CN111260889A - Safety monitoring management device for underwater operation of diver - Google Patents
Safety monitoring management device for underwater operation of diver Download PDFInfo
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- CN111260889A CN111260889A CN202010125467.4A CN202010125467A CN111260889A CN 111260889 A CN111260889 A CN 111260889A CN 202010125467 A CN202010125467 A CN 202010125467A CN 111260889 A CN111260889 A CN 111260889A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/08—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water
- G08B21/088—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water by monitoring a device worn by the person, e.g. a bracelet attached to the swimmer
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
- H04B1/401—Circuits for selecting or indicating operating mode
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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
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/26—Systems using multi-frequency codes
- H04L27/2601—Multicarrier modulation systems
- H04L27/2647—Arrangements specific to the receiver only
- H04L27/2655—Synchronisation arrangements
- H04L27/2662—Symbol synchronisation
- H04L27/2663—Coarse synchronisation, e.g. by correlation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/26—Systems using multi-frequency codes
- H04L27/2601—Multicarrier modulation systems
- H04L27/2647—Arrangements specific to the receiver only
- H04L27/2655—Synchronisation arrangements
- H04L27/2662—Symbol synchronisation
- H04L27/2665—Fine synchronisation, e.g. by positioning the FFT window
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Abstract
The utility model provides a safety monitoring management device for diver's underwater operation, relate to the underwater acoustic communication technology, the device includes two parts of control management platform on water and information transceiver node under water, according to diver's underwater operation's environment and essential feature, the speech information of issuing true man is through training phase prestoring, and with speech information command normalization processing for effective standard information, adopt TFSK time-frequency modulation technique in the underwater acoustic communication to transmit, when guaranteeing information reliable transmission and robustness, through playback voice of depositing in advance, guarantee that diver is convenient directly perceived reliably received information, reach the purpose to diver's safety monitoring management under water. The device uses the STM32 high-performance digital signal controller based on Cortex M4 as a core processor, and the system has the characteristics of simple and convenient realization, low power consumption, high cost performance and the like. The device can be applied to application scenes such as diving entertainment, underwater rescue, marine ranch and the like.
Description
Technical Field
The invention relates to an underwater acoustic communication technology, in particular to a safety monitoring management device for underwater operation of divers.
Background
In recent years, the diving industry shows a steadily increasing trend in the world, the underwater environment is complex and changeable, and is often accompanied by great danger, but divers generally adopt gestures to carry out underwater communication in underwater operation, adopt signal ropes to carry out communication with the water surface, the mode can be influenced by the underwater environment to a great extent, and can influence the flexibility and the range of motion of divers, thereby leading to the increase of safety risks of divers, being difficult to carry out effective signal transmission when encountering danger, and easily causing safety accidents.
Currently, the most effective means of wireless communication over and under water is underwater acoustic communication. The improvement of the transmission rate of underwater acoustic communication information becomes a bottleneck according to the time-varying, frequency-varying and space-varying characteristics of the underwater acoustic channel (i.e., marine environment). The modulation system of the underwater acoustic communication information has different modulation modes according to different application scenes and requirements. The incoherent modulation technology is suitable for occasions with low information rate requirement and high information transmission reliability requirement; coherent modulation (QPSK modulation), multi-carrier techniques (such as OFDM transmission) are suitable for high-rate information transmission scenarios, but their transmission reliability is relatively poor. In order to increase the reliability of information transmission while increasing the information transmission rate, a MIMO-OFDM transmission scheme has been developed, but at the expense of the complexity of the system equipment.
For underwater voice transmission, a voice compression technology is usually adopted to compress the voice signal to a low rate, then OFDM modulation is adopted, and the voice signal is restored to an original voice signal by utilizing a signal processing and voice decompression technology after passing through an underwater sound channel. Although the underwater sound voice communication function can be completed in the mode, the quality grade of the restored voice signal is difficult to guarantee as the voice compression is lossy compression; meanwhile, due to the variation of the underwater acoustic channel, the reliability and robustness of the OFDM communication system will face severe examination.
For the detection of physiological parameters of human, electrocardiogram parameters and blood sample saturation parameters are mostly detected at present, and the traditional infrared light technology, medical electrode technology and other sensing detection methods are mainly adopted, and the Digital Signal Processing (DSP) technology is utilized for processing. Although the method can improve the algorithm processing precision by using the DSP, the method is poor in intuition and large in power consumption when being used as diver wearing equipment for underwater operation.
