CN111147139A - Remote control unmanned submersible, underwater visible light communication system and underwater visible light communication automatic alignment method - Google Patents
Remote control unmanned submersible, underwater visible light communication system and underwater visible light communication automatic alignment method Download PDFInfo
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- CN111147139A CN111147139A CN201911350957.8A CN201911350957A CN111147139A CN 111147139 A CN111147139 A CN 111147139A CN 201911350957 A CN201911350957 A CN 201911350957A CN 111147139 A CN111147139 A CN 111147139A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/501—Structural aspects
- H04B10/503—Laser transmitters
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Abstract
The invention provides a remote control unmanned submersible, an underwater visible light communication system and an underwater visible light communication automatic alignment method, and relates to the technical field of underwater visible light communication. The remote control unmanned submersible comprises a micro host, a first camera and a first LD lighting device, wherein the first camera and the first LD lighting device are electrically connected with the micro host; first LD lighting device includes blue light laser light source and fluorescence runner, installs transparent glass and white light printing opacity body on the fluorescence runner, and blue light laser light source optionally shines transparent glass and white light printing opacity body, and first camera is used for carrying out the target identification to the communication node under water when blue light laser light source shines the white light printing opacity body, still is used for carrying out visible light communication with the communication node under water when blue light laser light source shines to transparent glass. The remote control unmanned submersible can realize image recognition and aim at the underwater communication node by using white laser, and then is switched into blue laser to realize high-speed reliable visible light communication with the underwater communication node.
Description
Technical Field
The invention relates to the technical field of underwater visible light communication, in particular to a remote control unmanned submersible, an underwater visible light communication system and an underwater visible light communication automatic alignment method.
Background
At present, underwater communication nodes are widely applied to the development of ocean resources and the monitoring of seabed states, and with the appearance of various novel underwater sensors, the bandwidth requirement of underwater detection is increasing day by day. Due to the fact that underwater acoustic channel multipath effect is strong, interference is serious, and transmission efficiency of data of the underwater communication nodes through multi-hop communication is low.
The Underwater Visible Light Communication (undersater Visible Light Communication) can realize high-speed and large-capacity information transmission, is suitable for Underwater high-speed real-time Communication, carries out data transmission through the Communication between an Underwater vehicle carrying a Visible Light Communication terminal and a node, and can improve the flexibility of a system and save energy consumption.
The transmitter and the receiver of the underwater visible light communication need point-to-point transmission, the underwater laser information needs point-to-point transmission, the effective communication can be established only by the accurate butt joint of the receiving end and the transmitting end, and because the channel of the underwater laser communication is a water body, the laser communication is greatly influenced by environmental factors such as water quality, water flow and the like, and the establishment of a reliable communication link is very difficult.
At present, most of light sources of underwater laser communication adopt blue-green lasers to carry out visible light communication, high-speed and long-distance communication can be realized, but the requirement of underwater illumination is ignored. Therefore, a method for automatically aligning underwater visible light communication is designed, so that high-quality underwater illumination can be realized, which is a technical problem to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a remote control unmanned submersible, an underwater visible light communication system and an underwater visible light communication automatic alignment method, which can realize image recognition and alignment of an underwater communication node by using white laser, and then switch the white laser into blue laser to realize high-speed reliable visible light communication with the underwater communication node.
The invention provides a technical scheme that:
a remote control unmanned submersible comprises a micro host, a first camera and a first LD lighting device, wherein the first camera and the first LD lighting device are electrically connected with the micro host; the first LD illuminating device comprises a blue light laser light source and a fluorescence rotating wheel, wherein the fluorescence rotating wheel is provided with transparent glass and a white light transmitting body, the blue light laser light source can selectively irradiate the transparent glass and the white light transmitting body, the first camera is used for carrying out target identification on an underwater communication node when the blue light laser light source irradiates the white light transmitting body, and is also used for carrying out visible light communication with the underwater communication node when the blue light laser light source irradiates the transparent glass.
In a preferred embodiment of the present invention, the white light-transmitting body includes a low color temperature light-transmitting body and a high color temperature light-transmitting body, and the transparent glass, the low color temperature light-transmitting body and the high color temperature light-transmitting body are mounted on the fluorescent wheel at intervals.
In a preferred embodiment of the present invention, the low color temperature light-transmitting body is any one of low color temperature fluorescent glass, low color temperature fluorescent ceramic or low color temperature fluorescent colloid, and the high color temperature light-transmitting body is any one of high color temperature fluorescent glass, high color temperature fluorescent ceramic or high color temperature fluorescent colloid.
