CN113162700A - Information forwarding control method and system for underwater long-wave communication relay station - Google Patents
Information forwarding control method and system for underwater long-wave communication relay station Download PDFInfo
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- CN113162700A CN113162700A CN202110525126.0A CN202110525126A CN113162700A CN 113162700 A CN113162700 A CN 113162700A CN 202110525126 A CN202110525126 A CN 202110525126A CN 113162700 A CN113162700 A CN 113162700A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/155—Ground-based stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q1/00—Details of selecting apparatus or arrangements
- H04Q1/02—Constructional details
- H04Q1/08—Frames or mounting racks for relays; Accessories therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention belongs to the field of underwater communication, and provides an information forwarding control method and system of an underwater long-wave communication relay station, which comprises a shore station, the underwater relay station and an AUV (autonomous underwater vehicle) end communication unit; the shore station is a remote control center of the AUV, and the ultra-long distance communication underwater relay station is realized through long waves; the underwater relay station is responsible for information forwarding of the AUV and the shore station; the AUV end communication unit is responsible for communication between the AUV and the underwater relay station, and comprises two communication modes of underwater acoustic communication and direct connection communication; according to the method and the system, long-wave communication, underwater acoustic communication/direct communication are jointly utilized to realize the ultra-long-distance AUV of the shore station, the underwater relay station provides a direct-connection high-speed communication means and a remote underwater acoustic communication means, the high-speed communication requirement is realized through the underwater pluggable communication interface, and the communication time and the AUV energy consumption are saved.
Description
Technical Field
The invention belongs to the field of underwater communication, and particularly relates to an information forwarding control method and system for an underwater long-wave communication relay station.
Background
The long-wave communication/ultra-long-wave communication can penetrate 10-30 meters deep seawater to realize long-distance/ultra-long-distance communication of thousands of kilometers or even thousands of kilometers for underwater targets, and in addition, the long-wave communication/ultra-long-wave communication propagation process is stable and strong in anti-interference performance and high in reliability. However, long-wave communication/ultra-long-wave communication requires a high-power transmitter of more than one giga and an ultra-long antenna of hundreds of kilometers, and the volume and power consumption of the cableless underwater robot AUV require that long-wave communication and ultra-long-wave communication are difficult to apply. In summary, a new method is needed to implement long-distance/ultra-long-distance communication of the AUV through long-wave/ultra-long-wave.
Disclosure of Invention
In order to meet the requirements in the technical background, the invention provides an information forwarding control method and system for an underwater long-wave communication relay station.
The technical scheme of the invention is as follows:
an information forwarding control system of an underwater long wave communication relay station mainly comprises a shore station 1, an underwater relay station 2 and an AUV end communication unit 3;
the shore station 1 is a remote control center of an AUV (autonomous underwater vehicle), and ultra-long distance communication is realized through a long wave to the underwater relay station 2; the underwater relay station 2 is responsible for information forwarding between the AUV and the shore station 1; the AUV end communication unit 3 is responsible for communication between the AUV and the underwater relay station 2, and comprises two communication modes of underwater acoustic communication and direct communication;
the shore station 1 mainly comprises a transmitter a4, an antenna 5 and a control platform 6; the control platform 6, the transmitter a4 and the antenna 5 are sequentially connected in series through a lead;
the underwater relay station 2 mainly comprises a mast antenna 7, a transmitter b8, a sealed cabin 9, a lithium battery power supply 10, a receiving and transmitting combined circuit 11, a filtering and amplifying circuit 12, a modulation circuit 13, a demodulation circuit 14, an underwater acoustic transducer a15, a control system circuit 16, an underwater direct connection female port 17, a digital valve 18, an air tank 19, a via hole steel plate 20, a support frame 21 and a main air pipe 22;