Disclosure of Invention
The invention aims to solve the problem of underwater operation of divers, and provides a safety monitoring management device for underwater operation of divers, which is convenient, safe and flexible in underwater operation and can be used for safety management and monitoring of underwater operation of divers by water surface management personnel.
The underwater information monitoring and managing system comprises an underwater monitoring and managing platform and an underwater information transceiving node, wherein the underwater monitoring and managing platform comprises a received signal preprocessing module, an acoustic emission module, a voice recording and playing module, a display alarm module, a core processor module and a power supply module; the underwater information transmitting and receiving node part comprises: the system comprises a received signal preprocessing module, an acoustic emission module, a sensor and instruction processing module, a display and earphone playing module, a core processor module and a power supply module; the water monitoring and management platform and the underwater information receiving and transmitting node both adopt a half-duplex communication mode.
The receiving signal preprocessing module, the acoustic emission module, the core processor module and the like of the overwater monitoring and management platform and the underwater information transceiving node are used for transmitting and receiving information of the overwater monitoring and management platform and the underwater information transceiving node; the voice recording and playing module is used for pre-training and storing voice information of underwater operation of divers by an underwater monitoring management platform; and the power supply module is respectively used for supplying power to the overwater monitoring and management platform and the underwater information transceiving node device. The display alarm module is used for the aquatic monitoring and management platform to issue and warn the received underwater information; the sensor and instruction processing module is used for preprocessing underwater environment information and information issued by divers by an underwater information transceiving node; the display and earphone playing module is an underwater information receiving and transmitting node for a diver to check and listen to management command information issued by the overwater monitoring management platform.
According to the safety monitoring management device for underwater operation of the diver, the diver records real voice into the memory through the voice recording and playing module through a safety training link before the underwater operation. During underwater operation, the overwater monitoring and management platform can find real person voices corresponding to divers for broadcasting according to the received related underwater information; meanwhile, the underwater information transceiving node can also broadcast corresponding real-person voice command information of the administrator according to the received command information of the overwater monitoring management platform.
The channel analysis module of the core processor module acquires and analyzes received signals from the underwater acoustic transducer so as to obtain parameters of noise power, multipath time delay and the like of an underwater acoustic channel, namely relevant parameters of marine environment, so as to adjust relevant system parameters of the device, including signal amplification factor of the receiving preprocessing module, synchronous processing and detection threshold value of the digital signal processor and the like.
The underwater information transmitting and receiving node part comprises a sensor and an instruction processing module. The sensor comprises a front-end wearable sensor, wherein a heart rate and blood pressure pulse sensor, a waterproof high-precision pressure sensor and an accelerometer gyroscope are used for detecting the heart rate, the blood oxygen concentration, the underwater environment pressure and the posture of a human body. The sensor is an automatic frequency modulation sensor, and the working frequency of the sensor can be adjusted according to actual requirements so as to reduce power consumption; the command processing module is used for enabling gesture sensing information to correspond to pre-stored information such as operation response, call for help and the like, the information such as the operation response, the call for help and the like is stored in the command processing module, and the sensor and the command processing module transmit the acquired sensing and command information to the core processor module for information modulation, so that the gesture sensing information corresponds to the stored information such as the operation response, the call for help and the like.
The display module and the earphone playing module of the underwater information receiving and transmitting node part; the display module adopts a low-power OLED display, is worn on the wrist of a diver, sets automatic screen-turning and reduces power consumption. The display is used for displaying measurement parameters and underwater activity information of each sensor and sending instruction information on water, and the sensor parameters and the underwater activity information comprise information such as blood pressure, heart rate, depth, diving time, residual oxygen and the like; the earphone playing module adopts a head-wearing bone sensing earphone and is used for playing instruction voice information of an administrator who stores the water monitoring management platform in advance. When receiving the instruction of the overwater monitoring management platform, the wrist display module performs vibration reminding and displays information, and the earphone playing module plays corresponding instruction voice information.
The display alarm module of the water monitoring management platform is used for displaying underwater information instructions sent by divers and various wearable sensor monitoring parameters in real time, the water monitoring management platform is used for training and storing fifteen underwater information instructions of the divers, and when the display displays corresponding information instructions, the loudspeaker is used for playing operation information of the divers underwater or real person voice information for asking for help. The water monitoring and management platform can set safety threshold values for various underwater related parameters according to experience information such as the marine environment of the current day, and once the parameters exceed the safety threshold values, voice alarm is carried out.
