CN111800614A - Water quality image acquisition and information transmission system and method based on underwater acoustic communicator networking - Google Patents
Water quality image acquisition and information transmission system and method based on underwater acoustic communicator networking Download PDFInfo
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- CN111800614A CN111800614A CN202010650289.7A CN202010650289A CN111800614A CN 111800614 A CN111800614 A CN 111800614A CN 202010650289 A CN202010650289 A CN 202010650289A CN 111800614 A CN111800614 A CN 111800614A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses a water quality image acquisition and information transmission system and method based on underwater acoustic communicator networking, and belongs to the field of underwater information acquisition and communication. The system comprises a water quality sensor, a serial port camera, a serial port distributor, an underwater acoustic communicator, a 5V/1A lithium battery, a 24V/4A lithium battery and an RS232 interface cross wire; the communication machine is connected with the input end of the distributor, the sensor and the camera are connected with the output end of the distributor through cross lines, and the lithium battery is adopted to supply power to the communication machine, the sensor, the camera and the distributor. And the butt joint of communication protocols is realized on the program, after the type of the transmission data is judged according to the formats of the three communication protocols, the corresponding data format is added or deleted, and the data is transmitted again in the equipment with the corresponding data format. Finally, the function of inquiring the water quality and the image condition thereof can be realized on the communication machine terminal.
Description
Technical Field
The invention relates to the field of underwater information acquisition and communication, in particular to a water quality image acquisition and information transmission system and a water quality image acquisition and information transmission method based on underwater acoustic communicator networking.
Background
At present, in a serial port underwater acoustic communication machine, when a communication protocol is docked, a new single chip microcomputer is added to adjust the data format of the communication protocol, so that transmission of subsequent equipment is facilitated. The mode of transferring through the single-chip microcomputer has the defect that the additional single-chip microcomputer needs to be operated continuously to receive data for adjustment, and meanwhile, the underwater acoustic communication machine also receives the data continuously and judges bytes of the data, so that resource redundancy is caused to a certain extent, and energy expenditure is increased. And after the single chip microcomputer is used, serial port buffering is additionally carried out twice, and the data transmission rate and the error rate of data transmission can be influenced due to continuous buffering stagnation and increased data lines. In addition, in the double serial port transmission of the single serial port of the underwater acoustic communication machine, if the mode of switching the serial port transmission in real time by driving a button of the serial port converter through the motor is adopted, certain time delay can be generated in time, the motor consumes more energy, and the transmission rate of serial port data and the consumption of electric energy are greatly influenced.
In addition, when image transmission is performed, if a camera of a data stream is adopted, a frame of data needs to be extracted from the image stream in a hardware or software mode for storage, a physical layer protocol of an RS232 serial port protocol needs to be docked, and a communication protocol of image stream data needs to be docked on software. The mode of acquiring one frame of image through data flow has a defect, and a certain time delay exists when a shooting command is sent out and one frame of image is extracted through a hardware or software mode, and the normal operation of a camera is always transmitting the image flow, so that the loss of image resources and the loss of lithium battery electric energy are caused, and the transmission rate of the image and the endurance of a system are influenced finally.
Therefore, the prior art has the following problems:
(1) the underwater acoustic communication machine is only provided with a single serial port and cannot perform double-peripheral transmission;
(2) the underwater acoustic communicator is different from a water quality sensor and a serial port camera in communication protocol, can only receive messy code data and cannot identify the messy code data;
(3) there is a delay in the process of image capture and data transmission for the mainstream camera, and there is additional energy overhead.
Disclosure of Invention
In order to solve the problems, the invention provides a water quality image acquisition and information transmission system based on underwater acoustic communicator networking and a method thereof.A water quality sensor acquires and stores water quality data, a serial port camera shoots and stores images, the water quality data and the images are bidirectionally transmitted with an output serial port of the underwater acoustic communicator distributed by a serial port distributor, and finally peripheral data are butted through an application layer program of the underwater acoustic communicator carrying a water quality and image acquisition device, wherein the application layer program adds or deletes corresponding data formats after judging the types of the transmitted data through the formats of three communication protocols, so that the data are retransmitted in equipment with the corresponding data formats, and finally, the function of inquiring the water quality and the image conditions can be realized on a communicator terminal through networking.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a water quality image acquisition and information transmission system based on underwater acoustic communicator networking comprises an underwater acoustic communicator networking, a water quality and image acquisition device and a computer, wherein the underwater acoustic communicator networking comprises a plurality of underwater acoustic communicators and a water surface acoustic communicator, an external interface of the water surface acoustic communicator is connected with the computer, the plurality of underwater acoustic communicators are in sound wave communication connection with the water surface acoustic communicator, and at least one underwater acoustic communicator is provided with the water quality and image acquisition device;
the water quality and image acquisition device comprises a serial port distributor, a water quality sensor and a serial port camera, wherein the serial port distributor is provided with an input interface and two output interfaces, a peripheral interface of the underwater acoustic communicator is connected with the input interface on the serial port distributor, and peripheral interfaces of the water quality sensor and the serial port camera are respectively connected with the output interface on the serial port distributor.
