CN110048783A - Sound wave communication unit, system, base station, inspection device and sound wave communication method - Google Patents
Sound wave communication unit, system, base station, inspection device and sound wave communication method Download PDFInfo
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- CN110048783A CN110048783A CN201910320349.6A CN201910320349A CN110048783A CN 110048783 A CN110048783 A CN 110048783A CN 201910320349 A CN201910320349 A CN 201910320349A CN 110048783 A CN110048783 A CN 110048783A
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- sound wave
- communication unit
- data signals
- wave communication
- base station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B15/00—Suppression or limitation of noise or interference
Abstract
The embodiment of the invention discloses sound wave communication unit, system, base station, inspection device and sound wave communication method, the sound wave communication unit is arranged in inspection device, and the sound wave communication unit includes the first active sonar and the second active sonar；The sound wave communication unit, for sending acoustic data signals and sound wave enable signal to the base station respectively by first active sonar and second active sonar, so that base station is based on the sound wave enable signal judges whether the acoustic data signals are effective, and positioning acoustic signals used for positioning are sent to the inspection device based on effective acoustic data signals or send the infrared signal for charging.The technical solution of the embodiment of the present invention can reduce design cost, simply and effectively reduce influence of the underwater interference to communication acoustic signals.
Description
Technical field
The present embodiments relate to mechanics of communication more particularly to sound wave communication unit, system, base station, inspection device and sound
The wave means of communication.
Background technique
Underwater sound wave mechanics of communication is the technology received and sent messages under water, is widely used in marine cause.
The working principle of underwater sound wave mechanics of communication is to be converted into the information such as text, voice, image by electric transmitter
Electric signal, and by encoder by power information digitized processing, then acoustical signal is converted electrical signals to by energy converter.Due to water constituent
And underwater environment is complicated, when carrying out underwater sound wave communication, communication channel is easy to be disturbed, and causes information receiving end can not
It identifies target sound source, in the prior art, is mainly alleviated by the way of handling the frequency for sending sound wave underwater
Interference, but processing cost is often relatively high, and complex disposal process.
Summary of the invention
The embodiment of the present invention provides sound wave communication unit, system, base station, inspection device and sound wave communication method, can drop
Low design cost simply and effectively reduces influence of the underwater interference to communication acoustic signals.
In a first aspect, the sound wave communication unit setting is being patrolled the embodiment of the invention provides a kind of sound wave communication unit
In checking device, the sound wave communication unit includes the first active sonar and the second active sonar；
The sound wave communication unit, for passing through first active sonar and second active sonar respectively to described
Base station sends acoustic data signals and sound wave enable signal, so that base station is based on the sound wave enable signal and judges the sound wave number
It is believed that number whether effectively, and send positioning sound wave used for positioning to the inspection device based on effective acoustic data signals and believe
Number or send for charging infrared signal.
Second aspect, the embodiment of the invention also provides a kind of sound wave communication unit, the sound wave communication unit setting exists
In base station, the sound wave communication unit includes the first passive sonar and the second passive sonar；
The sound wave communication unit, for receiving patrol respectively by first passive sonar and second passive sonar
The acoustic data signals and sound wave enable signal that checking device is sent, and the sonic data is judged based on the sound wave enable signal
Whether signal is effective, and effective acoustic data signals is converted into control instruction, and control instruction is sent to the base
Master controller in standing, so that the master controller is used for positioning fixed to inspection device transmission based on the control instruction
Position acoustic signals or the infrared signal for charging.
The third aspect, the embodiment of the invention also provides a kind of sound wave communication systems, comprising: the first sound wave communication unit and
Second sound wave communication unit, the first sound wave communication unit are set in inspection device, and the second sound wave communication unit is set
It is placed in base station；
The first sound wave communication unit includes the first active sonar and the second active sonar；
The second sound wave communication unit includes the first passive sonar and the second passive sonar；
The first sound wave communication unit, for by first active sonar and second active sonar respectively to
The base station sends acoustic data signals and sound wave enable signal；
The second sound wave communication unit, for being connect respectively by first passive sonar and second passive sonar
The acoustic data signals and the sound wave enable signal that the inspection device is sent are received, and are based on the sound wave enable signal
Judge whether the acoustic data signals are effective, and effective acoustic data signals is converted into control instruction, and will be described
Control instruction is sent to the master controller in the base station, so that the master controller is based on the control instruction to the inspection
Device sends positioning acoustic signals used for positioning or the infrared signal for charging.
The third aspect, the embodiment of the invention also provides a kind of inspection devices, logical including sound wave described in first aspect
Interrogate unit.