The received signal preprocessing module is used for carrying out amplification filtering related processing on the received weak underwater sound signals, and comprises a high-precision amplification circuit and an AGC circuit, wherein the AGC circuit is an automatic gain control circuit, the specific method is a processing mode of a first-stage AGC, a filter and a second-stage AGC, and the modules are respectively included in an overwater monitoring management platform and an underwater information receiving and transmitting node.
The acoustic emission module comprises a power amplifier, a transmitting-receiving switching circuit and a transmitting-receiving combined underwater acoustic transducer to ensure the half-duplex mode of the device, the acoustic emission module is respectively arranged in an overwater monitoring management platform and an underwater information transmitting-receiving node, the underwater acoustic transducer is a transmitting-receiving combined spherical transducer, and the working center frequency of the acoustic emission module is 30 KHz.
The core processing module comprises a signal processing part and a channel analysis module, wherein the signal processing part takes an STM32 high-performance digital signal controller based on a Cortex M4 kernel as a core, and the signal processing part is used for completing the conversion A/D from an analog signal to a digital signal of the received signal preprocessing module, signal synchronization, information demodulation, channel decoding, data storage, display, audio playing control and the like; and on the other hand, the underwater acoustic channel coding and synchronizing device is used for modulating information of an information instruction and a sensing parameter of the underwater information transceiving node or instruction information sent to the underwater by the overwater monitoring management platform, and transmitting the information to an underwater acoustic channel through the acoustic emission module after the channel coding and synchronizing processing are carried out and the D/A conversion is carried out on the information. The information modulation mode adopts time frequency modulation (TFSK) or other signal modulation, other signal modulation comprises Chirp modulation, spread spectrum modulation and the like, and the corresponding information demodulation adopts an FFT spectrum analysis method or a related processing method for demodulation; the analog-to-digital conversion A/D and digital-to-analog conversion D/A functions adopt an ADC/DAC module integrated by an SOC controller; the data storage function adopts an on-chip memory integrated by an SOC controller.
The signal synchronization is divided into a coarse synchronization process and a fine synchronization process, the coarse synchronization process adopts two identical Chirp signals 1 with short time, namely linear frequency modulation signals (LFM1), and after the Chirp signals are calculated and processed through a cross-correlation function and judged to reach a coarse synchronization threshold value, signal arrival information is given and the fine synchronization process is started; the fine synchronization process is as follows: and a Chirp signal 2 with longer time is adopted as a system fine synchronization signal after the coarse synchronization signal, and the Chirp signal 2, namely a linear frequency modulation signal (LFM2), is subjected to autocorrelation function calculation processing and then is extracted to a synchronous correlation peak, so that the rapid and accurate synchronization signal extraction is realized.
Compared with the prior art, the invention has the following outstanding advantages:
1. and by adopting TFSK time-frequency modulation or other Chirp modulation, spread spectrum modulation and BCH channel coding methods with good robustness, the multipath interference is greatly reduced, and the reliability of signal transmission is enhanced. The diver and the manager can obtain the visual feeling of the real voice while reliably transmitting information.
2. Because TFSK time-frequency modulation or other Chirp modulation, spread spectrum modulation and BCH channel coding methods are adopted, the realization and processing methods are relatively simple; the invention adopts STM32 high-performance digital signal controller based on Cortex M4 kernel as core processor, which has lower power consumption and cost than DSP and FPGA.
3. The received signal preprocessing module adopts a processing method of first-stage AGC + filter + second-stage AGC to replace the traditional mode of small signal amplifier + filter, so that the signal-to-noise ratio of the received signal is improved, and the correct demodulation of the subsequent digital information signal is ensured.
4. The wearable underwater sensor modules are integrated, and the sensor modules directly output related physiological attitude parameters, so that the processing time and power consumption of the system are saved. If the high-integration heart rate blood pressure module MKB0803 can directly perform heart rate blood pressure acquisition and calculation, pulse wave and electrocardio waveform output and human body wearing state recognition functions, a safety threshold value is set through a core processor to give an alarm in real time, and the life safety of divers is guaranteed. Accessible screen display, information is reported in multiple ways such as sound warning, and the diver and the surface of water administrator in time in real time of being convenient for carry out, ensures diver's underwater operation safety.
5. The device takes full account of the difficulty of sending commands underwater, normalizes and classifies the messages in advance, replaces information of a large amount of contents to be expressed by a small amount of information, and corresponds to fifteen key commands. The prestored key instructions are sent by sensing the gesture posture of the diver, the operation is simple, the message is received by adopting an audio-visual combined mode, and the use threshold is reduced.