the control system circuit 16 is directly connected with the lithium battery power supply 10, the modulation circuit 13 and the demodulation circuit 14 through leads respectively; the underwater acoustic transducer a15, the underwater direct-connection female port 17 and the digital valve 18 are connected with the control system circuit 16 through the top or the bottom of the sealed cabin 9 by using leads and waterproof glue, wherein the lead used for connecting the underwater direct-connection female port 17 is a female port lead 32; the modulation circuit 13, the transmitter b8 and the receiving and transmitting combined circuit 11 are connected in sequence through conducting wires; the demodulation circuit 14, the filtering amplification circuit 12 and the receiving and transmitting combined circuit 11 are connected in sequence through leads; the receiving and transmitting combined circuit 11 is directly connected with the mast antenna 7 through a conducting wire; the underwater direct-connection male port 23 and the underwater acoustic transducer b24 are respectively connected with an AUV system through leads, wherein the lead used for connecting the underwater direct-connection male port 23 is a male port lead 37;
the underwater direct-connection female port 17 mainly comprises a push-push mechanical structure 26, a waterproof hard shell 27, a rubber ring a28, a gas distribution pipe 29, a gas pipe combiner 30, a lead contact piece a31 and a female port lead 32; the trachea combiner 30 is connected with the main trachea 22, and the trachea combiner 30 is connected with the waterproof hard shell 27 through the air distributing pipe 29; the upper edge of the waterproof hard shell 27 is provided with a rubber ring a28, the inner wall of the waterproof hard shell is fixed with a push-push mechanical structure 26, and one side surface of the waterproof hard shell is provided with a lead contact piece a 31; the lead contact piece a31 is connected with the female lead 32; the underwater direct-connection male port 23 mainly comprises a waterproof top cover 33, a rubber ring b34, a lead contact piece b35, an air tap 36 and a male port lead 37; the upper surface of the waterproof top cover 33 is provided with two air nozzles 36, the lower surface of the waterproof top cover 33 is connected with a lead contact piece b35, and the lead contact piece b35 is further connected with a male port lead 37; the lower surface of the waterproof top cover 33 is provided with a rubber ring b 34;
the underwater direct-connection female port 17 is connected with a digital valve 18 through a main air pipe 22, and the digital valve 18 is directly connected with an air tank 19; the underwater direct-connection female port 17 penetrates through the top of the sealed cabin 9 through a female port lead 32 and is connected with a control system circuit 16; the mast antenna 7 passes through the bottom of the sealed cabin 9 through a conducting wire and is connected with a receiving and transmitting combined circuit 11; the underwater acoustic transducer a15 and the digital valve 18 are respectively connected with the control system circuit 16 by leads which pass through the bottom of the sealed cabin 9;
the compressed gas in the gas tank 19 sequentially passes through the main gas pipe 22, the gas pipe combiner 30 and the gas distribution pipe 29 to reach the underwater direct-connection female port 17, and is used for removing seawater in the underwater direct-connection female port 17 to form a gas pocket so as to ensure that the underwater direct-connection female port 17 is not short-circuited when connected with the underwater direct-connection male port 23;
the lithium battery power supply 10, the receiving and transmitting combined circuit 11, the filtering and amplifying circuit 12, the modulation circuit 13, the demodulation circuit 14 and the control system circuit 16 are arranged in the sealed cabin 9; the sealed cabin 9 is fixed between the upper two layers of steel plates of the via hole steel plate 20, and the second layer of steel plate is used as a bearing support frame; the underwater acoustic transducer a15 is fixed at the bottom of the second layer of steel plate; the underwater direct-connection female port 17 is embedded in the first layer of steel plate; the gas tank 19 is fixed on the third layer of steel plate; the support frame 21 consists of four hollow steel pipes and four waterproof angle irons, the four hollow steel pipes support three layers of steel plates for fixing the steel plates 20, and the four waterproof angle irons are of an eight-outside structure and stably support the whole underwater relay station 2;
the AUV end communication unit 3 mainly comprises an underwater direct connection male port 23 and an underwater acoustic transducer b 24.
The mast antenna 7 is fixedly arranged on the third layer of steel plate of the via hole steel plate 20; the mast antenna 7 is of a mast structure, the length of the mast antenna is hundreds of meters, and two ends of the mast antenna are pulled by a plurality of fiber ropes 25; one end of the fiber rope 25 is connected with the mast antenna 7, and the other end is connected with the second layer of steel plate of the via hole steel plate 20 and is used for converting the long-wave signal into an electric signal.
The through hole steel plate 20 is composed of three layers of steel plates, each steel plate is provided with uniform through holes, and the resistance of seawater is reduced in the arrangement process of the underwater relay station 2; meanwhile, the underwater sound transducer a15 is used as a fixing frame for the sealed cabin 9, the underwater direct connection female port 17 and the air tank 19; in order to stabilize the underwater relay station 2, a weight is pressed on the third layer of steel plate, so that the center of the underwater relay station 2 moves downwards.