In a preferred embodiment of the present invention, the fluorescent wheel is rotatable around a center line thereof, the transparent glass, the low color temperature transparent body and the high color temperature transparent body are mounted around the center line at intervals, and the blue laser light source can selectively illuminate the transparent glass, the low color temperature transparent body and the high color temperature transparent body by rotating the fluorescent wheel.
In a preferred embodiment of the present invention, the first LD lighting device includes a zoom lens, and the zoom lens is disposed in an emitting direction of the blue laser light source, and is configured to adjust a light emitting angle of emitted light.
The invention provides another technical scheme:
an underwater visible light communication system comprises an underwater communication node and the remote control unmanned submersible; the underwater communication node comprises an underwater sensor, a second camera and a second LD lighting device which are electrically connected with the underwater sensor; the second camera is used for carrying out visible light communication with the first camera in a blue light mode of the second LD lighting device and transmitting information collected by the underwater sensor to the first camera.
The invention also provides a technical scheme that:
a method for automatic alignment of underwater visible light communication is based on a remote-control unmanned submersible vehicle and comprises the following steps:
controlling the blue laser light source to irradiate the white light transmitting body so as to facilitate the first camera to carry out target identification on the underwater communication node;
after the first camera identifies the underwater communication node, the blue laser light source is controlled to illuminate the transparent glass, so that the first camera and the underwater communication node can be in visible light communication.
In a preferred embodiment of the present invention, the step of controlling the blue light laser source to illuminate the white light transparent body so that the first camera performs target identification on the underwater communication node includes:
and controlling the position of the zoom lens to adjust the light-emitting angle of emergent light of the blue laser light source, so that the first camera can conveniently identify the target of the underwater communication node.
In a preferred embodiment of the present invention, after the first camera identifies the underwater communication node, the step of controlling the blue laser light source to illuminate the transparent glass so as to facilitate visible light communication between the first camera and the underwater communication node includes:
after the first camera identifies an underwater communication node, controlling the blue laser light source to illuminate the transparent glass;
adjusting the direction of emergent light of the first camera until the first camera receives the verification information of the underwater communication node;
and after the first camera receives the verification information of the underwater communication node, controlling the first camera to establish visible light link communication with the underwater communication node.
In a preferred embodiment of the present invention, after the first camera receives the verification information of the underwater communication node, the step of controlling the first camera to establish visible light link communication with the underwater communication node includes:
and controlling the first camera to pause for a preset time, if the check information of the underwater communication node is still continuously received, controlling the first camera to establish visible light link communication with the underwater communication node, and if the check information of the underwater communication node is not continuously received, adjusting the direction of emergent light of the first camera until the first camera establishes visible light link communication with the underwater communication node.
The remote control unmanned submersible, the underwater visible light communication system and the underwater visible light communication automatic alignment method provided by the invention have the beneficial effects that:
the first LD lighting device can realize high-quality underwater lighting, and the output color temperature of the first LD lighting device is adjusted to realize high-quality shooting in accordance with the requirement of the first camera; meanwhile, white laser can be used for realizing image recognition and aligning to the underwater communication node, and then is switched into blue laser, so that high-speed and reliable visible light communication with the underwater communication node is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic composition diagram of an underwater visible light communication system provided in an embodiment of the present invention.
Fig. 2 is a schematic composition diagram of the first LD lighting device in fig. 1.
FIG. 3 is a schematic view of the fluorescent wheel shown in FIG. 2.
Fig. 4 is a flow chart of a method for underwater visible light communication automatic alignment.
Icon: 1-underwater visible light communication system; 2-remotely controlling the unmanned underwater vehicle; 21-a first power carrier module; 22-micro-mainframe; 23-a first camera; 24-a first LD lighting device; 241-blue laser light source; 242-a fluorescent wheel; 243-transparent glass; 244-a low color temperature light transmissive body; 245-high color temperature light-transmitting body; 246-zoom lens; 25-a microchip; 26-nine axis acceleration sensors; 27-a pressure sensor; 28-a motor; 29-a voltage detector; 3-a land host; 4-a second power carrier module; 5-an underwater communication node; 51-an underwater sensor; 52-a second camera; 53-second LD lighting device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the present invention conventionally put into use, or the orientations or positional relationships that the persons skilled in the art conventionally understand, are only used for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the equipment or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The transmitter and the receiver of the underwater visible light communication need point-to-point transmission, the underwater laser information needs point-to-point transmission, the effective communication can be established only by the accurate butt joint of the receiving end and the transmitting end, and because the channel of the underwater laser communication is a water body, the laser communication is greatly influenced by environmental factors such as water quality, water flow and the like, and the establishment of a reliable communication link is very difficult.
