CN113225139B

CN113225139B - Underwater real-time two-way wireless communication method and device, electronic device and underwater equipment

Info

Publication number: CN113225139B
Application number: CN202110308972.7A
Authority: CN
Inventors: 魏建仓; 严娓; 刘东娜; 商春喜; 董焰
Original assignee: Shenzhilan Tianjin Underwater Intelligent Technology Co ltd
Current assignee: Shenzhilan Tianjin Underwater Intelligent Technology Co ltd
Priority date: 2021-03-23
Filing date: 2021-03-23
Publication date: 2022-08-19
Anticipated expiration: 2041-03-23
Also published as: CN113225139A

Abstract

The invention provides an underwater real-time bidirectional wireless communication method and device, an electronic device and an underwater device, and relates to the technical field of communication. A method of underwater real-time two-way wireless communication, comprising: the host and the slave enter a networking mode; the host computer transmits a networking instruction, and the networking instruction comprises a network mark number of the host computer; the slave computer generates random delay time after receiving the networking command; after the random delay time, the slave machine sends a network access application, wherein the network access application comprises a unique code of the slave machine; the host receives a network access application; the master machine replies a network access confirmation instruction according to the network access application of each slave machine, wherein the network access confirmation instruction comprises a network number which is distributed by the master machine and corresponds to the unique code of the slave machine and the unique code of the slave machine; each slave computer exits the networking mode after receiving the network access confirmation instruction; according to a preset condition, the host exits the networking mode and enters a communication mode; the master polls the slave to obtain information for the slave response. The invention can realize low-frequency real-time bidirectional wireless communication of one host and multiple slaves.

Description

Underwater real-time bidirectional wireless communication method and device, electronic device and underwater equipment

Technical Field

The invention relates to the technical field of communication, in particular to an underwater real-time bidirectional wireless communication method and device, an electronic device and an underwater device.

Background

The low-frequency signal has the advantages of strong penetrating power, small signal attenuation and reliable transmission, so that the low-frequency signal is widely applied to communication of underwater equipment. However, low-frequency signals also have the disadvantages of low transmission rate and low efficiency. And the frequency range of the low-frequency signal is smaller, and when all the devices transmit the low-frequency signal at the same time, any receiving device cannot receive the information due to interference. Therefore, the low-frequency wireless communication scheme in the market for a system consisting of a master and a plurality of slaves can only realize one-way communication between two ends of the device, namely the slaves can receive information sent by the master, and the master cannot receive information replied by the slaves. The slave machine only listens to the instruction of the host machine and can not feed back the state information to the host machine in real time in the one-way communication, so that a plurality of potential safety hazards exist, and the user experience is poor.

Disclosure of Invention

The invention aims to provide an underwater real-time two-way wireless communication method, an underwater real-time two-way wireless communication device, an underwater electronic device and underwater equipment, which can realize low-frequency real-time two-way wireless communication of one underwater host and multiple underwater slaves.

According to an aspect of the present invention, a method for underwater real-time two-way wireless communication is provided, which is used for a system, the system comprises a master machine and a slave machine, and the method comprises the following steps: the master computer and the slave computers enter a networking mode; the host transmits a networking instruction, wherein the networking instruction comprises a network mark number of the host; the slave computer receives the networking instruction and then generates random delay time; after the random delay time, the slave machine sends a network access application, wherein the network access application comprises a unique code of the slave machine; the host receives the network access application; the master machine replies a network access confirmation command according to the network access application of each slave machine, wherein the network access confirmation command comprises a network number which is distributed by the master machine and corresponds to the unique code of the slave machine and the unique code of the slave machine; each slave computer exits the networking mode after receiving the network access confirmation instruction; according to preset conditions, the host exits the networking mode and enters a communication mode; and the master polls the slave to acquire the information responded by the slave.

According to some embodiments, the network identification number of the master is a master communication first layer protocol inquiry code of the master, and the slave stores the network identification number as a slave communication first layer protocol inquiry code of the slave.

According to some embodiments, the slave generating a random delay time after receiving the networking instruction comprises: generating a random number according to a random number algorithm, the random number being multiplied by a fixed value to generate the random delay time.

