent action pace; the underwater machine can be used for several months, years or more than decades after being retained for a long time.

Description of the drawings:

FIG. 1: a, B, C and D are transition signal time of a sending party, and A ', B', C 'and D' are signal transition points measured by a receiving party from a data line. In the communication process, the receiving point and the transmitting point have delay. The lags AA ', CC' at the rising edge are δ 1 and the lags BB ', DD' at the falling edge are δ 2.

FIG. 2: is a record of the receive duration of consecutive padding codes [ 01111110 ] (7E). 0X040B is a duration record of two "0" codes, and 0X0C41 is a duration record of six "1" codes.

FIG. 3: an example of a user message is shown.

FIG. 4: an example of an online message is shown.

The specific implementation mode is as follows:

aiming at the characteristic that laser communication is in a one-to-one mode without pre-negotiated short messages, a set of coding scheme suitable for a laser line is provided, and high-reliability laser communication is realized. The key points of the scheme are (a) to be an 8-bit code line, (b) to take 0X7E (01111110) as a filling code, and (c) to adopt 5 insertion transformation for a message.

Signal width measurement and recording example: as shown in fig. 2. The word length of 16 bits, the width of "0" signal, the width of "1" signal, … are arranged sequentially. Respectively 0X040B, 0X0C41, 0X040B, ….

Example of analysis of the filler code: as in fig. 1. Let delta₁＜δ₂The total retardation δ being δ₂-δ₁. If the transmission time length of a single signal word is equal to T and the reception time length nT (1) of n signal words "1", nT (1) is equal to nT- δ₁+δ₂nT + δ. A reception time period nT (0) of n signal words "0", nT (0) ═ nT + δ₁-δ₂＝nT-δ。

Analyze the other side transmission rate example: according to fig. 2 (hexadecimal), there are 2T (0) ═ 40B and 6T (1) ═ 0C 41. Then 2T (0) +6T (1) ═ 2T- δ +6T + δ ═ 8T ═ 40B + C41 ═ 104C. So (decimal) T is 521.5IPS and δ is 8 IPS. If the receiving system is a 600M IPS (machine done instructions per second), then the rate of transmission is approximately 1.15 Mbps.

5 insertion of the up/down line message: in order to ensure that the filling codes, command words and the like are not confused with other user data in the communication process, the data waiting for transmission needs to be reconstructed into online messages with continuous signals '1' and '0' not exceeding 5, the method is to insert a different number into the place where 5 continuous '1' or '0' appear in the user data, and insert the last word of the message to reconstruct the complement 0 without the end (the complement 1 can also be used). The received offline message needs to be recovered, and the abnormal number insertion before the data online transmission needs to be pulled out. The method is to reduce the number of exceptions after every 5 consecutive signals by one. FIG. 3 shows an example of user messages, 0X 00-0 XFF, with 256 BYTEs. Fig. 4 is a modification of the user message of fig. 3 into an online message.

Insert argument details:

the messages should be continuously transmitted during the transmission process until one message is finished.

Claims

1. An external steering control operation method for underwater machinery, characterized in that: the method comprises the following steps: high-reliability underwater laser communication, namely a one-pipe bidirectional underwater laser bus; a construction method for independently separating the underwater mechanical function cabin; the functions are mutually cooperated, the action pace is consistent, and the functions are matched with the standard that the sky dress is seamlessly integrated; the independent separated construction method of the underwater mechanical function cabin comprises the following steps: the driving operation control function of the underwater machine is separated towards the outside of the cabin; the detailed separation of the driving operation control function; the separated small fragments are most beneficial to the disassembly of deep sea maintenance in the future and most beneficial to the disassembly of technical improvement; the highly reliable underwater laser communication, comprising: a width method is adopted, synchronous clocks are not needed, and underwater communication hot plug is realized; the one-tube bidirectional underwater laser bus comprises (a) a bus control protection tube which is a flexible and bendable slender tube without collapsing and flattening, the inner wall of the slender tube is reflective, the outer diameter of the slender tube is adjustable, two ends of the slender tube are open, and the slender tube is internally filled with water; (b) the controlled station clings to the outer wall of the long pipe, excessive laser is separated out from the long pipe by a method of controlling the light splitting amount according to the bending angle, downlink communication laser emitted by the main control station is sent to each controlled station, the main control station is blocked at the upper end of the inner wall of the long pipe, and the main control station receives the uplink communication laser emitted by the authorized controlled station in a full injection posture and emits the downlink communication laser; (c) the communication laser beam is along the long pipe, meets the requirement of bidirectional simultaneous work and is contained to pass through the long pipe in a zigzag manner; the width method comprises the following steps: (a) judging the signal value to be 0 or 1 by the rising and falling direction of the data signal; (b) extracting the duration width of the continuous signal from the data line; (c) interpreting the number of the continuous signals from the signal width; (d) the suitable coding scheme, element determine the code length of the message, determine the length limit of inserting the different number, select the filling code, select the command code.