At present, most of light sources of underwater laser communication adopt blue-green lasers to carry out visible light communication, high-speed and long-distance communication can be realized, but the requirement of underwater illumination is ignored. Therefore, how to realize high-quality underwater lighting is a technical problem which is urgently needed to be solved at present.
Referring to fig. 1, the present embodiment provides an underwater visible light communication system 1, where the underwater visible light communication system 1 includes an underwater communication node 5, a remote unmanned vehicle 2, and a land host 3.
The remotely controlled unmanned vehicle 2 includes a first power carrier module 21, a micro-mainframe 22, a first camera 23, a first LD lighting device 24, a microchip 25, a nine-axis acceleration sensor 26, a pressure sensor 27, a motor 28, and a voltage detector 29. The first power carrier module 21, the first camera 23, the first LD lighting device 24, and the microchip 25 are all electrically connected to the micro-host 22, and the first camera 23 and the first LD lighting device 24 are integrally disposed and move synchronously. The nine-axis acceleration sensor 26, the pressure sensor 27, the motor 28, and the voltage detector 29 are electrically connected to the microchip 25. Herein, the LD lighting device refers to an stimulated emission composite light emitting device.
The nine-axis acceleration sensor 26 is used to monitor the acceleration of the remotely operated unmanned vehicle 2 and transmit the acceleration information to the microchip 25. The pressure sensor 27 is used for monitoring the pressure borne by the remotely operated unmanned submersible vehicle 2 and transmitting pressure information to the microchip 25. The motor 28 is used for controlling the wheels of the remote-controlled unmanned vehicle 2 to roll according to the control instruction of the microchip 25. The voltage detector 29 is used to monitor the voltage of the remote operated unmanned vehicle 2 and transmit the voltage information to the microchip 25. The first LD lighting device 24 is used for lighting the environment, facilitating the first camera 23 to perform target recognition on the underwater communication node 5, and performing visible light communication with the underwater communication node 5.
The land host 3 establishes communication connection with the remote unmanned vehicle 2 through the second power carrier module 4, wherein the first power carrier module 21 and the second power carrier module 4 are connected through a twisted pair.
The underwater communication node 5 includes an underwater sensor 51, and a second camera 52 and a second LD lighting device 53 electrically connected to the underwater sensor 51. The second LD lighting device 53 is used to illuminate the environment, facilitating visible light communication between the second camera 52 and the first camera 23.
Referring to fig. 2 and 3, the first LD illumination device 24 includes a blue laser source 241, a fluorescent wheel 242, and a zoom lens 246. The fluorescent wheel 242 is disposed in the emitting direction of the blue laser light source 241, and can maintain the blue light of the emitting light of the blue laser light source 241 or convert the blue light into white light. The zoom lens 246 is disposed in the emitting direction of the blue laser light source 241, and is used for adjusting the emitting angle of the emitted light. When the range in which the emission light irradiation is required is large, the emission angle of the control emission light becomes large, and when the range in which the emission light irradiation is required is small, the emission angle of the control emission light becomes small.
Referring to fig. 3, the fluorescent wheel 242 is provided with a transparent glass 243 and a white light transmitting body, and the white light transmitting body includes a low color temperature transmitting body 244 and a high color temperature transmitting body 245. The fluorescent wheel 242 is rotatable around a center line thereof, the transparent glass 243, the low color temperature light transmitting body 244 and the high color temperature light transmitting body 245 are installed at intervals around the center line, and the blue laser light source 241 can selectively irradiate the transparent glass 243, the low color temperature light transmitting body 244 and the high color temperature light transmitting body 245 by rotating the fluorescent wheel 242.
The low color temperature light-transmitting body 244 is any one of low color temperature fluorescent glass, low color temperature fluorescent ceramic or low color temperature fluorescent colloid, and the high color temperature light-transmitting body 245 is any one of high color temperature fluorescent glass, high color temperature fluorescent ceramic or high color temperature fluorescent colloid.
When the blue laser light source 241 irradiates the white light transmitting body, the first camera 23 is convenient to perform target identification on the underwater communication node 5. When the blue laser light source 241 irradiates the transparent glass 243, the first camera 23 and the underwater communication node 5 can conveniently perform visible light communication.
Referring to fig. 4, the present embodiment further provides an underwater visible light communication automatic alignment method, based on the remotely operated unmanned vehicle 2 and the underwater communication node 5, the method includes the following steps:
s1: the first LD lighting device 24 is controlled to be in the white light mode.