According to some embodiments, the unique code of the slave is generated by the slave according to a specified algorithm, the unique code is a slave communication first layer protocol response code of the slave, and the master stores the unique code as a master communication first layer protocol response code of the master corresponding to the slave.

According to some embodiments, the network number corresponding to the unique code of the slave and allocated by the master serves as a master communication user protocol verification code of the master, and the slave stores the network number corresponding to the unique code of the slave and allocated by the master as a slave communication user protocol verification code of each slave.

According to some embodiments, said exiting the networking mode and entering the communication mode by the host according to the preset condition includes: when the network access number of the slave machines is equal to the preset number, the host machine exits the networking mode and enters a communication mode; or the host responds to the manual exit instruction to exit the networking mode and enter the communication mode.

According to some embodiments, the master polling the slave to obtain information of the slave response comprises: the master machine sends inquiry information containing the network number of the polled slave machine to the slave machine, switches a first-layer protocol response code of the master machine communication to a unique code of the polled slave machine, and switches a user protocol verification code of the master machine communication to the network number of the polled slave machine; the polled slave processes the inquiry information; the polled slave sends response information containing the network number of the polled slave according to the inquiry information; the host receives the response information; the host carries out data processing on the response information according to the response information; the master sends to the slave inquiry information containing the network number of the next slave.

According to some embodiments, the master sending to the slave an inquiry message containing a network number of the polled slave, comprising: if the response information is not received within the preset time, repeatedly sending inquiry information containing the network number of the polled slave to the slave, switching the host communication first-layer protocol response code to the unique code of the polled slave, and switching the host communication user protocol verification code to the network number of the polled slave.

According to some embodiments, said repeatedly sending to said slave a query message containing a network number of said polled slave comprises: and if the repeated transmission times reach a preset number, transmitting inquiry information containing the network number of the next slave to the slave.

According to some embodiments, the polled slave processes the inquiry information, including: processing the inquiry information if the master communication first layer protocol inquiry code of the master sending the inquiry information is equal to the slave communication first layer protocol inquiry code of the polled slave and the network number in the inquiry information is equal to the slave communication user protocol authentication code of the polled slave.

According to some embodiments, the host receives the response message, including: and if the slave communication first-layer protocol response code of the polled slave is equal to the host communication first-layer protocol response code of the host, and the network number in the response message is equal to the host communication user protocol verification code of the host, receiving the response message.

According to an aspect of the present invention, there is provided an underwater real-time two-way wireless communication method, for a master in a system, the system including the master and a slave, comprising: entering a networking mode; transmitting a networking instruction, wherein the networking instruction comprises a network mark number of the host; receiving a network access application, wherein the network access application comprises a unique code of the slave machine; replying a network access confirmation command according to the network access application of each slave, wherein the network access confirmation command comprises a network number corresponding to the unique code of the slave and the unique code of the slave; exiting the networking mode and entering a communication mode according to a preset condition; polling the slave to obtain information of the slave response.

According to some embodiments, the network identification number of the host is a host communication layer one protocol challenge code.

According to some embodiments, after receiving the network entry application, the method further includes: and storing the unique code as a host communication first-layer protocol response code corresponding to the slave.

According to some embodiments, before replying the confirmed network entry command according to the network entry application of each slave, the method further includes: and storing the network number which is distributed by the host and corresponds to the unique code of the slave machine as a host communication user protocol verification code.

According to some embodiments, said exiting the networking mode and entering the communication mode according to the preset condition comprises: when the network access number of the slave machines is equal to the preset number, exiting the networking mode and entering a communication mode; or exiting the networking mode and entering the communication mode in response to a manual exit instruction.

According to some embodiments, polling the slave to obtain slave reply information comprises: sending inquiry information containing the network number of the polled slave to the slave, switching the master communication first-layer protocol response code into the unique code of the polled slave, and switching the master communication user protocol verification code into the network number of the polled slave; receiving the response information, wherein the response information comprises the network number of the polled slave; processing data of the response information according to the response information; and sending inquiry information containing the network number of the next slave to the slave.

According to some embodiments, the sending to the slave inquiry information containing the network number of the polled slave comprises: if the response information is not received within the preset time, repeatedly sending inquiry information containing the network number of the polled slave to the slave, switching the host communication first-layer protocol response code to the unique code of the polled slave, and switching the host communication user protocol verification code to the network number of the polled slave.