Preferably, the underwater acoustic communicator and the water surface acoustic communicator are an A5Mx05N series MISO terminal transceiving system, the external interface is a DB9 pin interface of a standard RS232 protocol, and the interface cache is 512B.
Preferably, the serial port distributor and the serial port camera are powered by a 5V/1A lithium battery power supply, the water surface underwater acoustic communicator and the underwater acoustic communicator are powered by a 24V/4A lithium battery, and the water quality sensor is powered by an 8-section No. two C-type LR14 alkaline 1.5V dry battery.
Preferably, the serial port distributor and the serial port camera are subjected to sealing and waterproof treatment.
Preferably, the serial port camera interface adopts a DB9 pin interface of a standard RS232 protocol, and the communication speed is 115200 bps.
Preferably, the serial port camera has three communication frame structures of a command frame, a response frame and a data frame, and the image data is transmitted in a sub-packet mode through the data frame.
Preferably, the water quality sensor adopts a DB9 needle interface of a standard RS232 protocol, and the communication speed is 19200 bps.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention changes the application layer program of the underwater acoustic communicator to butt joint the peripheral communication, and effectively reduces redundant singlechip resources compared with the method of adding a new singlechip to coordinate the underwater acoustic communicator and the peripheral equipment simultaneously.
(2) According to the invention, after double transmission of a single serial port is realized through the serial port distributor, the function of automatically switching the transmission serial port can be more conveniently realized through hardware in the serial port distributor, and the operation of automatic distribution and bidirectional transmission of data which cannot be manually switched underwater is ensured. The traditional serial port shifting converter adopting the motor switches communication between input serial ports and different output serial ports, and the serial port distributor adopts electronic elements, so that the motor on the serial port switching converter has larger power compared with the electronic elements, the endurance of a system is greatly influenced, and the rotation of the motor needs certain time delay and cannot be as fast as the high-low level switching between the electronic elements.
(3) The invention can directly take a picture and store a digital image by adding the serial camera, and if the camera of the data stream is adopted, because of the influence of the slow speed of serial transmission and sound wave transmission, the image data needs to be extracted from the image data stream and stored in a software or hardware mode. And because the data stream camera can shoot all the time to obtain the image data stream, and the serial port camera only shoots when the shooting instruction arrives, a lot of unnecessary energy expenses can be saved.
Drawings
FIG. 1 is a distributor output connection of the present invention;
fig. 2 is a networking system of the communicator of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A water quality image acquisition and information transmission system based on underwater acoustic communicator networking comprises an underwater acoustic communicator networking, a water quality and image acquisition device and a computer, wherein the underwater acoustic communicator networking comprises a plurality of underwater acoustic communicators and a water surface acoustic communicator, an external interface of the water surface acoustic communicator is connected with the computer, the plurality of underwater acoustic communicators are in sound wave communication connection with the water surface acoustic communicator, and at least one underwater acoustic communicator is provided with the water quality and image acquisition device;
the water quality and image acquisition device comprises a serial port distributor, a water quality sensor and a serial port camera, wherein the serial port distributor is provided with an input interface and two output interfaces.
In fig. 1, an input interface a of the serial port distributor 4 is connected with an external interface of the underwater acoustic communication machine 3, and output interfaces B and C of the serial port distributor 4 are respectively connected with the water quality sensor 1 and the external interface of the serial port camera 2. When the DB9 interface male and female of the RS232 interface protocol do not correspond, the cross lines of RS232 are adopted for connection. In order to ensure the waterproof condition of data acquisition and devices, the serial port distributor and the serial port camera are subjected to sealing waterproof treatment, and the DS5 water quality transmitter and the underwater acoustic communicator are exposed in a water environment so as to facilitate water quality data acquisition and data underwater acoustic communication.