Fourth aspect, the embodiment of the invention also provides a kind of base stations, including sound wave communication list described in second aspect
Member.
5th aspect, the embodiment of the invention also provides a kind of sound wave communication methods, applied to as described in the third aspect
In sound wave communication system, the sound wave communication system includes: the first sound wave communication unit and the second sound wave communication unit, and described
One sound wave communication unit is set in inspection device, and the second sound wave communication unit is set in base station, which comprises
Sending acoustic data signals and sound wave to the base station respectively by the first active sonar and the second active sonar makes
It can signal；
The sonic data that the inspection device is sent is received respectively by the first passive sonar and the second passive sonar
Signal and the sound wave enable signal, and judge whether the acoustic data signals are effective based on the sound wave enable signal, and
Effective acoustic data signals are converted into control instruction, and the control instruction is sent to the main control in the base station
Device so that the master controller be based on the control instruction to the inspection device send positioning acoustic signals used for positioning or
Infrared signal of the person for charging.
The embodiment of the present invention is during sound wave communication, only by way of increasing sonar, realizes that binary channels receives and dispatches sound wave
Data-signal and sound wave enable signal recycle sound wave enable signal to judge the validity of acoustic data signals.It solves existing
In technology, when by the way of handling the frequency for sending sound wave to alleviate underwater interference, need to design at multiple frequency
Circuit is managed, frequency processing carried out to the acoustic signals of transmission, the problem of design cost is higher and complex disposal process, realizes drop
Low design cost simply and effectively reduces the effect that underwater interference influences communication acoustic signals.
Detailed description of the invention
Fig. 1 a is a kind of structural schematic diagram for sound wave communication unit that the embodiment of the present invention one provides；
Fig. 1 b is the position view of a kind of base station and inspection device that the embodiment of the present invention one provides；
Fig. 1 c is a kind of structural schematic diagram for sound wave communication unit that the embodiment of the present invention one provides；
Fig. 2 a is a kind of structural schematic diagram of sound wave communication unit provided by Embodiment 2 of the present invention；
Fig. 2 b is a kind of structural schematic diagram of sound wave communication unit provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structural schematic diagram for sound wave communication system that the embodiment of the present invention three provides；
Fig. 4 is a kind of structural schematic diagram for inspection device that the embodiment of the present invention four provides；
Fig. 5 is a kind of structural schematic diagram for base station that the embodiment of the present invention five provides；
Fig. 6 is a kind of flow chart for sound wave communication method that the embodiment of the present invention seven provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It should be noted that providing only preferred electric connection mode and power supply in embodiments of the present invention, in attached drawing
Mode, but the electric connection mode in embodiment be not limited to controller local area network (Controller Area Network,
CAN) bus connecting mode and Serial Peripheral Interface (SPI) (Serial Peripheral Interface, SPI) agreement connection type
Deng.Also, the power supply mode in embodiment is also not limited to direct current (Direct Current, DC) 24V, DC 5V and DC 600V
Power supply.
Embodiment one
Fig. 1 a is a kind of structural schematic diagram for sound wave communication unit that the embodiment of the present invention one provides, and the present embodiment is applicable
In in the form of sound wave send communication data the case where.In general, the sound wave communication unit is not used alone, but setting is having
There are data to send on the device of demand, typically, described device is set under water, sound wave communication unit provided by the present embodiment
For assisting underwater units to realize, data are sent.
As shown in Figure 1a, the sound wave communication unit 110 is arranged in inspection device 1, and the sound wave communication unit 110 wraps
Include the first active sonar 1121 and the second active sonar 1122.
Wherein, the inspection device 1 can be moved under water based on underwater cruising inspection system, is implemented to pipe
The device that road leakage point is detected.The underwater cruising inspection system is in marine oil and gas production system, for detecting Submarine Pipeline
The leakage point in road, the system that auxiliary completes transmission work of the oil gas by seabed to land., typically, the inspection device 1 is intelligence
Energy crusing robot, pipeline management platform timing transfer intelligent inspection robot to around submarine pipeline, make Intelligent inspection machine
Device people will acquire data after inspection and be sent to pipeline management platform along pipeline inspection, during 1 inspection of inspection device,
Data exchange can be carried out with the base station 2 on submarine pipeline in real time, Fig. 1 b provides the position of a kind of base station 2 and inspection device 1
Schematic diagram.
In the present embodiment, sound wave communication unit 110 is arranged in inspection device 1, for sending sound wave letter to base station 2
Number, acoustic signals are converted and are believed by electroacoustic using the underwater propagation characteristic of sound wave by the active sonar on inspection device 1
The signal that breath processing generates.Wherein, the active sonar includes the first active sonar 1121 and the second active sonar 1122, typical case
, first active sonar 1121 and second active sonar 1122 are the loudspeaker for underwater sounding.