According to some embodiments, said repeatedly sending to said slave inquiry information containing the network number of said polled slave comprises: and if the repeated transmission times reach a preset number, transmitting inquiry information containing the network number of the next slave to the slave.

According to some embodiments, the receiving the response message comprises: and if the slave communication first-layer protocol response code of the polled slave is equal to the current master communication first-layer protocol response code, and the network number in the response message is equal to the current master communication user protocol verification code, receiving the response message.

According to an aspect of the present invention, there is provided a method for underwater real-time two-way wireless communication, which is used for a slave in a system, the system including a master and the slave, and includes: entering a networking mode; after a networking instruction is received, generating random delay time, wherein the networking instruction comprises a network mark number of the host; after the random delay time, sending a network access application, wherein the network access instruction comprises a unique code of the slave; receiving a network access confirmation instruction, wherein the network access confirmation instruction comprises a network number corresponding to the unique code of the slave and the unique code of the slave; each slave computer exits the networking mode after receiving the network access confirmation instruction; information polled by the host and providing a response.

According to some embodiments, the generating a random delay time comprises: generating a random number according to a random number algorithm, the random number being multiplied by a fixed value to generate the random delay time.

According to some embodiments, after receiving the networking instruction, the method further comprises: and storing the network identification number as a slave communication first-layer protocol inquiry code.

According to some embodiments, the unique code of the slave is generated according to a specified algorithm, the unique code being a slave communication first layer protocol response code.

According to some embodiments, after receiving the network entry confirmation command, the method further includes: and storing the network number which is allocated by the master machine and corresponds to the unique code of the slave machine as a slave machine communication user protocol verification code of each slave machine.

According to some embodiments, the information polled and providing responses by the host comprises: processing the inquiry information; and sending response information containing the network number of the polled slave according to the inquiry information.

According to some embodiments, said processing said query information comprises: and processing the inquiry information if the master communication first layer protocol inquiry code of the master sending the inquiry information is equal to the slave communication first layer protocol inquiry code, and the network number in the inquiry information is equal to the slave communication user protocol verification code.

According to one aspect of the invention, the host device for underwater real-time bidirectional wireless communication is used for a system comprising a host and a slave, wherein the host comprises a first main control module, a first low-frequency transmitting module and a first low-frequency receiving module.

The first master control module is configured to: controlling the host to enter a networking mode; controlling the host to transmit a networking command, wherein the networking command comprises a network mark number of the host; replying a network access confirmation command according to the network access application of each slave, wherein the network access application comprises the unique code of the slave, and the network access confirmation command comprises the network number which is distributed by the host and corresponds to the unique code of the slave and the unique code of the slave; enabling the host to exit a networking mode and enter a communication mode according to a preset condition; causing the master to poll the slave in a communication mode;

the first low frequency transmission module is configured to: transmitting a networking instruction according to the instruction of the first main control module; sending the network access confirmation instruction according to the instruction of the first main control module; sending inquiry information to the slave machine according to the instruction of the first main control module, wherein the inquiry information comprises the network number of the polled slave machine;

the first low frequency receiving module is configured to: receiving the network access application and informing the first main control module; and receiving response information sent by the polled slave, and transmitting the response information to the first master control module, wherein the response information comprises a network number of the polled slave.

According to one aspect of the invention, the slave device for underwater real-time two-way wireless communication is used for a system comprising a slave and a master, and the slave comprises a second master control module, a second low-frequency transmitting module and a second low-frequency receiving module.

The second master module is configured to: controlling the slave to enter a networking mode; controlling the slave computer to generate random delay time after receiving the networking instruction, wherein the networking instruction comprises a network mark number of the host computer; controlling the slave machine to send a network access application in a time-sharing mode after the random delay time, wherein the network access application comprises a unique code of the slave machine; enabling the slave to exit the networking mode and enter a communication mode; responding to polling of the host in a communication mode;

the second low frequency transmission module is configured to: replying the network access application according to the instruction of the second main control module; sending response information to the host according to the instruction of the second master control module, wherein the response information comprises a network number of the slave;

the second low frequency receiving module is configured to: receiving the networking instruction and informing the second main control module; receiving a network access confirmation instruction and informing the second master control module, wherein the network access confirmation instruction comprises a network number corresponding to the unique code of the slave and the unique code of the slave; and receiving inquiry information sent by the host computer, and transmitting the inquiry information to the second master control module, wherein the inquiry information comprises the network number of the slave computer.