The underwater acoustic transducer a15 and the underwater acoustic transducer b24 are used for converting electric signals and acoustic signals; the filtering and amplifying circuit 12 is used for eliminating environmental noise and multipath propagation interference in the transmission process of long waves or sound waves and simultaneously enhancing the electric signals input by the mast antenna 7; the modulation circuit 13 is configured to modulate the digital signal into an electrical signal, and the demodulation circuit 14 is configured to demodulate the electrical signal into a digital signal; the control system circuit 16 is responsible for information receiving and transmitting processing and other logic services of the underwater relay station 2; the digital valve 18 is a control switch for the gas tank 19, which is controlled by the control system circuit 16.
The push-push mechanical structure 26 is the same as the slot structure of the SD card, and can be locked when triggered for the first time and reset when triggered again.
The waterproof top cover 33 is of an inverted 'concave' structure and is formed by a top hard sheet and two vertical hard sheets into a whole, wherein one vertical hard sheet has a gap, and when the underwater direct-connection male port 23 is inserted into the underwater direct-connection female port 17, the protruding part of the push-push mechanical structure 26 is embedded, so that the push-push mechanical structure 26 is triggered.
The air nozzle 36 can only be conducted in one direction, air or seawater can only pass through from bottom to top, and seawater from top to bottom cannot pass through.
An information forwarding control method of an underwater long-wave communication relay station is realized on the basis of an information forwarding control system of the underwater long-wave communication relay station;
the control flow for realizing the ultra-long distance communication of the AUV by the shore station 1 is as follows:
(1) the instruction of the staff is sent and converted into a digital signal through the control platform 6, the digital signal is converted into an electric signal through the transmitter a4, and the electric signal is converted into a long-wave signal through the antenna 5 and sent outwards;
(2) the transmitted long wave signals propagate between the earth's surface and the ionosphere; the mast antenna 7 receives the long-wave signal and converts the long-wave signal into an electric signal; the electric signal passes through the receiving and transmitting combined circuit 11 and the filtering and amplifying circuit 12 in sequence, and the filtering and amplifying circuit 12 filters environmental noise and removes multipath propagation interference on the electric signal and enhances the electric signal; the processed electric signal is converted into a digital signal through a demodulation circuit 14, and the digital signal is input into a control system circuit 16 to analyze a task instruction to implement corresponding business operation; the control system circuit 16 converts the instruction into a digital signal and forwards the digital signal to the AUV through the underwater acoustic transducer a15 or the underwater direct connection female port 17;
(3) the AUV receives and converts the signals into digital signals through the AUV end communication unit 3, and the communication of the shore station 1 to the AUV is realized.
The underwater relay station 2 uses underwater acoustic communication and AUV communication control flow as follows:
the control system circuit 16 converts the instruction into a digital signal, and the digital signal is converted into an underwater sound signal through the underwater acoustic transducer a15 and is sent out; the underwater sound transducer b24 receives the underwater sound signal, converts the underwater sound signal into a digital signal and sends the digital signal to the AUV system.
The control flow of the underwater relay station 2 using direct communication and AUV communication is as follows:
(1) the AUV moves to the position near the underwater relay station 2, and the underwater direct-connected male port 23 is vertically inserted into the underwater direct-connected female port 17; when the push-push mechanical structure is inserted, the opening of the underwater direct-connected male port 23 is vertically embedded in the hard sheet and drives the protruding part of the push-push mechanical structure 26, and the push-push mechanical structure 26 is triggered for the first time, so that the push-push mechanical structure 26 is locked; at the moment, the rubber ring a28 and the rubber ring b34 are stressed to be tightly attached, and meanwhile, the lead contact piece a31 and the lead contact piece b35 are tightly attached; the underwater directly-connected male port 23 and the underwater directly-connected female port 17 form a closed space, and the space is filled with seawater;
(2) the control system circuit 16 controls the digital valve 18 to be opened through a lead, high-pressure air in the air tank 19 passes through the main air pipe 22, the air pipe combiner 30 and the air distribution pipe 29 in sequence to reach the interior of the underwater direct connection female port 17 to press out seawater in the closed space, and the seawater and the high-pressure air press out the seawater through the air tap 36 from bottom to top; after a short time, the control system circuit 16 controls the digital valve 18 to be closed through a wire, seawater is pressed to the air faucet 36 from top to bottom due to gravity, the air faucet 36 cannot pass through from top to bottom, and at the moment, the closed space between the underwater direct-connection male port 23 and the underwater direct-connection female port 17 is filled with air and is free of seawater, so that short circuit cannot occur during subsequent direct-connection communication;
(3) the control system circuit 16 converts the tasks into digital information, and the digital signals are communicated to the AUV system through the underwater direct-connected female port 17 and the underwater direct-connected male port 23;
(4) after the communication is completed, the AUV controls the underwater direct-connection male port 23 to exert force downwards, the push-push mechanical structure 26 is triggered again, the push-push mechanical structure 26 resets, and the underwater direct-connection female port 17 is disconnected with the underwater direct-connection male port 23.