The sound wave communication unit 110, for passing through first active sonar 1121 and second active sonar
1122 send acoustic data signals and sound wave enable signal to the base station 2 respectively, so that base station 2 is based on the enabled letter of the sound wave
Number judge whether the acoustic data signals are effective, and is sent and used to the inspection device 1 based on effective acoustic data signals
The infrared signal of charging is used in the positioning acoustic signals of positioning or transmission.
Wherein, the acoustic data signals include the acoustic data signals of request positioning and the sonic data letter of request charging
Number.
The acoustic data signals of the request positioning, for being preset at a distance from the base station 2 when the inspection device 1
When outside distance range, the base station 2 is sent to by the inspection device 1, so that the base station 2 is receiving the request positioning
Acoustic data signals after, Xiang Suoshu inspection device 1 send positioning acoustic signals, guarantee the inspection device 1 according to described fixed
Position acoustic signals are mobile to the base station 2, complete to work along the inspection of pipeline.
Specifically, the inspection device 1 when leaving pipeline management platform or reach a base station 2 to go to it is next
When base station 2, the acoustic data signals of the request positioning are sent.The base station 2 is in the sound wave number for receiving the request positioning
It is believed that number after, to it is described request positioning acoustic data signals parse, and according to it is described request positioning sonic data believe
Breath generates the first positioning instruction, and the base station 2 controls its internal sound wave generating means and is based on first positioning instruction to institute
It states inspection device 1 and sends positioning acoustic signals.Be provided on the inspection device 1 at least two for receive positioning acoustic signals
Acoustic receiver, based on triangle positioning principle and obtain positioning acoustic signals at least two timestamps, the inspection
Device 1 can determine the relative position with the base station 2, and generate the first power command based on the relative position, so that described
Power device in inspection device 1 is based on first power command and controls the inspection device 1 to the base station 2 movement.
It is described request charging acoustic data signals, for the inspection device 1 with the base station 2 at a distance from preset away from
From it is interior when, and the inspection device 1 have charge inside demand when, the base station 2 is sent to by the inspection device 1 so that
After the acoustic data signals for receiving the request charging, Xiang Suoshu inspection device 1 sends infrared signal, draws for the base station 2
The inspection device 1 is led to the movement of the charging port of the base station 2, to complete the charging of the inspection device 1 and the base station 2
The mating operation of port, and then charge.
Specifically, the base station 2 is in the acoustic data signals for receiving the request charging that the inspection device 1 is sent
Afterwards, the acoustic data signals of the request charging are parsed, and is generated according to the sonic data information of the request charging
Second positioning instruction, the base station 2 are controlled the infrared array transmitter being set at charging port and are referred to based on second positioning
It enables to the inspection device 1 and sends infrared array signal.It is provided on the inspection device 1 and can receive the infrared array signal
Infrared array receiver, pass through infrared array infrared array on the infrared array receiver imaging and obtained
Signal strength, the inspection device 1 can determine the relative direction and relative distance with the base station 2, and opposite based on this
Direction and relative distance generate the second power command, so that the power device in the inspection device 1 is based on second power
It is mobile to the charging port of the base station 2 that instruction controls the inspection device 1.Further, the inspection device 1 with it is described
After the charging port docking of base station 2, the base station 2 conveys electric energy to the inspection device 1 in the form of an electromagnetic wave.
It should be noted that in the present embodiment, being utilized respectively positioning acoustic signals and infrared signal to the inspection
The reason of device 1 and the relative position of the base station 2 are positioned is: the positioning acoustic signals are suitable for remote fixed
Position, typically, distance is at 100 meters or more.The infrared signal be suitable for closely position, typically, distance 100 meters with
Under.
In the present embodiment, the acoustic data signals are sent using the first active sonar 1121, utilizes the second Active Acoustic
Send the sound wave enable signal.Wherein, the sound wave enable signal is certain frequency, constant lasting acoustic signals,
The effect of the sound wave enable signal is, can control having for the acoustic data signals that first active sonar 1121 is sent
Effect property.For example, the sonic data that first active sonar 1121 is sent is believed when internal fault occurs in the inspection device 1
Number there are certain deviations, at this point, may cause the base if the base station 2 receives the acoustic data signals there are deviation
Stand 2 reaction mistake, therefore can control second active sonar 1122 and stop sending the sound wave enable signal, so that described
Base station 2 determines that the currently received acoustic data signals are invalid sound wave when not receiving the sound wave enable signal
Signal, it is impossible to be used in carry out operation reaction.