According to an aspect of the invention, an electronic device is proposed, comprising: at least one processor; at least one memory for storing one or more programs; at least one receiver for receiving one or more instructions; at least one transmitter for transmitting one or more instructions; when executed by the at least one processor, the one or more programs cause the at least one processor to implement the method for underwater real-time two-way wireless communication as recited in any of the preceding claims.

According to an aspect of the invention, there is provided a subsea installation comprising: the underwater real-time two-way wireless communication method, the slave and the electronic equipment.

According to some embodiments, the underwater equipment is an underwater booster, or an underwater robot.

According to the embodiment, the low-frequency wireless networking mechanism is adopted, the network number, the network mark number, the unique code and the protocol code are adopted for carrying out protocol control to distinguish the equipment, the low-frequency wireless two-way communication function is realized, some safety problems are prevented, and the equipment is prevented from interfering with each other in the communication process. The human-computer interaction of the user is better.

According to the embodiment, in the networking process, after the slave receives the instruction, the slave generates random delay time to send information in a time sharing mode, and mutual interference caused by the fact that the devices send data or data packets at the same time are partially overlapped is avoided.

According to the embodiment, the polling method is used in the two-way communication process, so that the interference caused by the simultaneous reply of data by the equipment is effectively avoided, and the characteristic of real-time performance of low-frequency wireless communication is realized.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 shows a schematic diagram of an apparatus for underwater real-time two-way wireless communication according to an exemplary embodiment.

Fig. 2 illustrates a networking interaction process diagram of a method of underwater real-time two-way wireless communication according to an exemplary embodiment.

Fig. 3 shows an interactive process diagram of a method of underwater real-time two-way wireless communication according to an example embodiment.

FIG. 4 illustrates a flow diagram of a method of underwater real-time two-way wireless communication, according to an exemplary embodiment.

Fig. 5a shows a first step of a networking process of a method of underwater real-time two-way wireless communication according to an exemplary embodiment.

Fig. 5b shows a second step of the networking process of the method of underwater real-time two-way wireless communication according to an exemplary embodiment.

Fig. 5c shows a third step of the networking process of the method of underwater real-time two-way wireless communication according to an exemplary embodiment.

Fig. 5d shows a fourth step of the networking process of the method of underwater real-time two-way wireless communication according to an exemplary embodiment.

Fig. 5e shows a fifth step of the networking process of the method of underwater real-time two-way wireless communication according to an exemplary embodiment.

Fig. 6 shows a detailed flow diagram of real-time two-way wireless communication of a method of underwater real-time two-way wireless communication according to an example embodiment.

Fig. 7a shows an interactive process diagram of a method of underwater real-time two-way wireless communication according to an exemplary embodiment.

Fig. 7b shows an interactive process diagram of a method of underwater real-time two-way wireless communication according to an exemplary embodiment.

FIG. 8 shows a flow diagram of a method of underwater real-time two-way wireless communication, according to an example embodiment.

FIG. 9 shows a flow diagram of a method of underwater real-time two-way wireless communication, according to an example embodiment.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.

The following examples and drawings are illustrative of the present invention and are not intended to limit the scope of the present invention, which is not physically related.

It will be appreciated by those skilled in the art that the drawings are merely schematic representations of exemplary embodiments, and that the blocks or flow charts in the drawings are not necessarily required to practice the present invention and are, therefore, not intended to limit the scope of the present invention.

The letters and numbers used herein are intended as a substitute for ease of understanding and are not intended to be letters or numbers in the actual algorithm code.

