CN111300441A - Bionic underwater peeled shrimp robot communication system - Google Patents
Bionic underwater peeled shrimp robot communication system Download PDFInfo
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- CN111300441A CN111300441A CN202010103338.5A CN202010103338A CN111300441A CN 111300441 A CN111300441 A CN 111300441A CN 202010103338 A CN202010103338 A CN 202010103338A CN 111300441 A CN111300441 A CN 111300441A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/004—Artificial life, i.e. computing arrangements simulating life
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Abstract
The invention relates to the technical field of research and development and testing of underwater robots, and particularly discloses a bionic underwater shrimp robot communication system which comprises a bionic underwater shrimp robot and an above-water control platform, wherein the bionic underwater shrimp robot is connected with the above-water control platform through a transmission channel, the bionic underwater shrimp robot comprises a microprocessor, an acquisition module, a communication module and a charge-discharge control module, the communication module comprises an optical communication module, a mobile communication module and a sound wave communication module, and the bionic underwater shrimp robot has three different communication modes: optical communication, sound wave communication and mobile communication can use in a flexible way during the use, select different communication methods under the circumstances such as different environment, depth of water, can furthest exert the advantage of three and avoided three's self shortcoming simultaneously for bionic underwater skin shrimp robot can use far away, on a large scale, realizes quick, efficient communication, is fit for using widely.
Description
Technical Field
The invention relates to the technical field of research and development and testing of underwater robots, in particular to a bionic underwater shrimp robot communication system.
Background
China has an area of about 470 million square kilometers in inland and overseas waters, wherein ocean resources are not estimable, the land resource development of China is gradually saturated at present, and the ocean resource development has an important strategic position in the future. The research and development of the underwater robot are increased by domestic colleges, enterprises and educational organizations, and the research and development of related test equipment of the underwater robot are promoted.
In human eyes, the environment under seawater looks like a light and unknowingly dark blue picture; however, in many animal eyes which are used to live in water, an underwater picture is a large scene with a polarized image. Mantis shrimp, also called as "shrimp", is an animal that lives in water and whose eyes can collect polarized light information. Researchers imitate the shrimps to design a bionic underwater shrimp robot, but the underwater communication system of the existing bionic underwater shrimp robot is not perfect enough, and the existing global satellite navigation systems commonly used by the robot, such as a U.S. GPS system, a Chinese Beidou system, a Russian glonass system and a European Union Galileo system, are all radio navigation positioning systems based on satellites, can provide accurate positioning and navigation services for mobile phones, electronic products, ground vehicles, water surface ships and air planes, but signals of the satellite navigation positioning systems are sent through radio waves which are difficult to penetrate through thick water layers. Therefore, the bionic underwater shrimp robot cannot well utilize a global satellite positioning navigation system terminal to complete a positioning navigation communication mission due to the influence factors such as the depth of water, and in order to solve the problems, the bionic underwater shrimp robot communication system is designed.
Disclosure of Invention
The invention aims to provide a bionic underwater shrimp robot communication system to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a bionic underwater shrimp robot communication system comprises a bionic underwater shrimp robot and an above-water control platform, wherein the bionic underwater shrimp robot is connected with the above-water control platform through a transmission channel and comprises a microprocessor, an acquisition module, a communication module and a charge-discharge control module, the acquisition module, the communication module and the charge-discharge control module are respectively connected with the microprocessor, the communication module comprises an optical communication module, a mobile communication module and a sound wave communication module, the optical communication module comprises an optical control unit, an optical signal transceiving link, a light emitter and a light receiver, the optical control unit is connected with the optical signal transceiving link, and the optical signal transceiving link is respectively connected with the light emitter and the light receiver; the mobile communication module comprises a 5G system chip, a mobile signal transceiving link and an antenna, wherein the 5G system chip is connected with the mobile signal transceiving link, and the mobile signal transceiving link is connected with the antenna; the sound wave communication module comprises a sound wave control unit, a sound wave signal transceiving link, a sound wave transmitter and a sound wave receiver, wherein the sound wave control unit is connected with the sound wave signal transceiving link, and the sound wave signal transceiving link is respectively connected with the sound wave transmitter and the sound wave receiver; the marine control platform includes a remote control module.