6. And a Chirp signal with different lengths is adopted to carry out thickness synchronization, and a rapid detection method is adopted to improve the precision and speed of synchronous detection.
7. The equipment has low power consumption, small volume and high integration level, does not influence the activity range and flexibility of underwater operation of divers, and is favorable for the underwater operation of divers.
Drawings
FIG. 1 is a system block diagram of an embodiment of the invention.
Fig. 2 is a diagram of a frame format of a transmitted signal according to an embodiment of the present invention.
Detailed Description
In order to make the features, technical solutions and advantages of the present invention clearer, the following embodiments will further explain the present invention with reference to the accompanying drawings.
As shown in fig. 1, the embodiment of the invention comprises an overwater monitoring management platform 1 and an underwater information transceiving node 2;
the overwater monitoring and management platform 1 is used for receiving and monitoring information related to safety of underwater divers in real time and issuing related management command information to underwater;
the underwater information receiving and transmitting node 2 is wearable equipment installed on a diver and used for issuing physical condition information, surrounding environment conditions, help seeking information and the like of the diver to the water monitoring and management platform 1;
the water monitoring and managing platform 1 part comprises a received signal preprocessing module 11, an acoustic emission module 12, a voice recording and playing module 13, a display alarm module 14, a core processor module 15 and a power supply module 16;
the underwater information transceiving node 2 comprises: a received signal preprocessing module 21, an acoustic emission module 22, a sensor and instruction processing module 23, a display and earphone playing module 24, a core processor module 25 and a power supply module 26; the water monitoring and management platform 1 and the underwater information transceiving node 2 both adopt a half-duplex communication mode. The underwater monitoring management platform 1 and the underwater information transceiving node 2 are used for receiving signal preprocessing modules (11, 21), sound emission modules (12, 22), core processor modules (15, 25) and the like, and are used for transmitting and receiving information; the voice recording and playing module 13 is used for pre-training and storing voice information of underwater operation of divers by the water monitoring and management platform 1; the power supply modules (16, 26) are respectively used for supplying power to the above-water monitoring and management platform 1 and the underwater information transceiving node 2 device. The display alarm module 14 is used for issuing and warning the received underwater information by the water monitoring and management platform 1; the sensor and instruction processing module 23 is used for preprocessing underwater environment information and information issued by divers by the underwater information transceiving node 2; the display and earphone playing module 24 is an underwater information receiving and transmitting node 2 for a diver to check and listen to management command information sent by the water monitoring and management platform 1.
The acoustic emission modules (12 and 22) of the overwater monitoring and management platform 1 and the underwater information transceiving node 2 respectively comprise power amplifiers (120 and 220), matchers (121 and 221), transceiving selector switches (122 and 222) and transceiving combined underwater acoustic transducers (123 and 223) so as to ensure a half-duplex mode of the device, and the underwater acoustic transducers (123 and 223) are transceiving combined spherical transducers with the working center frequency of 30 KHz.
Core processor modules (15, 25) of the overwater monitoring and management platform 1 and the underwater information transceiving node 2 respectively adopt STM32 high-performance digital signal controllers based on Cortex M4 kernels.
According to the specific underwater operation information of the diver, the messages are classified in a normalized mode in advance, a large amount of voice information is replaced by a small amount of instruction information, the information sending amount is reduced, and the sending power is reduced. Thus, a piece of voice information of underwater work corresponds to a piece of normalized information. The voice information is recorded into the voice chip by the voice recording and playing module 13 when training the diver to work.
The voice command information is effective standard information which is subjected to normalization processing, namely, the information device converts keywords into commands by identifying keywords which are related to diving operation in human voice, and the keywords correspond to several commands, such as: ending the return journey immediately, wherein the corresponding standard information is '1001'; continuing to move forwards, wherein the corresponding standard information is '0101' … …; before the diver goes into water, the training and voice recording of the diver underwater operation order issuing are carried out on the water monitoring management platform through the voice recording device, so that after the diver goes into water, voice corresponding information recorded in advance before the diver goes into water is broadcasted by voice on the water monitoring management platform. Real voice and corresponding commands are given in table 1:
TABLE 1
| Serial number | Voice keyword | Corresponding information | Serial number | Voice keyword | |
| 1 | All are normal | 0001 | 9 | Finish returning to the home immediately | 1001 |
| 2 | Inspection equipment | 0010 | 10 | The second diver has dived | 1010 |
| 3 | Rise up | 0011 | 11 | Environmental physical parameters (Water temperature and depth) | 1011 |
| 4 | Stop | 0100 | 12 | Blood pressure, heart rate | 1100 |
| 5 | Go on to go forward | 0101 | 13 | Amount of oxygen | 1101 |
| 6 | Walk to the right | 0110 | 14 | Location information | 1110 |
| 7 | Go to the left | 0111 | 15 | (for later use) | 1111 |
| 8 | Go backwards | 1000 |
Meanwhile, gesture instructions of divers are trained on the underwater information receiving node platform and stored in a memory of underwater node equipment, so that after the divers are ready to be launched, corresponding gesture sensing judgment is carried out on a core processor module, and the corresponding judgment is carried out according to the operation, response and distress call command information stored in advance, for example, the previous walking is represented by forward shaking of gestures, the backward walking is represented by backward shaking of gestures, the ascending is represented by upward gestures, and the like.