In underwater communication, the higher the frequency is, the greater the signal attenuation is, and the underwater signal attenuation can be overcome by selecting low-frequency communication, so that the reliability of communication transmission distance is improved. However, the low signal frequency results in low transmission rate and low time and efficiency for transmitting single packet data, and multiple devices transmit low frequency signals at the same time, which causes interference, so that no device can receive information. Therefore, the current communication scheme based on low frequency wireless can only realize one-way communication, i.e. the a end can only send data to the B end, and the B end cannot send data to the a end. The conventional one-way low-frequency wireless communication mainly comprises a host (remote control system) and a slave (control system): the host comprises a low-frequency transmitting module (unit) and a main control module (unit); the slave machine comprises a low-frequency receiving module (unit) and a main control module (unit). The communication process is that the master machine controls the low-frequency transmitting module (unit) to transmit the low-frequency signals to each slave machine through the master control module (unit). When the master sends a signal, the low-frequency receiving module (unit) is awakened and then informs the master control module (unit) of the slave to receive and process data.

Therefore, the invention provides an underwater real-time bidirectional wireless communication method, device electronics and underwater equipment. In the networking process, random delay is generated by a random number algorithm, so that each slave machine sends data to the same host machine in a time-sharing manner, and mutual interference caused by simultaneous data sending or partial overlapping of data packets of the equipment is avoided. In the communication process, a polling mechanism is adopted, the host can quickly acquire the state of the slave, the interference caused by the simultaneous data reply of the equipment is effectively avoided, and the real-time performance of low-frequency wireless communication is realized.

The equipment is distinguished by adopting the network mark number, the unique code, the network number and the protocol code, so that the low-frequency wireless two-way communication function is realized, and some safety problems are prevented.

The protocol control, random short delay and time-sharing sending are comprehensively adopted, and the problem of bidirectional real-time communication between a host and a plurality of slaves is solved. The underwater low-frequency wireless two-way communication is realized, the communication is stable and quick, some safety problems are prevented, and the human-computer interaction feeling of a user is better.

The method, the device, the electronic device and the underwater equipment for underwater real-time two-way wireless communication according to the embodiment of the invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1, the host 110 has a first main control module 1101, a first low frequency transmitting module 1102, and a first low frequency receiving module 1103; the slave 120 includes a second master control module 1201, a second low frequency transmitting module 1202, and a second low frequency receiving module 1203.

According to some embodiments, the number of slaves 120 may be 3 as shown in the illustrated example, but is not limited thereto, i.e. the minimum number of slaves 120 is 1. The number of hosts 110 is 1.

According to some embodiments, the first main control module 1101, the first low frequency transmitting module 1102 and the first low frequency receiving module 1103 may implement functions of function control, information transmission, and the like; the second master control module 1201, the second low frequency transmitting module 1202, and the second low frequency receiving module 1203 may implement functions such as function control and information transmission. The host 110 and the slave 120 realize an ad hoc network process and a communication process through the cooperative cooperation of all the modules.

Fig. 2 shows an interactive process diagram of a method of underwater real-time two-way wireless communication according to an example embodiment.

As shown in fig. 2, according to some embodiments, the commands received and transmitted by the modules in the whole ad hoc network process and the receiving and transmitting sequence of the commands can be summarized as follows: a first low-frequency sending module 1102 of the master machine transmits networking instructions to all slave machines; the second low-frequency receiving module 1203 of each slave machine receives a networking instruction; the second low-frequency sending module 1202 of each slave machine sends the network access application in a time-sharing manner; a first low-frequency receiving module 1103 of the master machine sequentially receives network access applications sent by the slave machines in a time-sharing manner; a first low-frequency sending module 1102 of the host replies a network access confirmation instruction to each slave in sequence; each slave second low frequency receiving module 1203 receives a network access confirmation command replied by the host. The detailed procedures and details are described in the following description of the ad hoc network procedure.

According to some embodiments, the commands of the master 110 and the slave 120 in the networking mode are wirelessly transmitted by using low frequency signals. The low frequency signal may have a frequency of 125kHz, and the frequency value is determined according to the model of the chip used, but is not limited thereto.