Further, control platform is for floating in the portable equipment of the surface of water on water, control platform and outside master control center wireless connection on water, control platform on water is used for providing communication relay function for bionical underwater peeled shrimp robot and outside master control center, can guarantee bionical underwater peeled shrimp robot and outside master control center and can establish effective connection, improve communication quality, control platform on water can adjust self position along with bionical underwater peeled shrimp robot removes, control platform real time monitoring bionical underwater peeled shrimp robot on water ensures communication quality.
Further, the charge and discharge control module comprises a battery.
Furthermore, an optical communication module, a sound wave communication module and a mobile communication module in the communication module of the bionic underwater shrimp robot are connected with a communication module of the above-water control platform, and are used for mutual conversion between electric signals and sound waves and optical signals so as to adapt to various different transmission media.
Further, the collection module includes positioning sensor, polarized light imager, spotlight, depth gauge, fiber gyroscope, sonar detection instrument, magnetometer etc. and a plurality of equipment collection polymorphic type data of installation on the bionical underwater shrimp robot, including information such as picture, video, positional information, operating parameter, the staff of being convenient for collects data and refers to the research.
Furthermore, a mobile communication module in a communication module of the bionic underwater shrimp robot receives and transmits a mobile signal through an antenna, and performs signal processing on the mobile signal through a mobile signal receiving and transmitting link, wherein the processing includes but is not limited to filtering, amplifying and the like on the mobile signal, and a 5G system chip is used for performing data processing on the mobile signal, and includes but is not limited to encoding or decoding, encrypting or decrypting and the like.
Further, an optical communication module in the communication module of the bionic underwater shrimp robot sends an optical signal through an optical transmitter, an optical receiver is used for receiving the optical signal and performing signal processing on the optical signal through an optical signal transceiving link, wherein the processing includes but is not limited to photoelectric conversion, filtering, amplification and the like on the optical signal, and an optical control unit is used for performing data processing on the optical signal, and the processing includes but is not limited to encoding or decoding, encryption or decryption and the like.
Furthermore, a sound wave communication module in the communication module of the bionic underwater shrimp robot sends an optical signal through a sound wave transmitter, a sound wave receiver is used for receiving the optical signal and processing the sound wave signal through a sound wave signal transceiving link, including but not limited to processing the sound wave signal such as sound-electricity conversion, filtering, amplification and the like, and a sound wave control unit is used for processing the sound wave signal, including but not limited to processing such as encoding or decoding, encryption or decryption and the like.
Compared with the prior art, the invention has the beneficial effects that: the bionic underwater shrimp robot has three different communication modes: optical communication, sound wave communication and mobile communication, in actual use, can select the use in a flexible way, select to use under the circumstances such as different environment, depth of water, different communication methods can furthest exert the advantage of three and avoided three's self shortcoming simultaneously for bionic underwater skin shrimp robot 1 can be in far away, use on a large scale, realizes quick, efficient communication, is fit for using widely.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of an optical communication module according to the present invention;
FIG. 3 is a block diagram of a mobile communication module according to the present invention;
fig. 4 is a schematic structural diagram of an acoustic wave communication module according to the present invention.
In the figure: 1. a bionic underwater pellithrix robot; 2. a microprocessor; 3. an acquisition module; 4. a communication module; 5. a charge and discharge control module; 6. an optical communication module; 7. a mobile communication module; 8. an acoustic wave communication module; 9. a transmission channel; 10. an above-water control platform; 11. and a remote control module.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element 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.
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 by those skilled in the art according to specific situations.