Optionally, the acoustic data signals include the acoustic signals of spacing wave and setpoint frequency, the setpoint frequency with
The frequency of the sound wave enable signal is different.
Wherein, the acoustic signals of spacing wave and setpoint frequency respectively correspond the different units data in same coded format,
For example, 0 and 1 in corresponding binary coding.Further, the various combination shapes of the acoustic signals of spacing wave and setpoint frequency
Formula can correspond to the different units data in same coded format, guarantee the sound merely with spacing wave and setpoint frequency with this
Wave signal can indicate multiple cell datas in same coded format.
In this optional technical solution, the setpoint frequency is different from the frequency of the sound wave enable signal, so that institute
Base station 2 is stated when receiving the acoustic data signals and the sound wave enable signal, can accurate resoluting signal type, determine
The data information to be transmitted, typically, the frequency of the acoustic data signals are 40KHz, the frequency of the sound wave enable signal
Rate is 28KHz.Certainly, it is not limited to frequency separation for distinguishing the mode of signal type, when can also utilize the propagation of signal
It is long etc. that signal type is distinguished.
Specifically, as illustrated in figure 1 c, the sound wave communication unit 110 includes: that communication controller 111 and signal send electricity
Road 112；
The communication controller 111 is electrically connected with the signal sending circuit 112, for in the inspection device 1
The control instruction that master controller is sent is handled, and the control instruction is sent to the signal sending circuit by treated
112；
The signal sending circuit 112 leads to for the received control instruction to be converted to the acoustic data signals
Cross first active sonar 1121 and second active sonar respectively to the base station 2 send the acoustic data signals and
The sound wave enable signal.
The signal sending circuit 112 includes two channels A and B, installs an active sonar on each channel, i.e., described
First active sonar 1121 and second active sonar 1122, wherein channel A is for issuing the acoustic data signals, channel
B is for issuing the sound wave enable signal.A and B can be while sending acoustic signals in channel, be also possible to first be sent out by channel B
Out after the lasting sound wave enable signal, then by the channel A transmission acoustic data signals.
The acoustic data signals are transmitted with binary coded form, when channel, A has the acoustic signals of setpoint frequency, generation
Table is binary " 1 ", not when the acoustic signals, i.e. spacing wave of setpoint frequency, represents binary " 0 ", and channel A is with default speed
Rate transmits data-signal, and channel B stops issuing the sound wave enable signal after the completion of data signal transmission.
The present embodiment is during sound wave communication, only by way of increasing sonar, realizes that binary channels sends sonic data
Signal and sound wave enable signal determine the validity of the acoustic data signals sent using the sound wave enable signal of transmission, so that
Receiving end can convert control instruction for effective acoustic data signals.It solves in the prior art, using to transmission sound wave
The mode that is handled of frequency when alleviating underwater interference, need to design multiple frequency processing circuit, the sound wave of transmission believed
Number frequency processing is carried out, the problem of design cost is higher and complex disposal process, realizes reduction design cost, simply and effectively
Reduce the effect that underwater interference influences communication acoustic signals.
Embodiment two
Fig. 2 a is a kind of structural schematic diagram of sound wave communication unit provided by Embodiment 2 of the present invention, and the present embodiment is applicable
In in the form of sound wave receive communication data the case where.In general, the sound wave communication unit is not used alone, but setting is having
On the device for having data receiver demand, typically, described device is set under water, sound wave communication unit provided by the present embodiment
For assisting underwater units to realize data receiver.
As shown in Figure 2 a, the sound wave communication unit 220 is arranged in base station 2, and the sound wave communication unit 220 includes the
One passive sonar 2211 and the second passive sonar 2212.
Wherein, the base station 2 is set on submarine pipeline based on underwater cruising inspection system, is implemented as underwater
Mobile inspection device 1 provides the device of navigation and energy recharge, in general, base station 2 is set to subaqueous pipe with preset interval length
On road or according to submarine pipeline Node distribution, be rationally set on submarine pipeline node, it should be noted that base station 2 with
The relative position of pipeline is not limited to upper and lower position, and base station 2 can be bonded setting with pipeline with any angle.Inspection under water
Cheng Zhong, base station 2 can carry out data exchange with the inspection device 1 moved under water in real time, and base station 2 and the position of inspection assembling device show
It is intended to as shown in Figure 1 b.