The method and the system have the beneficial effects that: the method and the system provide an underwater relay station, the extra-long-distance communication AUV of the shore station is realized by jointly utilizing long-wave communication, underwater acoustic communication/direct connection communication, and relay equipment such as satellites, wireless APs and communication ships and complex communication conversion means are not required to be arranged. The underwater relay station also provides a direct connection high-speed communication means and a remote underwater acoustic communication means, and an underwater pluggable communication interface is designed to meet the high-speed communication requirement, so that the communication time and the AUV energy consumption are saved.
Drawings
FIG. 1 is a system architecture diagram;
FIG. 2a is a structure diagram of an underwater relay station, b is a front view, c is a top view, and d is a left view;
fig. 3 is a partially enlarged view of a relevant portion of the gas tank;
FIG. 4a is a structure diagram of an underwater direct connection female port, b is a front view, c is a top view, and d is a left view;
FIG. 5a is a structure diagram of an underwater direct connection male port, b is a front view, c is a top view, and d is a left view;
in the figure: 1, a shore station; 2, an underwater relay station; 3AUV end communication unit; 4, a transmitter; 5 an antenna; 6, controlling the platform; a 7-mast antenna; 8, a transmitter b; 9 sealing the cabin; 10 lithium battery power supply; 11 a transmit-receive combining circuit; 12 a filter amplifying circuit; 13 a modulation circuit; 14 a demodulation circuit; 15 underwater acoustic transducer a; 16 control system circuitry; 17 directly connecting the mother port underwater; 18 a digital valve; 19 a gas tank; 20 passing through a hole steel plate; 21, a support frame; 22 a main air pipe; 23 underwater directly connecting a male port; 24 an underwater acoustic transducer b; 25 fiber ropes; 26push-push mechanical structure; 27 a waterproof hard shell; 28 rubber ring a; 29 air distributing pipe; 30 trachea closing devices; 31a wire contact piece a; a female port wire 32; 33 a waterproof top cover; 34 rubber ring b; 35 a wire contact piece b; 36 air nozzles; 37 male conductor.
Detailed Description
The following further describes the specific embodiments of the present invention with reference to the technical solutions and the drawings of the specification.
The information forwarding control method and the system architecture connection of the underwater long-wave communication relay station are shown in figure 1, wherein a control platform 6, a transmitter 4a and an antenna 5 are sequentially connected in series through a lead; the control system circuit 16 is directly connected with the lithium battery power supply 10, the underwater acoustic transducer 15a, the modulation circuit 13 and the demodulation circuit 14 through leads respectively; the underwater acoustic transducer 15a, the underwater direct-connection female port 17 and the digital valve 18 are connected with the control system circuit 16 through the top or the bottom of the sealed cabin 9 by using leads and waterproof glue, wherein the leads used for connection of the underwater direct-connection female port 17 are female port leads 32; the modulation circuit 13, the transmitter 8b and the receiving and transmitting combined circuit 11 are connected in sequence; the demodulation circuit 14, the filtering amplification circuit 12 and the receiving and transmitting combined circuit 11 are connected in sequence through leads; the receiving and transmitting combined circuit 11 is directly connected with the mast antenna 7 through a conducting wire; the underwater direct-connection male port 23 and the underwater acoustic transducer 24b are respectively connected with the AUV system through leads, wherein the lead used for connecting the underwater direct-connection male port 23 is a male port lead 37.