Referring to fig. 1-4, the present invention provides a technical solution: a bionic underwater shrimp robot communication system comprises a bionic underwater shrimp robot 1 and an above-water control platform 10, wherein the bionic underwater shrimp robot 1 is connected with the above-water control platform 10 through a transmission channel 9, the bionic underwater shrimp robot 1 comprises a microprocessor 2, an acquisition module 3, a communication module 4 and a charge-discharge control module 5, the acquisition module 3, the communication module 4 and the charge-discharge control module 5 are respectively connected with the microprocessor 2, the communication module 4 comprises an optical communication module 6, a mobile communication module 7 and an acoustic wave communication module 8, the optical communication module 6 comprises an optical control unit, an optical signal transceiving link, a light emitter and a light receiver, the optical control unit is connected with the optical signal transceiving link, and the optical signal transceiving link is respectively connected with the light emitter and the light receiver; the mobile communication module 7 comprises a 5G system chip, a mobile signal transceiving link and an antenna, wherein the 5G system chip is connected with the mobile signal transceiving link, and the mobile signal transceiving link is connected with the antenna; the sound wave communication module 8 comprises a sound wave control unit, a sound wave signal transceiving link, a sound wave transmitter and a sound wave receiver, wherein the sound wave control unit is connected with the sound wave signal transceiving link, and the sound wave signal transceiving link is respectively connected with the sound wave transmitter and the sound wave receiver; the marine control platform 10 includes a remote control module 9.
Further, control platform 10 on water is for floating in the portable equipment of the surface of water, control platform 10 and outside total control center wireless connection on water, control platform 10 on water is used for providing communication relay function for bionical underwater peeled shrimp robot 1 and outside total control center, can guarantee that bionical underwater peeled shrimp robot 1 and outside total control center can establish effective connection, improve communication quality, control platform 10 on water can adjust self position along with bionical underwater peeled shrimp robot 1 removes, control platform 10 real time monitoring bionical underwater peeled shrimp robot 1 on water ensures communication quality.
Further, the charge and discharge control module 5 includes a battery.
Further, the optical communication module 6, the sound wave communication module 8 and the mobile communication module 7 in the communication module 4 of the bionic underwater shrimp robot 1 are connected with the communication module of the above-water control platform 10, and are used for mutual conversion between electric signals and sound waves and optical signals so as to adapt to various different transmission media.
Further, collection module 3 includes positioning sensor, polarized light imager, spotlight, depth gauge, fiber gyroscope, sonar detection instrument, magnetometer etc. and a plurality of equipment collection polymorphic type data of installation on bionical underwater shrimp robot 1, including information such as picture, video, positional information, operating parameter, the staff of being convenient for collects data and refers to the research.
Further, a mobile communication module 7 in the communication module 4 of the bionic underwater shrimp robot 1 receives and transmits the mobile signal through an antenna, and performs signal processing on the mobile signal through a mobile signal receiving and transmitting link, including but not limited to filtering, amplifying and the like on the mobile signal, and a 5G system chip is used for performing data processing on the mobile signal, including but not limited to encoding or decoding, encryption or decryption and the like.
Further, an optical communication module 6 in the communication module 4 of the bionic underwater shrimp robot 1 transmits an optical signal through an optical transmitter, an optical receiver is used for receiving the optical signal and performing signal processing on the optical signal through an optical signal transceiving link, including but not limited to performing photoelectric conversion, filtering, amplification and other processing on the optical signal, and an optical control unit is used for performing data processing on the optical signal, including but not limited to encoding or decoding, encryption or decryption and other processing.
Further, the sound wave communication module 8 in the communication module 4 of the bionic underwater shrimp robot 1 sends an optical signal through the sound wave transmitter, the sound wave receiver is used for receiving the optical signal and performing signal processing on the sound wave signal through the sound wave signal transceiving link, wherein the processing includes but is not limited to performing sound-electricity conversion, filtering, amplification and the like on the sound wave signal, and the sound wave control unit is used for performing data processing on the sound wave signal, and includes but is not limited to encoding or decoding, encryption or decryption and the like.