The first LD lighting device 24 is in a white light mode, that is, controls the blue laser light source 241 to irradiate the white light transparent body, so that the first camera 23 performs target identification on the underwater communication node 5. The white light transmitting body comprises a low color temperature transmitting body 244 and a high color temperature transmitting body 245, and the blue laser light source 241 can flexibly select to shine on one of the transmitting bodies according to water quality.
S2: the first camera 23 performs target recognition on the underwater communication node 5.
In the process of performing object recognition, the remotely operated unmanned vehicle 2 is regularly rotated by the drive of the motor 28 until the underwater communication node 5 is recognized.
S3: the first LD lighting device 24 is controlled to the blue light mode.
After the first camera 23 identifies the underwater communication node 5, the blue laser light source 241 is controlled to illuminate the transparent glass 243, so that the first camera 23 can perform visible light communication with the underwater communication node 5.
S4: and judging whether the remote-control unmanned submersible vehicle 2 receives the verification information.
If the remote operated unmanned vehicle 2 receives the verification information, S411 is performed. If the remote operated unmanned vehicle 2 does not receive the verification information, S421 is performed.
S421: the direction of the light emitted from the first camera 23 is adjusted, and the process returns to S4. In S421, the direction of light emitted from the first camera 23 is adjusted, and the first camera 23 is preferably controlled to rotate rightward at the speed of 2 steps.
S411: and controlling the remote-control unmanned submersible 2 to pause for a preset time.
Wherein, the range of the preset duration may be: 3s to 5 s.
S412: it is determined whether the remote operated unmanned submersible 2 has continuously received the verification information. If yes, proceed to S413. If not, proceed to S414.
S413: and controlling the first camera 23 to establish visible light link communication with the underwater communication node 5.
S414: the direction of the outgoing light of the first camera 23 is adjusted.
In S414, the direction of the light emitted from the first camera 23 is adjusted, and the first camera 23 is preferably controlled to rotate leftward at the speed of 1 st gear.
S415: and judging whether the remote-control unmanned submersible vehicle 2 receives the verification information.
If the remote operated unmanned vehicle 2 receives the verification information, S416 is performed. If the remote operated unmanned vehicle 2 receives the verification information, it returns to S414.
S416: and controlling the remote-control unmanned submersible 2 to pause for a preset time.
S417: it is determined whether the remote operated unmanned submersible 2 has continuously received the verification information. If yes, proceed to S413. If not, return to S1.
The remote control unmanned submersible 2, the underwater visible light communication system 1 and the underwater visible light communication automatic alignment method provided by the embodiment have the beneficial effects that:
the first LD lighting device 24 can realize high-quality underwater lighting, and the output color temperature of the first LD lighting device 24 is adjusted to realize high-quality shooting in accordance with the requirement of the first camera 23; meanwhile, white laser can be used for realizing image recognition and aligning to the underwater communication node 5, and then is switched into blue laser, so that high-speed and reliable visible light communication is realized with the underwater communication node 5.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A remotely controlled unmanned submersible vehicle comprising a micro-mainframe (22) and a first camera (23) and a first LD lighting device (24) electrically connected to the micro-mainframe (22); the first LD lighting device (24) comprises a blue laser light source (241) and a fluorescence rotating wheel (242), wherein the fluorescence rotating wheel (242) is provided with transparent glass (243) and a white light transmitting body, the blue laser light source (241) can selectively irradiate the transparent glass (243) and the white light transmitting body, and the first camera (23) is used for carrying out target identification on an underwater communication node (5) when the blue laser light source (241) irradiates the white light transmitting body and is also used for carrying out visible light communication with the underwater communication node (5) when the blue laser light source (241) irradiates the transparent glass (243).
2. The remotely operated unmanned submersible vehicle of claim 1, wherein the white light transmitting body comprises a low color temperature transmitting body (244) and a high color temperature transmitting body (245), and the transparent glass (243), the low color temperature transmitting body (244) and the high color temperature transmitting body (245) are mounted on the fluorescent wheel (242) at intervals.
3. The remotely controlled unmanned submersible of claim 2, wherein the low color temperature light transmissive body (244) is any one of a low color temperature fluorescent glass, a low color temperature fluorescent ceramic, or a low color temperature fluorescent gel, and the high color temperature light transmissive body (245) is any one of a high color temperature fluorescent glass, a high color temperature fluorescent ceramic, or a high color temperature fluorescent gel.