The underwater relay station 2 is structurally connected as shown in fig. 2a, the underwater direct-connection female port 17 is connected with a digital valve 18 through a main air pipe 22, and the digital valve 18 is directly connected with an air tank 19; the underwater direct-connection female port 17 penetrates through the top of the sealed cabin 9 through a female port lead 32 and is connected with a control system circuit 16; the mast antenna 7 passes through the bottom of the sealed cabin 9 through a conducting wire and is connected with a receiving and transmitting combined circuit 11; the underwater acoustic transducer 15a and the digital valve 18 are respectively connected with the control system circuit 16 by leads penetrating through the bottom of the sealed cabin 9;
the lithium battery power supply 10, the receiving and transmitting combined circuit 11, the filtering and amplifying circuit 12, the modulation circuit 13, the demodulation circuit 14 and the control system circuit 16 are arranged in the sealed cabin 9; the sealed cabin 9 is fixed between the first layer steel plate and the second layer steel plate of the via hole steel plate 20, and the second layer steel plate is used as a bearing support frame; the underwater acoustic transducer 15a is fixed at the bottom of the second layer of the via hole steel plate 20; the underwater direct-connection female port 17 is embedded in the first layer of the via hole steel plate 20; the gas tank 19 is fixed on the third layer of the steel perforated plate 20; the support frame 21 consists of four hollow steel pipes and four waterproof angle irons, the four hollow steel pipes support three layers of steel plates for fixing the steel plates 20, and the four waterproof angle irons are of an eight-outside structure and stably support the whole underwater relay station 2;
in the system work, the AUV end communication unit 3 is carried on the AUV, the AUV system provides electric energy, and meanwhile, the AUV system communicates with the outside through the AUV end communication unit 3. The underwater relay station 2 is arranged on the seabed of an AUV working sea area through a support frame 21, and the mast antenna 7 is stably fixed on a third layer steel plate of the via hole steel plate 20 under the action of the fiber rope 25 and the via hole steel plate 20. The shore station 1 is located at a distance from the AUV operating sea.
The control flow for realizing the ultra-long distance communication of the AUV by the shore station 1 is as follows:
the instruction of the staff is given and converted into the digital signal through the control platform 6, the digital signal is converted into the electric signal through the transmitter 4a, and the electric signal is converted into the long wave signal through the antenna 5 and is sent out.
The long wave signal is transmitted between earth surface and ionized layer, the distance can reach thousands to tens of kilometers, and it can penetrate several tens of meters of sea water. The mast antenna 7 receives the long wave signal and converts the long wave signal into an electric signal. The electric signal passes through the transceiving combination circuit 11 and the filtering amplification circuit 12 in sequence, and the filtering amplification circuit 12 filters environmental noise and removes multipath propagation interference on the electric signal and enhances the electric signal at the same time. The processed electrical signal is converted into a digital signal through the demodulation circuit 14, and the digital signal is input into the control system circuit 16 to analyze a task instruction to implement a corresponding service operation. The control system circuit 16 converts the instruction into a digital signal, and the digital signal is forwarded to the AUV through the underwater acoustic transducer 15a or the underwater direct connection female port 17.
The AUV receives and converts the signals into digital signals through the AUV end communication unit 3, and the communication of the shore station 1 to the AUV is realized.
The underwater relay station 2 uses underwater acoustic communication and AUV communication control flow as follows: the control system circuit 16 converts the instruction into a digital signal, and the digital signal is converted into an underwater sound signal through the underwater acoustic transducer 15a and is sent out. The underwater acoustic transducer 24b receives the underwater acoustic signal, converts the underwater acoustic signal into a digital signal and sends the digital signal to the AUV system.
The control flow of the underwater relay station 2 using direct communication and AUV communication is as follows: the AUV moves to the vicinity of the underwater relay station 2 to vertically insert the underwater direct-connected male port 23 into the underwater direct-connected female port 17. When the push-push mechanical structure is inserted, the vertical hard piece of the opening of the underwater direct-connection male port 23 is embedded and drives the protruding part of the push-push mechanical structure 26, and the push-push mechanical structure 26 is triggered for the first time, so that the push-push mechanical structure 26 is locked. At this time, the rubber ring 28a and the rubber ring 34b are forced to be closely adhered, and the wire contact piece 31a and the wire contact piece 35b are closely adhered. The underwater directly-connected male port 23 and the underwater directly-connected female port 17 form a closed space, and the space is filled with seawater. The control system circuit 16 controls the digital valve 18 to be opened through a lead, high-pressure air in the air tank 19 sequentially passes through the main air pipe 22, the air pipe combiner 30 and the air distribution pipe 29 to reach the interior of the underwater direct connection female port 17 to press out seawater in the closed space, and the seawater and the high-pressure air are pressed out through the air tap 36 from bottom to top. After a short time, the control system circuit 16 controls the digital valve 18 to be closed through a wire, seawater is pressed to the air faucet 36 from top to bottom due to gravity, the air faucet 36 cannot pass through from top to bottom, and at the moment, the closed space between the underwater direct-connection male port 23 and the underwater direct-connection female port 17 is filled with air and is free of seawater, so that short circuit cannot occur during subsequent direct-connection communication. After the connection is completed, the control system circuit 16 converts the task into digital information, and the digital signal is communicated to the AUV system through the underwater direct connection female port 17 and the underwater direct connection male port 23. Compared with underwater sound communication, the method has higher efficiency and lower power consumption. After the communication is completed, the AUV controls the underwater direct-connection male port 23 to exert force downwards, the push-push mechanical structure 26 is triggered again, the push-push mechanical structure 26 resets, and the underwater direct-connection female port 17 is disconnected with the underwater direct-connection male port 23.