The following description of the method of the invention is made in terms of the working process of the safety management method for underwater divers.
1) The underwater information receiving and sending node 2 sends information to the overwater monitoring management platform 1
Sensor and instruction processing module 23 of underwater information transceiver node 2, through wearable sensor: the MKB0803 heart rate and blood pressure module, the MPU9250 attitude sensor and the MS5540 high-precision pressure sensor acquire and process data information such as pressure of a diver and the surrounding environment, such as human heart rate, blood oxygen concentration, underwater environment temperature, pressure intensity, gesture attitude and the like, and transmit data to the core processor STM32 microcontroller through the SPI interface.
The STM32 digital signal controller processes and judges the information data according to the collected information data, then corresponds to the response, operation and distress call instruction stored in the instruction processing module in advance, and frames the information into original information source information through the processing of the core processor module 25.
The STM32 digital signal controller firstly carries out BCH channel coding on the information source so as to improve the reliability of information transmission; information modulation is performed next. Preferably, time frequency coding modulation (TFSK) is used to resist interference caused by multipath transmission of the underwater acoustic channel, and to increase the reliability of the system. This forms a data stream of modulated signals.
The STM32 digital signal controller frames the modulated signal data stream with wake-up and synchronization signals added in front of it. The purpose of adding the wake-up and synchronization signals is to find the start position of the received signal quickly and accurately at the receiving end. The frame format diagram of the transmitted signal is shown in fig. 2.
In fig. 2:
LFM1 signal: l1(t)＝rect(t/T1)exp[j2πf01t+jπk1t2](1)
LFM2 signal: l2(t)＝rect(t/T2)exp[j2πf02t+jπk2t2](2)
Wherein, T1，T2For the period of the LFM signal, T1＜T2，f01，f02Is the center frequency, k1，k2To modulate frequency, S1(t),S2(t),...SnAnd (t) is a TFSK signal or other modulation signals, and ZERO is added with a plurality of ZERO bits.
The STM32 digital signal controller of the underwater information transceiving node 2 controls the transceiving switch 222 circuit to be switched to the acoustic emission module 22, and after passing through the power amplifier 220, the electric signal is converted into an acoustic signal through the spherical underwater acoustic transducer 223 and is sent to an underwater acoustic channel.
2) The water monitoring and management platform 1 receives the information of the underwater information transceiving node 2
The water monitoring and management platform 1 is in a receiving mode at ordinary times, and weak underwater sound signals received by the underwater acoustic transducer 12 are sent to the received signal preprocessing module 11. After the first-stage AGC, the amplitude of the weak signal received by the underwater acoustic transducer 123 is stabilized to 200mV, then the noise is filtered by a filter, and the filtered signal is stabilized at about 2V by the second-stage AGC and sent to the core processor module 15 for A/D conversion. The filter design selects a high-speed precision amplifier OPA404, and the AGC chip selects a voltage-controlled amplifier AD 603.
After the STM32 digital signal controller converts an analog signal into a digital signal through an embedded A/D conversion module, firstly, synchronous signal extraction is carried out according to a signal frame format sent by a sending end, and coarse and fine chirp signal synchronous extraction is carried out by respectively adopting cross-correlation and self-correlation methods to obtain the accurate position of a received signal. Meanwhile, a Chirp signal can be used for extracting channel impulse response, and the parameters of noise power, multipath time delay and the like of the underwater acoustic channel are obtained through channel analysis processing. Accordingly, relevant system parameters of the device are adjusted, including amplification factor of received subsequent signals, signal detection threshold value and the like.