In one specific implementation of the invention, the serial port distributor and the serial port camera are both provided with 5V/1A lithium battery power supplies, the water surface underwater acoustic communicator and the underwater acoustic communicator are provided with 24V/4A lithium batteries, and the water quality sensor is provided with 8 sections of second C-type LR14 alkaline 1.5V dry batteries.
In the networking system of the underwater acoustic communicator shown in fig. 2, the water quality and image acquisition device is mainly mounted on the underwater acoustic communicator node of one underwater unit, each node transmits acquired data in the form of sound waves according to the set power, and an identifiable serial number ID is stored as a physical address for communication identification.
In one embodiment of the present invention, the serial camera may be set to have three pixel sizes, which are 160 × 120, 320 × 240, 640 × 480, respectively, and belong to the JZ-CAM series, an interface thereof is a DB9 pin interface of a standard RS232 protocol, and a communication rate is 115200 bps.
The water quality sensor is a Hydrolab DS5 transmitter communication port configured with 19200 baud rate, 8-bit data bits, even check bits and 1-bit stop bits, each data is mainly stored in a register with physical address starting with 40001 in a single precision IEEE floating point format (4 bytes). The device can mainly measure parameters such as dissolved oxygen, temperature, PH, conductivity coefficient and the like, and the interface is a DB9 needle interface of a standard RS232 protocol.
The underwater acoustic communicator and the water surface acoustic communicator are A5Mx05N series MISO terminal transceiving systems, the external interfaces of the underwater acoustic communicator and the water surface acoustic communicator are DB9 pin interfaces of a standard RS232 protocol, the interface cache is 512B, and the underwater acoustic communicator and the water surface acoustic communicator are mainly used for the high-speed communication field of the severe underwater environment of the acoustic communication monitoring classical networking.
The method for acquiring the water quality image and transmitting the information by adopting the networking system shown in FIG. 2 specifically comprises the following steps:
connecting a peripheral interface of a communicator to an input interface of a serial port distributor;
connecting the external interface of the water quality sensor to one of the output interfaces of the serial port distributor;
connecting the peripheral interface of the serial port camera to the other output interface of the serial port distributor;
modifying an application layer program of the underwater acoustic communicator to butt joint a communication protocol of the water quality sensor and the serial port camera;
fifthly, carrying out simulation on the modified program in the step four to judge the compiling of the program and the correctness of the logic;
and step six, after actual launching operation, transmitting and receiving the transmitted data through a serial port debugging tool.
In the fourth step, the application layer program of the underwater acoustic communicator is mainly programmed through C language, and after the type of the transmission data is judged through the formats of the three communication protocols, the corresponding data format is added or deleted, so that the data is transmitted again in the equipment corresponding to the data format. The data format of the serial camera communication protocol is mainly that a data head U starts with one byte and ends with a byte of a #; the data format of the underwater acoustic communicator communication protocol is mainly started by a byte of "$", and is divided into hexadecimal transmission and ASCII code transmission according to the encoding mode of communication data; the data format of the water quality sensor communication protocol mainly starts from the address of the slave device and the ModBus protocol function code and ends with the CRC check code. When the data format of a communication protocol is connected, the data type is mainly determined by judging the first byte of the data, the next byte is verified and verified by a check code, and if the byte and the check code are verified, the required data, such as water quality data and image data, are transmitted in the data format of the underwater acoustic communicator, so that the communicator can transmit the data to the next communicator node through sound waves. If the verification of the byte and the check code is not passed, the underwater acoustic communication machine resends the corresponding data request instruction to request the peripheral equipment to resend the related data.
In the fifth step, the simulation platform is a mate2 simulation platform provided by a communication company, and is mainly used for checking the correctness and logic correctness of programs, so that the underwater acoustic communication machine can identify the required data content of the water quality sensor and the serial port camera, the required data can be transmitted between the networked underwater acoustic communication machines, and the underwater acoustic communication machine can convert the control instruction in the communication protocol format of the underwater acoustic communication machine into the control instruction of the water quality sensor and the serial port camera.