Claims (10)
1. An information forwarding control system of an underwater long-wave communication relay station is characterized by mainly comprising a shore station (1), an underwater relay station (2) and an AUV (autonomous underwater vehicle) end communication unit (3);
the shore station (1) is an AUV remote control center, and the ultra-long distance communication of the underwater relay station (2) is realized through long waves; the underwater relay station (2) is responsible for information forwarding between the AUV and the shore station (1); the AUV end communication unit (3) is responsible for communication between the AUV and the underwater relay station (2), and comprises two communication modes of underwater acoustic communication and direct communication;
the shore station (1) mainly comprises a transmitter a (4), an antenna (5) and a control platform (6); the control platform (6), the transmitter a (4) and the antenna (5) are sequentially connected in series through a lead;
the underwater relay station (2) mainly comprises a mast antenna (7), a transmitter b (8), a sealed cabin (9), a lithium battery power supply (10), a receiving and transmitting combined circuit (11), a filtering and amplifying circuit (12), a modulation circuit (13), a demodulation circuit (14), an underwater acoustic transducer a (15), a control system circuit (16), an underwater direct connection female port (17), a digital valve (18), an air tank (19), a via hole steel plate (20), a support frame (21) and a main air pipe (22);
the control system circuit (16) is respectively and directly connected with the lithium battery power supply (10), the modulation circuit (13) and the demodulation circuit (14) through leads; the underwater acoustic transducer a (15), the underwater direct connection female port (17) and the digital valve (18) are connected with a control system circuit (16) through the top or the bottom of the sealed cabin (9) by using wires and waterproof glue, wherein the wires for connecting the underwater direct connection female port (17) are female port wires (32); the modulation circuit (13), the transmitter b (8) and the receiving and transmitting combined circuit (11) are sequentially connected through a lead; the demodulation circuit (14), the filtering amplification circuit (12) and the receiving and transmitting combined circuit (11) are connected in sequence through leads; the receiving and transmitting combined circuit (11) is directly connected with the mast antenna (7) through a conducting wire; the underwater direct-connection male port (23) and the underwater acoustic transducer b (24) are respectively connected with the AUV system through leads, wherein the lead used for connecting the underwater direct-connection male port (23) is a male port lead (37);
the underwater direct-connection female port (17) mainly comprises a push-push mechanical structure (26), a waterproof hard shell (27), a rubber ring a (28), an air distribution pipe (29), an air pipe combiner (30), a lead contact piece a (31) and a female port lead (32); the air pipe combiner (30) is connected with the main air pipe (22), and the air pipe combiner (30) is connected with the waterproof hard shell (27) through the air distribution pipe (29); the upper edge of the waterproof hard shell (27) is provided with a rubber ring a (28), the inner wall of the waterproof hard shell is fixed with a push-push mechanical structure (26), and one side surface of the waterproof hard shell is provided with a lead contact sheet a (31); the lead contact piece a (31) is connected with the female port lead (32); the underwater direct-connection male port (23) mainly comprises a waterproof top cover (33), a rubber ring b (34), a wire contact piece b (35), an air tap (36) and a male port wire (37); the upper surface of the waterproof top cover (33) is provided with two air nozzles (36), the lower surface of the waterproof top cover (33) is connected with a lead contact piece b (35), and the lead contact piece b (35) is further connected with a male wire (37); the lower surface of the waterproof top cover (33) is provided with a rubber ring b (34);
the underwater direct-connection female port (17) is connected with a digital valve (18) through a main air pipe (22), and the digital valve (18) is directly connected with an air tank (19); the underwater direct-connection female port (17) penetrates through the top of the sealed cabin (9) through a female port lead (32) and is connected with a control system circuit (16); the mast antenna (7) passes through the bottom of the sealed cabin (9) through a conducting wire and is connected with the receiving and transmitting combined circuit (11); the underwater acoustic transducer a (15) and the digital valve (18) are respectively connected with a control system circuit (16) by passing through the bottom of the sealed cabin (9) through leads;