In the present embodiment, sound wave communication unit 220 is arranged in base station 2, for receiving inspection dress by passive sonar
Set the acoustic signals of 1 transmission.Wherein the passive sonar includes the first passive sonar 2211 and the second passive sonar 2212, typical case
, first passive sonar 2211 and second passive sonar 2212 are sound pick-up.
The sound wave communication unit 220, for passing through first passive sonar 2211 and second passive sonar
2212 receive the acoustic data signals and sound wave enable signal that inspection device 1 is sent respectively, and are based on the sound wave enable signal
Judge whether the acoustic data signals are effective, and effective acoustic data signals is converted into control instruction, and will control
The master controller being sent in the base station 2 is instructed, so that the master controller is based on the control instruction and fills to the inspection
Set 1 transmission positioning acoustic signals used for positioning or the infrared signal for charging.
Wherein, the acoustic data signals and the sound wave enable signal are identical as in above-described embodiment, herein no longer
It repeats.
In the present embodiment, the acoustic data signals are received using the first passive sonar 2211, utilizes the second passive sound
2212 receive the sound wave enable signal, are judged by the presence or absence of received described sound wave enable signal simultaneous described
The validity of acoustic data signals, will be with the simultaneous acoustic data signals of the sound wave enable signal as effective
The acoustic data signals, are converted into control instruction, are sent to the master controller of the base station 2, so that the master control of the base station 2
Device processed is based on the control instruction, sends positioning acoustic signals or infrared signal to inspection device 1.
Specifically, as shown in Figure 2 b, the sound wave communication unit 220, comprising: signal receiving circuit 221, filtering processing electricity
Road 222 and communication controller 223.
The signal receiving circuit 221 is electrically connected with the filtering processing circuit 222, for passing through the described first passive sound
2211 receive the first frequency range acoustic signals comprising the acoustic data signals, and are connect by second passive sonar 2212
Second frequency range acoustic signals of the packet receiving containing the sound wave enable signal, by the first frequency range acoustic signals and second frequency range
Acoustic signals are sent to the filtering processing circuit 222.
Wherein, the signal receiving circuit 221 also includes two channels A and B, installation one passive communication on each channel
Sonar, i.e., described first passive sonar 2211 and second passive sonar 2212, wherein channel A is for receiving the first frequency range sound
Wave signal, channel B is for receiving the second frequency range acoustic signals.It, can be simultaneously by described in two channel receptions when signal receives
First frequency range acoustic signals and the second frequency range acoustic signals can also receive the second frequency range sound wave letter in channel B
The signal for just starting reading channel B after number, converts analog signal for received channel A and B acoustic signals, is sent at filtering
Manage circuit 222.
The filtering processing circuit 222 is electrically connected with the communication controller 223, for respectively to the first frequency range sound
Wave signal and the second frequency range acoustic signals are filtered, and obtain the acoustic data signals and the enabled letter of the sound wave
Number, and judge whether the acoustic data signals are effective using the sound wave enable signal, it will the effective sonic data letter
Number it is converted into the control instruction, is sent to the communication controller 223.
Wherein, the two-way analog signals that the filtering processing circuit 222 will receive carry out second-order active filter respectively,
The signal of required frequency is retained, the target signal filter of remaining frequency, obtains the acoustic data signals and the enabled letter of the sound wave
Number, after determining the effective acoustic data signals, digital signal, i.e. control instruction are converted to by trigger circuit, sent
To communication controller 223.
The communication controller 223 handles for receiving the control instruction, and to the control instruction, will locate
The control instruction after reason is sent to the master controller in the base station 2.
Further, the filtering processing circuit 222, is specifically used for:
The first frequency range acoustic signals are filtered, the acoustic data signals, the sonic data are obtained
Signal includes the acoustic signals of spacing wave and setpoint frequency；
The second frequency range acoustic signals are filtered, the sound wave enable signal is obtained；
In the presence of the sound wave enable signal, acoustic data signals corresponding with the sound wave enable signal, which are used as, to be had
The acoustic data signals of effect；
By in the effective acoustic data signals setpoint frequency acoustic signals and spacing wave according to pre-arranged code rule,
It is converted into the control instruction, and the control instruction will be arrived and be sent to the communication controller 223.
Wherein, the acoustic data signals are made of the acoustic signals of spacing wave and setpoint frequency, when the sound wave is enabled
In the presence of signal, the acoustic signals of simultaneous spacing wave and setpoint frequency are exactly the effective acoustic data signals.
It converts the acoustic signals of the setpoint frequency in the effective acoustic data signals in binary coded form
Character 1, convert the character 0 in binary coded form for the spacing wave in the effective acoustic receiver data-signal,
The control instruction is obtained, and the control instruction will be arrived and be sent to the communication controller 223.