In the sixth step, after the actual launching operation:
step 6.1: placing an underwater acoustic communicator, a serial port distributor, a serial port camera and a water quality sensor in the environment of a water area to be detected, and sending a water quality detection instruction or a photographing instruction by a computer; when the serial camera receives a photographing instruction, image information acquisition is started, image data is packetized according to the specified data size, each packetized data forms a data frame to be stored in a register, and the number of the packetized data and the size of the image data are returned in a data format of a serial camera communication protocol; when the water quality sensor receives a water quality detection instruction, water quality information acquisition is started, and detected water quality information is stored in a register;
step 6.2: sending a data request command to the water surface underwater acoustic communicator by the computer in an underwater acoustic communicator communication protocol format, transmitting the data request command to the underwater acoustic communicator through the water surface underwater acoustic communicator, and mutually transmitting the data request command to the underwater acoustic communicator carrying the water quality and image acquisition device through the underwater acoustic communicator nodes;
step 6.3: if the data request command is a water quality information request command, obtaining a register address and the number of registers for storing request data through table lookup, obtaining a 16-bit CRC (cyclic redundancy check) code based on a modbus protocol according to the equipment ID, the register address and the number of the registers of the water quality sensor, packaging the equipment ID, the register address, the number of the registers and the CRC code of the water quality sensor in a water quality sensor communication protocol, and transmitting the equipment ID, the register address, the number of the registers and the CRC code of the water quality sensor to a corresponding water quality sensor through a serial port; after the water quality sensor reads the request command, a 16-bit CRC (cyclic redundancy check) code based on the modbus protocol is obtained according to the equipment ID of the water quality sensor, the numerical value in the corresponding register address and the number of bytes occupied by the numerical value in the corresponding register address, and the equipment ID of the water quality sensor, the numerical value in the corresponding register address, the number of bytes occupied by the numerical value and the CRC code are returned;
if the data request command is an image information request command, the underwater acoustic communicator carrying the water quality and image acquisition device circularly reads image data according to a set register address and the size of a data frame, transmits the image data to the water surface underwater acoustic communicator through a networking underwater acoustic communicator node, and transmits the image data to a computer through a serial port until the number of times of reading the data is equal to the number of returned packets in the step 6.1;
step 6.4: packaging the data returned in the step 6.3 in an underwater acoustic communicator communication protocol, transmitting the sound waves of the nodes of the networked underwater acoustic communicator to a water surface underwater acoustic communicator connected with the computer, and returning the data to the computer through a serial port; the request data is extracted from the data format of the underwater acoustic communicator communication protocol through the computer, and if the request data contains image data, the image data needs to be converted into a JPEG format to complete data receiving and sending. More specifically, if the serial port debugging program on the computer receives the data based on the underwater acoustic communicator communication protocol and contains water quality data, the serial port debugging assistant puts the water quality data out of the data format of the underwater acoustic communicator communication protocol and displays the water quality data at the fixed position of the serial port debugging assistant. If the serial port debugging program on the computer receives the data based on the underwater acoustic communicator communication protocol and comprises the image data, the serial port debugging assistant puts the image data into the data format of the underwater acoustic communicator communication protocol, converts the image data into an image in a JPEG format and displays the image in a fixed position of the serial port debugging program. The serial port debugging assistant is written by the inventor team.
In one embodiment of the present invention, during the operation of the water quality image acquisition and data transmission system in combination with fig. 1 and 2, the water quality sensor acquires data through the multifunctional probe, and updates the data in the register starting from the physical address 40001 at the configured time interval within the set sampling time. If PH data of water quality needs to be obtained, inputting a hexadecimal communication structure character string "$ HHTXD," + target communication machine ID + "," + data packet mode + "," + "amplitude" + "of sending data packet, and a character string" get _ parameter _ note to be fetched into a computer serial port debugging assistant tool: PH ″ is mutually transmitted to an underwater acoustic communicator carrying a water quality sensor through an underwater acoustic communicator node, the underwater acoustic communicator performs table lookup according to formats of last character strings (referred to as "PH" herein) to obtain a register address stored by the water quality sensor PH, embeds data of a start address of the register and the number of registers into a communication protocol of the water quality sensor, namely, a data format beginning with a sensor device ID and a modbus protocol function code 0x03 and ending with a CRC check code, and transmits the data to the water quality sensor through a serial port distributor.