As shown in fig. 3, according to some embodiments, the process of polling each slave by the master in the whole communication process can be summarized as follows: at S11, the second low frequency receiving module 1203 of the polled slave receives and processes the inquiry information sent by the first low frequency sending module 1102 of the master; at S21, the second lf transmission module 1202 of the polled slave transmits response information to the master, and the first lf reception module 1103 of the master receives the response information. At S12, the second low frequency receiving module 1203 of the next slave receives and processes the inquiry information sent by the first low frequency sending module 1102 of the master; at S22, the second lf transmission module 1202 of the next slave transmits response information to the master, and the first lf reception module 1103 of the master receives the response information. At S13, the second low frequency receiving module 1203 of the other slave device receives and processes the inquiry information sent by the first low frequency sending module 1102 of the master device; at S23, the second lf transmission module 1202 of the other slave transmits response information to the master, and the first lf reception module 1103 of the master receives the response information. The polled slave, the next slave, and the other slaves are only terms for describing the polling process, and may be any slave designated according to actual situations. The detailed procedures and details are described below for the communication procedure, i.e., the non-ad hoc network procedure.

According to some embodiments, the information and the instruction of the master 110 and the slave 120 in the communication mode are wirelessly transmitted by using a low frequency signal, so that bidirectional communication of the low frequency signal is realized. The low frequency signal may have a frequency of 125kHz, and the frequency value is determined according to the type of the chip used, but is not limited thereto.

Referring to fig. 4, in the underwater real-time bidirectional wireless communication method according to the exemplary embodiment, a master and multiple slaves implement a subsequent bidirectional communication process through an ad hoc network process.

As shown in fig. 4, the method for underwater real-time two-way wireless communication according to an exemplary embodiment includes the steps of:

at S1, the master and the slave enter a networking mode;

at S2, the host transmits a networking instruction, the networking instruction including a network identification number of the host;

at S3, the slave device generates a random delay time after receiving the networking instruction;

at S4, after the random delay time, the slave sends a network entry request including a unique code of the slave;

at S5, the host receives the network entry request;

at S6, the master replies a network access confirmation instruction according to the network access application of each slave, where the network access confirmation instruction includes a network number assigned by the master and corresponding to the unique code of the slave and the unique code of the slave;

at S7, after each slave machine receives the network access confirmation instruction, the slave machine exits the networking mode;

at S8, according to a preset condition, the host exits the networking mode and enters the communication mode;

at S9, the master polls the slave to obtain information for the slave response.

As shown in fig. 4 and 5a, at S1, the master 110 and the slave 120 enter a networking mode.

According to some embodiments, the first main control module 1101 of the host 110 controls the first low frequency sending module 1102 and the first low frequency receiving module 1103 to enter a networking mode and perform ad hoc networking operations thereafter; the second master control module 1201 of the slave 120 controls the second low frequency transmitting module 1202 and the second low frequency receiving module 1203 to enter a networking mode and perform subsequent ad hoc networking operations.

As shown in fig. 4 and 5b, at S2, the host 110 transmits a networking instruction, where the networking instruction includes a network identifier number pattern a of the host 110. That is, the first master control module 1101 of the master 110 controls the first low frequency transmission module 1102 to transmit the networking command to all slaves 120 to be remotely controlled within a specified range at regular time intervals. The networking command includes a network identification number pattern a of the host 110. The second low frequency receiving module 1203 of the slave 120 receives the networking instruction and then notifies the second master control module 1201.

According to some embodiments, in the networking mode, that is, in the whole ad hoc network process, the first low frequency sending module 1102, the first low frequency receiving module 1103, the second low frequency sending module 1202, and the second low frequency receiving module 1203 all use the specified pattern code pattern B.

The adopted network identification number pattern a is only used in the subsequent two-way communication process, i.e., the non-ad hoc network process, and is a layer of protocol code used for realizing the subsequent two-way communication process. The detailed operation is described in the following for the communication procedure, i.e. the non-ad hoc procedure. It should be noted that the protocol code used is not limited to this, provided that the same protocol effect is achieved. Both patterns A and B are terms for convenience of understanding.

According to some embodiments, the first master module 1101 of the master 110 may control the first low frequency transmission module 1102 to transmit the networking command to the slave 120 at a time interval of 1000 ms. That is, the time interval between each time the first low frequency sending module 1102 sends the networking command is the same. This time interval allows both sufficient transmission time for the low frequency signal and sufficient data processing and random delay time for the slave 120. However, the time interval is not limited to this, and may be set to other reasonable values than 1000ms according to practical situations.