4. The remotely operated unmanned submersible vehicle of claim 2, wherein the fluorescent wheel (242) is rotatable about a centerline thereof, the transparent glass (243), the low color temperature light transmitting body (244), and the high color temperature light transmitting body (245) being mounted in spaced relation about the centerline, rotation of the fluorescent wheel (242) causing the blue laser light source (241) to selectively illuminate the transparent glass (243), the low color temperature light transmitting body (244), and the high color temperature light transmitting body (245).
5. The remotely controlled unmanned submersible according to claim 1, wherein the first LD lighting device (24) comprises a zoom lens (246), the zoom lens (246) being provided in an emission direction of the blue laser light source (241) for adjusting a light emission angle of the emitted light.
6. An underwater visible light communication system comprising an underwater communication node (5) and a remotely operated unmanned vehicle as claimed in claim 1; the underwater communication node (5) comprises an underwater sensor (51), and a second camera (52) and a second LD lighting device (53) which are electrically connected with the underwater sensor (51); the second camera (52) is used for carrying out visible light communication with the first camera (23) in a blue light mode of the second LD lighting device (53), and transmitting information collected by the underwater sensor (51) to the first camera (23).
7. A method of underwater visible light communication auto-alignment, based on the remotely operated unmanned vehicle of claim 1, comprising:
controlling the blue laser light source (241) to irradiate the white light transmitting body so as to facilitate the first camera (23) to perform target identification on the underwater communication node (5);
after the first camera (23) identifies the underwater communication node (5), the blue laser light source (241) is controlled to irradiate the transparent glass (243) so that the first camera (23) can be in visible light communication with the underwater communication node (5).
8. The underwater visible light communication automatic alignment method according to claim 7, wherein the first LD illumination device (24) comprises a zoom lens (246), the zoom lens (246) is arranged in the emitting direction of the blue laser light source (241), and the step of controlling the blue laser light source (241) to illuminate the white light transparent body so as to facilitate the first camera (23) to perform target identification on an underwater communication node (5) comprises:
and controlling the position of the zoom lens (246) to adjust the light-emitting angle of emergent light of the blue laser light source (241), so that the first camera (23) can conveniently perform target identification on the underwater communication node (5).
9. The method of underwater visible light communication automatic alignment according to claim 7, wherein the step of controlling the blue laser light source (241) to illuminate the transparent glass (243) after the first camera (23) identifies the underwater communication node (5) so as to facilitate the first camera (23) to perform visible light communication with the underwater communication node (5) comprises:
after the first camera (23) identifies an underwater communication node (5), controlling the blue laser light source (241) to irradiate towards the transparent glass (243);
adjusting the direction of emergent light of the first camera (23) until the first camera (23) receives the verification information of the underwater communication node (5);
after the first camera (23) receives the verification information of the underwater communication node (5), the first camera (23) is controlled to establish visible light link communication with the underwater communication node (5).
10. The underwater visible light communication automatic alignment method according to claim 9, wherein the step of controlling the first camera (23) to establish visible light link communication with the underwater communication node (5) after the first camera (23) receives the verification information of the underwater communication node (5) comprises:
the method comprises the steps of controlling the first camera (23) to pause for a preset duration, controlling the first camera (23) to establish visible light link communication with an underwater communication node (5) if the check information of the underwater communication node (5) is continuously received, and adjusting the direction of emergent light of the first camera (23) until the first camera (23) establishes visible light link communication with the underwater communication node (5) if the check information of the underwater communication node (5) is not continuously received.
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| CN111934779A (en) * | 2020-07-06 | 2020-11-13 | 杭州电子科技大学 | Laser signal recovery module, multipoint-aligned underwater laser communication system and method |
| CN111934780A (en) * | 2020-10-19 | 2020-11-13 | 鹏城实验室 | Optical communication transmitter, optical communication receiver, and optical communication system |
| CN112422197A (en) * | 2020-10-19 | 2021-02-26 | 鹏城实验室 | Underwater optical communication capturing device and method based on acousto-optic combination |
| CN113014320A (en) * | 2021-02-08 | 2021-06-22 | 维沃移动通信有限公司 | Visible light communication control method and device for electronic equipment and electronic equipment |
| CN113555769A (en) * | 2021-07-01 | 2021-10-26 | 浙江大学 | Underwater laser transmitter capable of generating various laser patterns |
| CN114802663A (en) * | 2022-05-05 | 2022-07-29 | 南京工程学院 | Single-joint bionic underwater visible light communication unmanned underwater vehicle, system and control method |
| CN116016131A (en) * | 2022-12-09 | 2023-04-25 | 中国科学院沈阳自动化研究所 | Automatic switching device and method for network communication of manned submersible |
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