The working principle is as follows: the bionic underwater shrimp robot 1 is arranged underwater, the bionic underwater shrimp robot 1 comprises a microprocessor 2, an acquisition module 3, a communication module 4 and a charge-discharge control module 5, the bionic underwater shrimp robot 1 is connected with an above-water control platform 10 through a transmission channel 9, and the above-water control platform 10 can synchronously adjust the position of the bionic underwater shrimp robot 1 along with the movement of the bionic underwater shrimp robot 1 when the bionic underwater shrimp robot 1 moves underwater; the acquisition module 3 of the bionic underwater shrimp robot 1 comprises a positioning sensor, a polarized light imager, a spotlight, a depth meter, a fiber optic gyroscope, a sonar detector, a magnetometer and the like, and acquires various types of data through a plurality of devices, wherein the various types of data comprise information such as pictures, videos, position information, operation parameters and the like, and the data are conveniently collected by workers for reference research in the later period; after the acquired data are processed and analyzed by the microprocessor 2, the optical communication module 6, the sound wave communication module 8, the mobile communication module 7 and the communication module of the water control platform 10 in the communication module 4 of the bionic underwater shrimp robot 1 are connected, the acquired sound waves and light signals are converted and transmitted with the communication module of the water control platform 10, and three communication modes of underwater mobile radio frequency communication, underwater optical communication and underwater sound wave communication can be realized; (the water control platform 10 is a movable device floating on the water surface) the water control platform 10 is wirelessly connected with an external master control center, the water control platform 10 is used for providing a communication relay function for the bionic underwater pellithrix robot 1 and the external master control center, and the water control platform 10 receives a data signal and then forwards the data signal to the external master control center, so that the bionic underwater pellithrix robot 1 and the external master control center can be effectively connected, and the communication quality is improved; the bionic underwater shrimp robot can be flexibly used, can furthest exert the advantages of the bionic underwater shrimp robot and the bionic underwater shrimp robot by using different communication modes under the conditions of different environments, water depths and the like, and avoids the defects of the bionic underwater shrimp robot and the bionic underwater shrimp robot, so that the bionic underwater shrimp robot 1 can be used at a longer distance and in a larger range, the rapid and efficient communication is realized, and the bionic underwater shrimp robot is suitable for popularization and use.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A bionic underwater shrimp robot communication system comprises a bionic underwater shrimp robot (1) and an above-water control platform (10), and is characterized in that the bionic underwater shrimp robot (1) is connected with the above-water control platform (10) through a transmission channel (9), the bionic underwater shrimp robot (1) comprises a microprocessor (2), an acquisition module (3), a communication module (4) and a charge-discharge control module (5), the acquisition module (3), the communication module (4) and the charge-discharge control module (5) are respectively connected with the microprocessor (2), the communication module (4) comprises an optical communication module (6), a mobile communication module (7) and a sound wave communication module (8), the optical communication module (6) comprises an optical control unit, an optical signal transceiving link, an optical transmitter and an optical receiver, and the optical control unit is connected with the optical signal transceiving link, the optical signal transceiving link is respectively connected with the optical transmitter and the optical receiver; the mobile communication module (7) comprises a 5G system chip, a mobile signal transceiving link and an antenna, wherein the 5G system chip is connected with the mobile signal transceiving link, and the mobile signal transceiving link is connected with the antenna; the sound wave communication module (8) comprises a sound wave control unit, a sound wave signal transceiving link, a sound wave transmitter and a sound wave receiver, wherein the sound wave control unit is connected with the sound wave signal transceiving link, and the sound wave signal transceiving link is respectively connected with the sound wave transmitter and the sound wave receiver; the marine control platform (10) comprises a remote control module (9).