The present embodiment is during sound wave communication, only by way of increasing sonar, realizes dual channel receiver sonic data
Signal and sound wave enable signal are determined the validity of received acoustic data signals using received sound wave enable signal, will had
The acoustic data signals of effect are converted into control instruction.It solves in the prior art, is handled using to the frequency for sending sound wave
Mode when alleviating underwater interference, need to design multiple frequency processing circuit, frequency processing is carried out to the acoustic signals of transmission,
The problem of design cost is higher and complex disposal process, realizes reduction design cost, simply and effectively reduces underwater interference pair
Communicate the effect that acoustic signals influence.
Embodiment three
Fig. 3 is a kind of structural schematic diagram for sound wave communication system that the embodiment of the present invention three provides, and the present embodiment is applicable
In in the form of sound wave receive and dispatch communication data the case where.In general, the sound wave communication system is not used alone, but setting is having
Have on two devices of data transmit-receive demand, typically, described device is set under water, sound wave communication provided by the present embodiment
System is for assisting underwater units to realize data transmit-receive.
As shown in figure 3, the sound wave communication system, comprising: the first sound wave communication unit 110 and the second sound wave communication unit
220, the first sound wave communication unit 110 is set in inspection device 1, and the second sound wave communication unit 220 is set to base
It stands in 2；
The first sound wave communication unit 110 includes the first active sonar 1121 and the second active sonar 1122；
The second sound wave communication unit 220 includes the first passive sonar 2211 and the second passive sonar 2212；
The first sound wave communication unit 110, for passing through first active sonar 1121 and second Active Acoustic
1122 send acoustic data signals and sound wave enable signal to the base station 2 respectively；
The second sound wave communication unit 220, for passing through first passive sonar 2211 and the second passive sound
2212 receive the acoustic data signals and the sound wave enable signal that the inspection device 1 is sent respectively, and are based on institute
It states sound wave enable signal and judges whether the acoustic data signals are effective, and effective acoustic data signals are converted into control and are referred to
It enables, and the control instruction is sent to the master controller in the base station 2, so that the master controller is based on the control
It instructs and sends positioning acoustic signals used for positioning to the inspection device 1 or for the infrared signal of charging.
It should be noted that when the base station 2 has and sends the demand of communication data to the inspection device 1, it is described
Base station 2 may include the first sound wave communication unit 110, and the inspection device 1 may include the second sound wave communication list
Member 220.
The present embodiment is during sound wave communication, only by way of increasing sonar, realizes that binary channels receives and dispatches sonic data
Signal and sound wave enable signal recycle sound wave enable signal to judge the validity of acoustic data signals.Solves the prior art
In, when by the way of handling the frequency for sending sound wave to alleviate underwater interference, need to design multiple frequency processing electricity
The problem of road carries out frequency processing to the acoustic signals of transmission, and design cost is higher and complex disposal process, realizes reduction and sets
Cost is counted, the effect that underwater interference influences communication acoustic signals is simply and effectively reduced.
Example IV
Fig. 4 is a kind of structural schematic diagram for inspection device 1 that the embodiment of the present invention four provides, and the present embodiment is applicable to examine
The case where surveying the position of leakage of underwater pipeline point.Inspection device 1 is used cooperatively with the base station 2 being set on pipeline, is realized to pipe
Inspection along road.
As shown in figure 4, the inspection device 1 includes a kind of sound wave communication unit 110 provided by embodiment one.
Typically, the sound wave communication unit 110 is set in the orientation and communication module 11 of the inspection device 1, described
Orientation and communication module is used to send the acoustic signals of request positioning and the acoustic signals of request charging to the inspection device 1, and
For receiving the positioning acoustic signals and infrared signal that the base station 2 is sent, to reach the inspection device 1 to the base station 2
Mobile purpose.
The technical solution of the present embodiment, by the way that sound wave communication unit 110 is arranged in inspection device 1, and the sound wave is logical
It interrogates unit 110 and sends information to the base station 2 using acoustic data signals and sound wave enable signal, ensure that the base station 2 can
To receive effective acoustic data signals, and above-mentioned function only is realized by way of increasing sonar, reduce processing sound
The cost and complexity of wave signal.
Embodiment five
Fig. 5 is a kind of structural schematic diagram for base station 2 that the embodiment of the present invention five provides, and the present embodiment is applicable to detection water
The case where position of lower pipe leakage point.Base station 2 is used cooperatively with mobile inspection device 1, is realized to the inspection along pipeline.
As shown in figure 5, the base station 2 includes a kind of sound wave communication unit 220 provided by embodiment two.