And when the water quality sensor receives a correct data query request, returning the numerical value of the corresponding register. After receiving the returned PH value through the serial port distributor, the underwater acoustic communicator embeds the PH value into the communication structure character strings "$ HHTXD," + target communicator ID + "," + data packet mode + ", the amplitude" + "of the data packet sending and the" + PH value, transmits data to the underwater acoustic communicator connected with the computer through sound waves, and transmits the data to the serial port program of the computer through the serial port.
In one specific implementation of the invention, the serial camera adopted by the invention has three communication frame structures of a command frame, a response frame and a data frame, wherein the command frame is used for transmitting command representative bytes and command contents, the response frame is used for a receiver to return a command whether the command is correct, the data frame is used for transmitting a data packet number, a data packet length and image data contents, and the image data is transmitted in a sub-packet mode through the data frame. When image data is collected, the serial camera is configured in advance, and if the command 'UQ' + equipment ID + compression ratio + end symbol '#' in the command frame is used, the image data shot by the serial camera is compressed and stored. Sending a photographing instruction based on the underwater acoustic communicator through a computer serial port debugging program, wherein if the instruction is "$ HHTXD," + target communicator ID + "," + data packet mode + "," + "amplitude" + "of sending data packet and" + "take a photo", after the underwater acoustic communicator node through networking is transmitted to the underwater acoustic communicator carrying the image acquisition system, the underwater acoustic communicator carrying the image acquisition system sends a picture shooting instruction based on the serial camera to the serial camera, namely, a command frame is "UH" + ID of the serial camera + required image pixel size + specified each packet size + ending symbol "#". After the serial camera successfully takes the picture, the response frame UH + the ID of the serial camera + the end sign # is returned, and the image size and the sub-packet number are returned at the same time. And after the underwater acoustic communication machine receives the returned data, the underwater acoustic communication machine circularly sends a packet taking command frame to read the image data. The camera will return a checksum of each packet size including the order of the packet and the packetization, and the packet content and data, beginning with "UF". The underwater acoustic communicator receives the corresponding data and then sends the data to the water surface underwater acoustic communicator through the networking system in sequence, and transmits the data to a serial port program of the computer through a serial port, and the serial port program can perform further conversion between the data and the image.
To further illustrate the feasibility of the present invention, in this embodiment, an experiment of water quality image acquisition and transmission is performed, where a serial port is configured by a serial port debugging program, and after a control instruction is sent to perform water quality image acquisition, water quality and image data returned by an underwater acoustic communication device carrying a water quality image acquisition device can be received. After the control command is input into the data sending frame, such as a photographing command and a water quality data inquiring command, the data of the water quality and the image can be received in the data receiving frame. If image data is obtained, the program generates an image in an image frame and records the time it takes from the acquisition to the generation of the image. If the water quality data is obtained, the program records the specific data of the water quality at the corresponding position in the water quality data frame, and records the time spent on inquiring the complete water quality data at the upper right corner.
The foregoing lists merely illustrate specific embodiments of the invention. It is obvious that the invention is not limited to the above embodiments, but that many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (10)
1. A water quality image acquisition and information transmission system based on underwater acoustic communicator networking is characterized by comprising an underwater acoustic communicator networking, a water quality and image acquisition device and a computer, wherein the underwater acoustic communicator networking comprises a plurality of underwater acoustic communicators and a water surface acoustic communicator, peripheral interfaces of the water surface acoustic communicator are connected with the computer, the plurality of underwater acoustic communicators are in sound wave communication connection with the water surface acoustic communicator, and at least one underwater acoustic communicator is provided with the water quality and image acquisition device;
the water quality and image acquisition device comprises a serial port distributor, a water quality sensor and a serial port camera, wherein the serial port distributor is provided with an input interface and two output interfaces, a peripheral interface of the underwater acoustic communicator is connected with the input interface on the serial port distributor, and peripheral interfaces of the water quality sensor and the serial port camera are respectively connected with the output interface on the serial port distributor.
2. The system of claim 1, wherein the underwater acoustic communicator and the surface acoustic communicator are MISO terminal transceiver systems of A5Mx05N series, the external interface is DB9 pin interface of standard RS232 protocol, and the interface buffer is 512B.
3. The system of claim 1, wherein the serial port distributor and the serial port camera are powered by a 5V/1A lithium battery power supply, the water surface underwater acoustic communicator and the underwater acoustic communicator are powered by a 24V/4A lithium battery, and the water quality sensor is powered by an 8-section No. two C-type LR14 alkaline 1.5V dry battery.