According to some embodiments, the network identification number pattern a sent by the first low-frequency sending module 1102 of the host 110 is specific to the host 110, that is, different hosts have different network identification numbers.

According to some embodiments, the location distribution of the slaves 120 is concentrated when participating in the ad hoc network process, so as to greatly avoid the error problem caused by too large difference of the distances from the master 110.

According to some embodiments, the network identification number pattern a of the master 110 is a master communication first layer protocol inquiry code of the master 110, and the slave 120 stores the network identification number pattern a as a slave communication first layer protocol inquiry code of the slave 120. The first low frequency sending module 1102 stores the network identification number pattern a for use in the subsequent communication process, i.e., the non-ad hoc network process. The second low frequency receiving module 1203 of each slave machine stores the network identification number pattern a for use in the subsequent communication process, i.e., the non-ad hoc network process.

As shown in fig. 4 and 5c, at S3, the slave device 120 generates a random delay time after receiving the networking command. That is, after the second low frequency receiving module 1203 receives the networking instruction and notifies the second master control module 1201, the second master control module 1201 generates a random delay time by using a specified method and controls the second low frequency sending module 1202 to perform delay processing.

According to some embodiments, the slave device 120 generates a random delay time after receiving the networking command, including: and generating a random number according to a random number algorithm, and multiplying the random number by a fixed numerical value to generate the random delay time.

By utilizing the random delay time of each slave machine to be different, each slave machine can sequentially send network access applications to the host machine 110 in a time-sharing manner according to the respective delay time, so that the phenomenon of mutual interference caused by the fact that the slave machines send data at the same time is avoided.

According to some embodiments, the random numbers generated by the random number algorithm described above may range from 0 to 535, but the range is not limited thereto. The fixed value multiplied by the random number may be 50ms, but is not limited thereto, and the value may be designed to be other than 50ms according to practical situations.

According to some embodiments, if the random delay time generated by the slave 120 is greater than the interval between the master 110 transmitting the networking command, the slave 120 generates a new random delay time according to the random number algorithm again when receiving the networking command for the second time. That is, during the random delay of the slave 120, if the networking command transmitted by the master 110 is received again, a new random delay time is generated again, and the time is delayed from the beginning.

As shown in fig. 4 and 5d, at S4, after the random delay time, the slave 120 sends a network entry request, where the network entry request includes a unique code of the slave; at S5, the host 110 receives the network entry request. That is, the second master control module 1201 controls the second low frequency sending module 1202 to perform corresponding delay according to the generated delay time and the delay rule, and then sends the response host 110 of the network access application. Meanwhile, the second master control module 1201 controls the second low-frequency sending module 1202 to generate a unique code according to a specified method, and the second low-frequency sending module 1202 stores the unique code and includes the unique code in the network access application for sending. The first low frequency receiving module 1103 notifies the first master control module 1101 after receiving the network access application sent by each slave. Since the random delay time of each slave is different, the time when each slave sends the network access application is different, and thus the time when the master 110 receives the network access application sent by each slave is also different.

According to some embodiments, the unique code of the slave 120 is generated by the slave 120 according to a specified algorithm, the unique code is a slave communication first layer protocol response code of the slave 120, and the master 110 stores the unique code as a master communication first layer protocol response code corresponding to the slave 120. The first master control module 1101 stores the unique code of each slave for use in subsequent communication processes, i.e., non-ad hoc networking processes. The second low frequency transmission module 1202 of each slave stores the unique code of each slave for use in subsequent communication procedures, i.e., non-ad hoc networking procedures.

According to some embodiments, the unique code for each slave may be derived from the chip ID using a CRC16 algorithm that generates a unique code that does not repeat. However, the method used is not limited to this method, provided that the same effect is achieved.

According to some embodiments, the unique code of each slave machine may be pattern 1, pattern 2, and pattern3 in the figure, that is, the unique codes sent by different slave machines are different, and they may be used as the slave machine communication first layer protocol response codes of each slave machine respectively. Here, pattern 1, pattern 2, and pattern3 are only for distinguishing the slaves, and are not actual codes. The type and number of unique codes used is not limited thereto.