Typically, the sound wave communication unit 220 is set in the orientation and communication module 22 of the base station 2, the positioning
Communication module is used to receive the acoustic signals for the request positioning that the inspection device 1 is sent and the acoustic signals of request charging, and
For sending positioning acoustic signals and infrared signal to the inspection device 1, to reach the inspection device 1 to the base station 2
Mobile purpose.
The technical solution of the present embodiment, by the way that sound wave communication unit 220, and the sound wave communication list are arranged in base station 2
Member 220 receives the acoustic data signals and sound wave enable signal that the inspection device 1 is sent, and ensure that the base station 2 can root
The validity of received acoustic data signals is judged according to received sound wave enable signal, and only real by way of increasing sonar
Existing above-mentioned function, reduces the cost and complexity of processing acoustic signals.
Embodiment six
The embodiment of the present invention six provides a kind of underwater cruising inspection system, and the present embodiment is applicable to detection leakage of underwater pipeline
The case where position of point.As shown in figure 3, the underwater cruising inspection system includes inspection device 1 and base station 2, pass through 1 He of inspection device
Base station 2 is used cooperatively, and is realized to the inspection along pipeline.
The underwater cruising inspection system includes a kind of sound wave communication system provided by embodiment three.Wherein, the first sound wave is logical
News unit 110 is set in the inspection device 1, and the second sound wave communication unit 220 is set in the base station 2, the inspection
The concrete structure schematic diagram of device 1 is as shown in figure 4, the concrete structure schematic diagram of the base station 2 is as shown in Figure 5.
The technical solution of the present embodiment makes underwater inspection system by the way that sound wave communication system is arranged in cruising inspection system under water
System can carry out data communication based on the Principle of Communication of sound wave communication system, ensure that base station 2 in underwater cruising inspection system can be with
Effective acoustic data signals are received, and are only realized by way of increasing sonar in inspection device 1 and base station 2 above-mentioned
Function reduces the cost and complexity of processing acoustic signals.
Embodiment seven
Fig. 6 is a kind of flow chart for sound wave communication method that embodiment seven provides, and the method is applicable to acoustic wave form
Formula receives and dispatches the case where communication data, can be executed by a kind of sound wave communication system provided in above-described embodiment three.The sound
Wave communication system includes: the first sound wave communication unit and the second sound wave communication unit, and the first sound wave communication unit is set to
In inspection device, the second sound wave communication unit is set in base station
The method specifically comprises the following steps:
Step 610 sends acoustic data signals to the base station respectively by the first active sonar and the second active sonar
With sound wave enable signal.
Step 620 is received described in the inspection device transmission respectively by the first passive sonar and the second passive sonar
Acoustic data signals and the sound wave enable signal, and whether the acoustic data signals are judged based on the sound wave enable signal
Effectively, and by effective acoustic data signals it is converted into control instruction, and the control instruction is sent in the base station
Master controller so that the master controller, which is based on the control instruction, sends positioning sound used for positioning to the inspection device
Wave signal or infrared signal for charging.
The present embodiment is during sound wave communication, only by way of increasing sonar, realizes that binary channels receives and dispatches sonic data
Signal and sound wave enable signal recycle sound wave enable signal to judge the validity of acoustic data signals.Solves the prior art
In, when by the way of handling the frequency for sending sound wave to alleviate underwater interference, need to design multiple frequency processing electricity
The problem of road carries out frequency processing to the acoustic signals of transmission, and design cost is higher and complex disposal process, realizes reduction and sets
Cost is counted, the effect that underwater interference influences communication acoustic signals is simply and effectively reduced.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of sound wave communication unit, which is characterized in that the sound wave communication unit is arranged in inspection device, and the sound wave is logical
Interrogating unit includes the first active sonar and the second active sonar；
The sound wave communication unit, for passing through first active sonar and second active sonar respectively to the base station
Acoustic data signals and sound wave enable signal are sent, so that base station is based on the sound wave enable signal and judges the sonic data letter
Number whether effectively, and based on effective acoustic data signals to the inspection device send positioning acoustic signals used for positioning or
Person sends the infrared signal for charging.
2. sound wave communication unit according to claim 1, which is characterized in that the sound wave communication unit includes: communication control
Device and signal sending circuit processed；
The communication controller is electrically connected with the signal sending circuit, for sending to the master controller in the inspection device
Control instruction handled, and will treated that the control instruction is sent to the signal sending circuit；
The signal sending circuit, for the received control instruction to be converted to the acoustic data signals, by described
First active sonar and second active sonar, which send the acoustic data signals and the sound wave to the base station respectively, to be made
It can signal.