compressed gas in the gas tank (19) sequentially passes through the main gas pipe (22), the gas pipe combiner (30) and the gas distribution pipe (29) to reach the underwater direct-connection female port (17) and is used for removing seawater in the underwater direct-connection female port (17) to form a gas pocket so as to ensure that short circuit does not occur when the underwater direct-connection female port (17) is connected with the underwater direct-connection male port (23);
the lithium battery power supply (10), the receiving and transmitting combined circuit (11), the filtering and amplifying circuit (12), the modulating circuit (13), the demodulating circuit (14) and the control system circuit (16) are arranged in the sealed cabin (9); the sealed cabin (9) is fixed between the upper two layers of steel plates of the via hole steel plate (20), and the second layer of steel plate is used as a bearing support frame; the underwater acoustic transducer a (15) is fixed at the bottom of the second layer of steel plate; the underwater direct-connection female port (17) is embedded in the first layer of steel plate; the gas tank (19) is fixed on the third layer of steel plate; the support frame (21) consists of four hollow steel pipes and four waterproof angle irons, the four hollow steel pipes support and fix three layers of steel plates of the via hole steel plate (20), and the four waterproof angle irons are of an eight-outside structure and stably support the whole underwater relay station (2);
the AUV end communication unit (3) mainly comprises an underwater direct connection male port (23) and an underwater acoustic transducer b (24).
2. The information forwarding control system of the underwater long wave communication relay station according to claim 1, wherein the mast antenna (7) is fixedly installed on a third layer steel plate of the via hole steel plate (20); the mast antenna (7) is of a mast structure, the length of the mast antenna is hundreds of meters, and two ends of the mast antenna are pulled by a plurality of fiber ropes (25); one end of the fiber rope (25) is connected with the mast antenna (7), and the other end of the fiber rope is connected with the second layer of steel plate of the via hole steel plate (20) and used for converting the long-wave signals into electric signals.
3. The information forwarding control system of the underwater long-wavelength communication repeater station as claimed in claim 1 or 2, wherein the perforated steel plate (20) is composed of three layers of steel plates, each steel plate has uniform perforations, and the resistance of seawater is reduced during the arrangement of the underwater repeater station (2); meanwhile, the underwater sound transducer is used as a fixed frame of a sealed cabin (9), an underwater sound transducer a (15), an underwater direct connection female port (17) and a gas tank (19); in order to enable the underwater relay station (2) to be more stable, a heavy object is pressed on the third layer of steel plate, so that the center of the underwater relay station (2) moves downwards.
4. The information retransmission control system of the underwater long wave communication relay station according to claim 3, characterized in that the underwater acoustic transducers a (15) and b (24) are used for conversion between electric signals and acoustic signals; the filtering and amplifying circuit (12) is used for eliminating environmental noise and multipath propagation interference in the transmission process of long waves or sound waves and enhancing the electric signals when the electric signals are input by the mast antenna (7); the modulation circuit (13) is used for modulating the digital signal into an electric signal, and the demodulation circuit (14) is used for demodulating the electric signal into the digital signal; the control system circuit (16) is responsible for information receiving and transmitting processing and other logic services of the underwater relay station (2); the digital valve (18) is a control switch of the gas tank (19), and the control switch works under the control of a control system circuit (16).
5. The information forwarding control system of the underwater long-wave communication relay station as claimed in claim 1, 2 or 4, wherein the push-push mechanical structure (26) is the same as a slot structure of an SD card, and is locked when triggered for the first time and reset when triggered again.
6. The information forwarding control system of the underwater long wave communication relay station as claimed in claim 5, wherein the waterproof top cover (33) is of an inverted 'concave' structure and is formed by a top hard sheet and two vertical hard sheets into a whole, wherein one vertical hard sheet has a gap, and when the underwater direct-connection male port (23) is inserted into the underwater direct-connection female port (17), the protruding part of the push-push mechanical structure (26) is embedded to trigger the push-push mechanical structure (26).