The STM32 digital signal controller utilizes the embedded digital signal processing function to demodulate the information of the received TFSK signal by adopting an FFT spectrum analysis method; and then, obtaining signal information sent by the underwater information transceiving node after decoding through a BCH code channel.
The STM32 digital signal controller analyzes the received signal information to obtain the related information signals and physiological parameters of the underwater diver, such as sensor parameters and underwater activity information including blood pressure, heart rate, water temperature, water pressure, depth, diving time, oxygen residue, azimuth information, etc. And if the parameters are found to exceed the early warning threshold value according to the preset safe physiological parameters and information commands of underwater operation of the diver, carrying out corresponding voice and display alarm. The related signal information includes information sent by the sensor of the underwater information transceiver node 2 and the instruction processing module 23, so that the motion or other action conditions of the underwater diver can be known.
And the overwater monitoring and management platform immediately issues command information to the underwater information transceiving node according to the received comprehensive information of the underwater information node once dangerous factors exist, and starts an information sending process from the overwater monitoring and management platform to the underwater information initial node.
3) The water monitoring management platform 1 sends information to the underwater information transceiving node 2
The core processor module 15 of the water monitoring management platform 1 analyzes the received underwater signal information to obtain related information signals and physiological parameters of an underwater diver, compares the related information signals with preset safety physiological parameters and information commands of underwater operation of the diver, judges whether the parameters exceed an early warning threshold value or not, selects voice corresponding information recorded in advance by the voice recording and playing module 13 to carry out voice broadcasting if the parameters exceed the threshold value, sends corresponding commands to the underwater, and carries out corresponding voice and display alarm by the display and earphone playing module 24;
the core processor module 15 encodes and modulates the information source information, adds awakening and synchronous signals in front of the modulated data stream to form a sending frame signal, controls the receiving and sending switching circuit to be switched to the acoustic emission module, and sends the signal to an underwater acoustic channel through the power amplifier, the matcher and the underwater acoustic transducer for transmission.
4) The underwater information receiving and sending node 2 receives the sending information of the overwater monitoring and managing platform 1
The receiving end is in a receiving mode, and a weak underwater sound signal received by the underwater acoustic transducer 223 is sent to the received signal preprocessing module 21 for filtering and automatic gain amplification, and then sent to the core processor module 25 to be converted into a digital signal through the embedded A/D conversion module, and then channel analysis, signal synchronization, information demodulation and channel decoding are carried out to obtain signal information sent over water;
the wrist display module is used for carrying out vibration reminding and displaying messages; the digital processor controls the head-mounted bone sensing earphone to play the corresponding instruction voice information according to the received instruction, completes the correct operation, and relieves the alarm or stops the diving activity.
When the underwater information transceiving node 2 receives a control instruction of the overwater monitoring and managing platform 1, the wrist OLED display carries out vibration reminding and displays a message; and the STM32 digital signal controller controls the head bone sensing earphone to play the corresponding instruction voice information according to the received instruction.
The invention utilizes wearable sensing technology to directly detect the heart rate voltage so as to detect the physical safety condition of the diver at any time. Therefore, aiming at the existing development technology of underwater acoustic communication, the invention combines the safety requirement of underwater operation of divers, adopts an incoherent modulation technology with high transmission reliability, and in order to ensure that the information communication between the diver and the overwater manager is visual and smooth, the invention utilizes an advanced sensor technology to acquire the gesture information of the diver, converts the gesture information into a limited information transmission command, and plays the limited information transmission command at a receiving end according to the corresponding voice information reserved by the diver training. Therefore, the reliability of information transmission is ensured, and the immersive experience of information transmission can be realized.
The above embodiments are merely preferred embodiments of the present invention, which are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and the protection scope of the present invention is not limited to the above embodiments. Any equivalent alterations and modifications within the spirit and scope of the invention are intended to be covered by the present disclosure.
Claims (10)
1. The utility model provides a safety monitoring management device for diver's underwater operation which characterized in that: the device comprises an overwater monitoring management platform and an underwater information transceiving node, wherein the overwater monitoring management platform is used for transceiving underwater information, the underwater information transceiving node is a wearable device and is used for issuing physical condition information, surrounding environment condition and distress information of divers to the overwater monitoring management platform, the overwater monitoring management platform comprises a received signal preprocessing module, an acoustic emission module, a voice recording and playing module, a display alarm module, a core processor module and a power supply module, the received signal preprocessing module, the acoustic emission module, the voice recording and playing module and the display alarm module are connected with the core processor module, and the underwater information transceiving node comprises a received signal preprocessing module, an acoustic emission module, a sensor and instruction processing module, a display and earphone playing module, a core processor module and a power supply module; the received signal preprocessing module, the acoustic emission module, the sensor and instruction processing module and the display and earphone playing module are connected with the core processor module, and the power supply module supplies power to the overwater monitoring and management platform and the underwater information transceiving node respectively; the overwater monitoring and management platform and the underwater information transceiving node adopt a half-duplex communication mode.