4. The underwater acoustic communicator networking-based water quality image acquisition and information transmission system according to claim 3, wherein the serial port distributor and the serial port camera are subjected to sealing and waterproof treatment.
5. The system for collecting the water quality images and transmitting the information based on the underwater acoustic communicator networking is characterized in that the serial port camera adopts a DB9 needle interface of a standard RS232 protocol, and the communication speed is 115200 bps.
6. The underwater acoustic communicator networking-based water quality image acquisition and information transmission system according to claim 1, wherein the serial port camera has three communication frame structures of a command frame, a response frame and a data frame, and image data is transmitted in a sub-packet mode through the data frame.
7. The system for collecting the water quality image and transmitting the information based on the underwater acoustic communicator networking is characterized in that the water quality sensor adopts a DB9 needle interface of a standard RS232 protocol, and the communication speed is 19200 bps.
8. A water quality image acquisition and information transmission method of the system of claim 1, characterized by comprising the steps of:
on the basis of a serial port camera communication protocol, a water quality sensor communication protocol and an original underwater acoustic communicator communication protocol, debugging an application layer program of the underwater acoustic communicator to butt joint the water quality sensor and the serial port camera communication protocol, so that the three communication protocols meet communication requirements;
placing the underwater acoustic communicator, the serial port distributor, the serial port camera and the water quality sensor in the environment of the water area to be detected, and sending a water quality detection instruction or a photographing instruction by a computer; when the serial camera receives a photographing instruction, image information acquisition is started, image data is packetized according to the specified data size, each packetized data forms a data frame to be stored in a register, and the number of the packetized data and the size of the image data are returned in a data format of a serial camera communication protocol; when the water quality sensor receives a water quality detection instruction, water quality information acquisition is started, and detected water quality information is stored in a register;
step three, sending a data request command to the water surface underwater acoustic communicator by the computer in an underwater acoustic communicator communication protocol format, transmitting the data request command to the underwater acoustic communicator through the water surface underwater acoustic communicator, and mutually transmitting the data request command to the underwater acoustic communicator carrying the water quality and image acquisition device through the underwater acoustic communicator nodes;
if the data request command is a water quality information request command, obtaining a register address and the number of registers for storing the request data through table lookup, obtaining a 16-bit CRC check code based on a modbus protocol according to the equipment ID, the register address and the number of the registers of the water quality sensor, packaging the equipment ID, the register address, the number of the registers and the CRC check code of the water quality sensor in a water quality sensor communication protocol, and transmitting the equipment ID, the register address, the number of the registers and the CRC check code of the water quality sensor to the corresponding water quality sensor through a serial port distributor; after the water quality sensor reads the request command, a 16-bit CRC (cyclic redundancy check) code based on the modbus protocol is obtained according to the equipment ID of the water quality sensor, the numerical value in the corresponding register address and the number of bytes occupied by the numerical value in the corresponding register address, and the equipment ID of the water quality sensor, the numerical value in the corresponding register address, the number of bytes occupied by the numerical value and the CRC code are returned;
if the data request command is an image information request command, the underwater acoustic communicator carrying the water quality and image acquisition device circularly reads image data according to a set register address and the size of a data frame, transmits the image data to the water surface underwater acoustic communicator through a networking underwater acoustic communicator node, and transmits the image data to the computer through a serial port until the number of times of reading the data is equal to the number of returned sub-packets in the step two;
step five, packaging the data returned in the step four in an underwater acoustic communicator communication protocol, transmitting the sound waves of the nodes of the networked underwater acoustic communicator to a water surface underwater acoustic communicator connected with the computer, and returning the data to the computer through a serial port; the request data is extracted from the data format of the underwater acoustic communicator communication protocol through the computer, and if the request data contains image data, the image data needs to be converted into a JPEG format to complete data receiving and sending.
9. The water quality image acquisition and information transmission method according to claim 8, wherein after the application layer program of the underwater acoustic communicator judges the type of the transmission data through the formats of the three communication protocols, the corresponding data formats are added or deleted, and the data are retransmitted in the equipment corresponding to the data formats.
10. The water quality image acquisition and information transmission method according to claim 8, wherein a serial port debugging tool is installed in the computer.
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