7. The information forwarding control system of the underwater long-wave communication relay station as claimed in claim 1, 2, 4 or 6, wherein the air nozzle (36) is only in one-way communication, gas or seawater only passes through from bottom to top, and seawater from top to bottom cannot pass through.
8. An information forwarding control method of an underwater long-wave communication relay station is characterized in that the information forwarding control method is realized based on an information forwarding control system of the underwater long-wave communication relay station;
the control flow for realizing the ultra-long distance communication of the AUV by the shore station (1) is as follows:
1) the instruction of the staff is issued and converted into a digital signal through the control platform (6), the digital signal is converted into an electric signal through the transmitter a (4), and the electric signal is converted into a long-wave signal through the antenna (5) and is sent out;
2) the transmitted long wave signals propagate between the earth's surface and the ionosphere; the mast antenna (7) receives the long-wave signal and converts the long-wave signal into an electric signal; the electric signals sequentially pass through a receiving and transmitting combined circuit (11) and a filtering and amplifying circuit (12), and the filtering and amplifying circuit (12) filters environmental noise and removes multipath propagation interference on the electric signals and simultaneously enhances the electric signals; the processed electric signals are converted into digital signals through a demodulation circuit (14), and the digital signals are input into a control system circuit (16) to analyze task instructions to implement corresponding business operations; the control system circuit (16) converts the instruction into a digital signal and forwards the digital signal to the AUV through the underwater acoustic transducer a (15) or the underwater direct connection female port (17);
3) the AUV receives and converts the signals into digital signals through an AUV end communication unit (3), and the communication of the shore station (1) to the AUV is realized.
9. The information forwarding control method of the underwater long wave communication relay station as claimed in claim 8, wherein the underwater relay station (2) uses underwater acoustic communication and AUV communication control flow as follows:
the control system circuit (16) converts the instruction into a digital signal, and the digital signal is converted into an underwater sound signal through the underwater acoustic transducer a (15) and is sent out; the underwater acoustic transducer b (24) receives the underwater acoustic signals, converts the underwater acoustic signals into digital signals and sends the digital signals to the AUV system.
10. The information forwarding control method of the underwater long-wave communication relay station as claimed in claim 8, wherein the control flow of the underwater relay station (2) using direct communication and AUV communication is as follows:
1) the AUV moves to the position near the underwater relay station (2) and vertically inserts the underwater direct-connection male port (23) into the underwater direct-connection female port (17); when the push-push type socket is inserted, a notch of the underwater direct-connected male port (23) is vertically embedded with a hard sheet and drives a protruding part of the push-push mechanical structure (26), and the push-push mechanical structure (26) is triggered for the first time, so that the push-push mechanical structure (26) is locked; at the moment, the rubber ring a (28) and the rubber ring b (34) are stressed to be tightly attached, and meanwhile, the lead contact piece a (31) and the lead contact piece b (35) are tightly attached; the underwater directly-connected male port (23) and the underwater directly-connected female port (17) form a closed space, and the space is filled with seawater;
2) the control system circuit (16) controls the digital valve (18) to be opened through a lead, high-pressure air in the air tank (19) sequentially passes through the main air pipe (22), the air pipe combiner (30) and the air distribution pipe (29) to reach the interior of the underwater direct-connection female port (17) to press out seawater in the closed space, and the seawater and the high-pressure air press out the seawater from bottom to top through the air tap (36); after a short time, the control system circuit (16) controls the digital valve (18) to be closed through a wire, seawater is pressed to the air faucet (36) from top to bottom due to gravity, the air faucet (36) cannot pass through from top to bottom, and at the moment, the closed space between the underwater direct-connection male port (23) and the underwater direct-connection female port (17) is filled with air and is free of seawater, so that short circuit cannot occur during subsequent direct-connection communication;
3) the control system circuit (16) converts the tasks into digital information, and the digital signals are communicated with the AUV system through the underwater direct connection female port (17) and the underwater direct connection male port (23);
4) after communication is completed, the AUV controls the underwater direct-connection male port (23) to exert force downwards, the push-push mechanical structure (26) is triggered again, the push-push mechanical structure (26) resets, and the underwater direct-connection female port (17) is disconnected with the underwater direct-connection male port (23).
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