2. A safety monitoring and management device for diver underwater operations according to claim 1, characterized in that: the core processor module of the above-water monitoring and management platform and the underwater information transceiving node is provided with a signal processing module and a channel analysis module, the acoustic emission module is provided with a power amplifier, a matcher, a transceiving selector switch and an underwater acoustic transducer, the power amplifier and the transceiving selector switch are connected with the core processor module, the matcher is connected with the power amplifier and the transceiving selector switch, and the transceiving selector switch is connected with the power amplifier, a received signal preprocessing module and the underwater acoustic transducer.
3. A safety monitoring and management device for diver underwater operations according to claim 1, characterized in that: the underwater information receiving and transmitting node can broadcast corresponding real-person voice command information of the administrator according to the received command information of the overwater monitoring management platform, and the voice command information is effective standard information of standardized processing.
4. A safety monitoring and management device for diver underwater operations according to claim 1, characterized in that: the sensor and instruction processing module comprises a front-end wearable sensor and a rear-end information module, the wearable sensor comprises a heart rate and blood pressure pulse sensor, a waterproof high-precision pressure sensor and an accelerometer gyroscope, the sensor is an automatic frequency modulation sensor, the instruction processing module corresponds gesture sensing information with operation, response and distress information stored in advance, the sensor and instruction processing module is in signal connection with the core processor module, and the gesture sensing information of the sensor corresponds to information in the instruction processing module through the core processor module.
5. A safety monitoring and management device for diver underwater operations according to claim 1, characterized in that: the core processor module is the STM32 high performance's based on Cortex M4 kernel digital signal controller, the display module of demonstration and earphone play module adopts the low-power consumption OLED display to be equipped with the vibrator in and wear in diver's wrist department, earphone play module adopts head-mounted bone sensing earphone.
6. A safety monitoring and management device for diver underwater operations according to claim 1, characterized in that: the receiving signal preprocessing modules of the water monitoring management platform and the underwater information receiving and transmitting node are provided with an AGC circuit and a filter, and particularly comprise an AGC circuit, a filter and an AGC circuit.
7. A safety monitoring and management device for diver underwater operations according to claim 1, characterized in that: the signal processing part of the core processor module receives conversion A/D from an analog signal to a digital signal of the signal preprocessing module, signal synchronization, information demodulation, channel decoding, data storage, display and audio playing control, performs information modulation, channel coding and synchronization signal addition on an information instruction and a sensing parameter of an underwater information transceiving node or instruction information sent to the underwater by an overwater monitoring management platform to form a sending signal frame, converts D/A from the digital signal to the analog signal, and then transmits the D/A to an underwater sound channel through the sound emission module, wherein the information modulation mode adopts TFSK, Chirp modulation or spread spectrum modulation, and the information demodulation adopts an FFT spectrum analysis method for demodulation; the analog-to-digital conversion A/D and digital-to-analog conversion D/A functions adopt an ADC/DAC module integrated by an SOC controller; the data storage function adopts an on-chip memory integrated by an SOC controller.