3. sound wave communication unit according to claim 1 or 2, which is characterized in that the acoustic data signals include empty letter
Number and setpoint frequency acoustic signals, the setpoint frequency is different from the frequency of the sound wave enable signal.
4. a kind of sound wave communication unit, which is characterized in that the sound wave communication unit is arranged in a base station, the sound wave communication list
Member includes the first passive sonar and the second passive sonar；
The sound wave communication unit, for receiving inspection dress respectively by first passive sonar and second passive sonar
The acoustic data signals and sound wave enable signal of transmission are set, and the acoustic data signals are judged based on the sound wave enable signal
Whether effectively, and effective acoustic data signals are converted into control instruction, and control instruction is sent in the base station
Master controller so that the master controller, which is based on the control instruction, sends positioning sound used for positioning to the inspection device
Wave signal or infrared signal for charging.
5. sound wave communication unit according to claim 4, which is characterized in that the sound wave communication unit, comprising: signal connects
Receive circuit, filtering processing circuit and communication controller；
The signal receiving circuit is electrically connected with the filtering processing circuit, for including by first passive sonar reception
First frequency range acoustic signals of the acoustic data signals, and received by second passive sonar and enabled comprising the sound wave
The first frequency range acoustic signals and the second frequency range acoustic signals are sent to described by the second frequency range acoustic signals of signal
Circuit is filtered；
The filtering processing circuit is electrically connected with the communication controller, for respectively to the first frequency range acoustic signals and institute
It states the second frequency range acoustic signals to be filtered, obtains the acoustic data signals and the sound wave enable signal, and utilize
The sound wave enable signal judges whether the acoustic data signals are effective, converts institute for the effective acoustic data signals
Control instruction is stated, the communication controller is sent to；
The communication controller is handled for receiving the control instruction, and to the control instruction, will treated institute
State the master controller that control instruction is sent in the base station.
6. sound wave communication unit according to claim 5, which is characterized in that the filtering processing circuit is specifically used for:
The first frequency range acoustic signals are filtered, the acoustic data signals, the acoustic data signals are obtained
Acoustic signals including spacing wave and setpoint frequency；
The second frequency range acoustic signals are filtered, the sound wave enable signal is obtained；
In the presence of the sound wave enable signal, acoustic data signals corresponding with the sound wave enable signal are used as effectively
The acoustic data signals；
By in the effective acoustic data signals setpoint frequency acoustic signals and spacing wave according to pre-arranged code rule, conversion
For the control instruction, and the control instruction will be arrived and be sent to the communication controller.
7. a kind of sound wave communication system characterized by comprising the first sound wave communication unit and the second sound wave communication unit, institute
It states the first sound wave communication unit to be set in inspection device, the second sound wave communication unit is set in base station；
The first sound wave communication unit includes the first active sonar and the second active sonar；
The second sound wave communication unit includes the first passive sonar and the second passive sonar；
The first sound wave communication unit, for passing through first active sonar and second active sonar respectively to described
Base station sends acoustic data signals and sound wave enable signal；
The second sound wave communication unit, for receiving institute respectively by first passive sonar and second passive sonar
The acoustic data signals and the sound wave enable signal that inspection device is sent are stated, and are judged based on the sound wave enable signal
Whether the acoustic data signals are effective, and effective acoustic data signals are converted into control instruction, and by the control
The master controller being sent in the base station is instructed, so that the master controller is based on the control instruction to the inspection device
Send positioning acoustic signals used for positioning or the infrared signal for charging.
8. a kind of inspection device, which is characterized in that including sound wave communication unit such as claimed in any one of claims 1-3.
9. a kind of base station, which is characterized in that including the sound wave communication unit as described in any in claim 4-6.
10. a kind of sound wave communication method is applied in sound wave communication system as claimed in claim 7, the sound wave communication system
System includes: the first sound wave communication unit and the second sound wave communication unit, and the first sound wave communication unit is set to inspection device
In, the second sound wave communication unit is set in base station, which comprises
Acoustic data signals and the enabled letter of sound wave are sent to the base station respectively by the first active sonar and the second active sonar
Number；
The acoustic data signals that the inspection device is sent are received respectively by the first passive sonar and the second passive sonar
With the sound wave enable signal, and judge whether the acoustic data signals are effective based on the sound wave enable signal, and will have
The acoustic data signals of effect are converted into control instruction, and the control instruction is sent to the master controller in the base station,
So that the master controller be based on the control instruction to the inspection device send positioning acoustic signals used for positioning or
Infrared signal for charging.
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