2. The bionic underwater shrimp robot communication system according to claim 1, characterized in that: control platform (10) on water is for floating in the portable equipment of the surface of water, control platform (10) on water and outside total control center wireless connection, control platform (10) on water are used for providing communication relay function for bionical underwater peeled shrimp robot (1) and outside total control center, can guarantee bionical underwater peeled shrimp robot (1) and outside total control center and can establish effective connection, improve communication quality, control platform (10) on water can remove and adjust self position along with bionical underwater peeled shrimp robot (1), control platform (10) real time monitoring on water bionical underwater peeled shrimp robot (1), ensure communication quality.
3. The bionic underwater shrimp robot communication system according to claim 1, characterized in that: the charge and discharge control module (5) comprises a battery.
4. The bionic underwater shrimp robot communication system according to claim 1, characterized in that: the optical communication module (6), the sound wave communication module (8), the mobile communication module (7) and the communication module of the water control platform (10) in the communication module (4) of the bionic underwater shrimp robot (1) are connected and used for mutual conversion between electric signals and sound waves and optical signals so as to adapt to various different transmission media.
5. The bionic underwater shrimp robot communication system according to claim 1, characterized in that: collection module (3) including positioning sensor, polarized light imager, spotlight, depth gauge, fiber gyroscope, sonar detection instrument, magnetometer etc. install a plurality of equipment collection polymorphic type data on bionical underwater shrimp robot (1), including information such as picture, video, positional information, operational parameter, the staff of being convenient for collects data and refers to the research.
6. The bionic underwater shrimp robot communication system according to claim 1, characterized in that: a mobile communication module (7) in a communication module (4) of the bionic underwater shrimp robot (1) receives and transmits a mobile signal through an antenna, and performs signal processing on the mobile signal through a mobile signal receiving and transmitting link, wherein the processing includes but is not limited to filtering, amplifying and the like on the mobile signal, and a 5G system chip is used for performing data processing on the mobile signal, and includes but is not limited to encoding or decoding, encryption or decryption and the like.
7. The bionic underwater shrimp robot communication system according to claim 1, characterized in that: an optical communication module (6) in a communication module (4) of the bionic underwater shrimp robot (1) sends an optical signal through an optical transmitter, an optical receiver is used for receiving the optical signal and performing signal processing on the optical signal through an optical signal transceiving link, wherein the processing includes but is not limited to photoelectric conversion, filtering, amplification and the like on the optical signal, and an optical control unit is used for performing data processing on the optical signal, and the processing includes but is not limited to encoding or decoding, encryption or decryption and the like.
8. The bionic underwater shrimp robot communication system according to claim 1, characterized in that: the bionic underwater shrimp robot is characterized in that a sound wave communication module (8) in a communication module (4) of the bionic underwater shrimp robot (1) sends an optical signal through a sound wave transmitter, a sound wave receiver is used for receiving the optical signal and carrying out signal processing on the sound wave signal through a sound wave signal receiving and sending link, wherein the processing includes but is not limited to sound-electricity conversion, filtering, amplification and the like on the sound wave signal, and a sound wave control unit is used for carrying out data processing on the sound wave signal, and includes but is not limited to coding or decoding, encryption or decryption and the like.
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| CN112260768A (en) * | 2020-10-23 | 2021-01-22 | 军事科学院系统工程研究院网络信息研究所 | Electro-optical hybrid underwater communication method based on optical fiber zooming |
| CN112907472A (en) * | 2021-02-09 | 2021-06-04 | 大连海事大学 | Polarization underwater image optimization method based on scene depth information |
| CN113567989A (en) * | 2021-06-18 | 2021-10-29 | 广州鸿海海洋技术服务有限公司 | Marine environment monitoring system based on underwater robot |
| CN114741443A (en) * | 2022-04-24 | 2022-07-12 | 吉林大学 | Real-time submarine data acquisition and analysis method in submarine continental shelf range |
| CN114852293A (en) * | 2022-04-24 | 2022-08-05 | 吉林大学 | Spiral shell type bionic robot device for seabed information dynamic real-time detection |
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Application publication date: 20200619 |