8. A safety monitoring and management device for diver underwater operation according to any one of claims 1 to 7, characterized by comprising the following working modes:
1) preparation work
Pre-training and storing underwater operation voice information of a diver through a voice recording and playing module, and storing real person voice command information of an administrator; training a gesture instruction to realize that the gesture sensing information of the sensor and the memory module corresponds to the pre-stored operation, response and distress call command information; setting safety threshold values for various underwater related parameters according to experience information such as the marine environment of the current day;
2) the underwater information receiving and transmitting node sends information to the overwater monitoring management platform
The sensor and instruction processing module of the underwater information transceiving node acquires and processes a series of data information including diver actions, human heart rate, blood oxygen concentration, human postures and pressure of the surrounding environment through the wearable sensor, transmits the data information to the core processor module for processing and judgment, corresponds to response, operation and distress call instructions stored in the information module in advance, and frames the information to form original information source information;
the core processor module encodes and modulates information source information, adds awakening and synchronous signals in front of the modulated data stream to form a sending frame signal, controls the receiving and sending switching circuit to be switched to the acoustic emission module, and sends the signal to an underwater acoustic channel for transmission through the power amplifier, the matcher and the underwater acoustic transducer;
3) the water monitoring management platform receives the information of the underwater information receiving and sending node
The receiving end is in a receiving mode, weak underwater acoustic signals received by the underwater acoustic transducer are sent to a received signal preprocessing module for filtering and automatic gain amplification, then sent to a core processor module, converted into digital signals through an embedded A/D conversion module, subjected to channel analysis, signal synchronization, information demodulation and channel decoding, and then signal information sent underwater is obtained;
the core processor module analyzes the received underwater signal information to obtain related information signals and physiological parameters of an underwater diver, compares the related information signals and the physiological parameters with preset safety physiological parameters and information commands of underwater operation of the diver, judges whether the parameters exceed an early warning threshold value or not, and carries out corresponding voice and display alarm by the display and earphone playing module if the parameters exceed the threshold value; the related signal information comprises information sent by a sensor of the underwater information transceiving node and an instruction processing module, so that the motion or other action conditions of an underwater diver can be known;
the overwater monitoring and management platform starts an information sending process from the overwater monitoring and management platform to an underwater information initial node and issues related command information to the underwater information transceiving node once danger factors exist according to the received comprehensive information of the underwater information node;
4) information is sent to underwater information receiving and dispatching node by water monitoring management platform
The core processor module of the water monitoring management platform analyzes the received underwater signal information to obtain related information signals and physiological parameters of underwater divers, compares the related information signals and the physiological parameters with preset safety physiological parameters and information commands of underwater operation of the divers, judges whether the parameters exceed an early warning threshold value or not, selects voice corresponding information recorded in advance by the voice recording and playing module to carry out voice broadcasting if the parameters exceed the threshold value, sends corresponding commands to the underwater, and carries out corresponding voice and display alarm by the display and earphone playing module;
the core processor module encodes and modulates information source information, adds awakening and synchronous signals in front of the modulated data stream to form a sending frame signal, controls the receiving and sending switching circuit to be switched to the acoustic emission module, and sends the signal to an underwater acoustic channel for transmission through the power amplifier, the matcher and the underwater acoustic transducer;
5) receiving sending information of overwater monitoring management platform by underwater information receiving and sending node
The receiving end is in a receiving mode, weak underwater sound signals received by the underwater acoustic transducer are sent to the received signal preprocessing module for filtering and automatic gain amplification, then sent to the core processor module, converted into digital signals through the embedded A/D conversion module, and subjected to channel analysis, signal synchronization, information demodulation and channel decoding to obtain signal information sent over water;
the wrist display module is used for carrying out vibration reminding and displaying messages; the digital processor controls the head-mounted bone sensing earphone to play the corresponding instruction voice information according to the received instruction, completes the correct operation, and relieves the alarm or stops the diving activity.
9. The safety monitoring and management device for underwater operation of divers according to claim 8, wherein the signal synchronization is divided into a coarse synchronization process and a fine synchronization process, the coarse synchronization process adopts two identical Chirp signals 1 with shorter time, and after the Chirp signals are processed and judged to reach a coarse synchronization threshold value through a cross-correlation algorithm, signal arrival information is given and the fine synchronization process is started; in the fine synchronization process, a Chirp signal 2 of a longer time period is closely taken as a system fine synchronization signal after the coarse synchronization signal, and the synchronization correlation peak is extracted after the self-correlation algorithm processing.
10. The safety monitoring and management device for diver underwater operation as claimed in claim 8, wherein the core processor module firstly performs BCH channel coding on the information of the source, and then performs information modulation by adopting TFSK or other methods to form modulated signal data flow;
the modulated signal data stream is added with wake-up and synchronization signals in front to form a sending signal frame, and the format of the sending signal frame is as follows:
LFM1 ZERO LFM1 ZERO LFM2 ZERO S1(t) S2(t)···Sn(t)
wherein:
LFM1 signal: l1(t)＝rect(t/T1)exp[j2πf01t+jπk1t2](1)
LFM2 signal: l2(t)＝rect(t/T2)exp[j2πf02t+jπk2t2](2)
Wherein, T1，T2For the period of the LFM signal, T1＜T2，f01，f02Is the center frequency, k1，k2To modulate frequency, S1(t)，S2(t)，...SnAnd (t) is a TFSK signal or other modulation signals, and ZERO is added with a plurality of ZERO bits.
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