The adopted unique codes pattern 1, pattern 2 and pattern3 are only used in a subsequent two-way communication process, i.e. a non-ad hoc network process, and the specific operation is described in the following description of the communication process.

According to some embodiments, the first master control module 1101 may store unique codes of multiple slaves, that is, the master communication first layer protocol response code may be switched and set to pattern 1, pattern 2, pattern3. The detailed operation is described in the following.

As shown in fig. 4 and 5e, in S6, the master 110 replies a network access confirmation command according to the network access application of each slave, where the network access confirmation command includes a network number assigned by the master and corresponding to the unique code of the slave, and the unique code of the slave; at S7, after each slave machine receives the network access confirmation instruction, the slave machine exits the networking mode; at S8, the host 110 exits the networking mode and enters the communication mode according to preset conditions. That is, after receiving the notification of reception by the first low frequency receiving module 1103, the first main control module 1101 generates and stores a corresponding network number according to each unique code. The first master control module 1101 controls and transmits each network number to the first low frequency transmission module 1102, so that the first low frequency transmission module includes the network number and the unique code in the network access confirmation command and replies to each corresponding slave. The second low frequency receiving module 1203 of each slave, after receiving the network entry confirmation command, notifies and submits the network entry confirmation command to the second master control module 1201, and the second master control module 1201 stores the network number, which is contained in the network entry confirmation command and is different from the network numbers of other slaves, and then controls the slave 120 to exit the networking mode. The host 110 also exits the networking mode according to the specified method.

According to some embodiments, the network number corresponding to the unique code of the slave device allocated by the master device 110 serves as a master communication user protocol authentication code of the master device 110, and the slave device 120 stores the network number corresponding to the unique code of the slave device 120 allocated by the master device 110 as a slave communication user protocol authentication code of each slave device. The first master control module 1101 stores each network number and unique code for use in subsequent communication procedures, i.e., non-ad hoc network procedures. The second master control module 1201 of each slave stores the network number of each slave for use in a subsequent communication process, i.e., a non-ad hoc network process.

According to some embodiments, since the time for the master 110 to receive the network access application sent by each slave is different as described above, the time for the master 110 to reply the network access confirmation command of each slave is also different.

According to some embodiments, the first low frequency transmitting module 1102 transmits the network access confirmation instruction to the slave 120 to allow the slave to access the network.

According to some embodiments, the network number has a correspondence with the unique code, the correspondence having the possibility of being an equality relationship, i.e. the network number can be replaced by the unique code irrespective of the transmission rate. The network number is 1 byte and the unique code is 2 bytes, but is not limited thereto. The network number is used to save communication time for subsequent communication process, thereby effectively solving the defect of low-frequency communication speed.

According to some embodiments, the network number of each slave may be a first network number, a second network number, and a third network number, which may be respectively used as a slave communication user protocol verification code of each slave and stored in the second master control module 1201 of each slave in a subsequent communication process, i.e., a non-ad hoc networking process. The first network number, the second network number, and the third network number are used herein only to distinguish the slaves, and indicate that the network numbers of the slaves are different from each other, and are not actual codes. The kind and number of network numbers are not limited thereto.

According to some embodiments, the first master control module 1101 may store network numbers corresponding to unique codes of multiple slaves, that is, the master user protocol authentication code may be switched and set to a first network number, a second network number, and a third network number.

According to some embodiments, said exiting the networking mode and entering the communication mode by the host 110 according to the preset condition includes: when the network access number of the slaves 120 is equal to the preset number, the master 110 exits the networking mode and enters the communication mode; or the host 110 exits the networking mode and enters the communication mode in response to a manual exit instruction.

According to some embodiments, in the networking mode, that is, in the whole ad hoc network process, the master communication first layer protocol inquiry code, the master communication first layer protocol response code, the slave communication first layer protocol inquiry code, and the slave communication first layer protocol response code are all specified pattern codes pattern B. That is, as shown in any one of fig. 5B to 5e, the first lf transmission module 1102, the first lf reception module 1103 of the master 110, the second lf transmission module 1202 and the second lf reception module 1203 of each slave use the predetermined pattern code pattern B.

According to some embodiments, after a slave completes all the networking processes, the master 110 logs into the slave entry system. When all the slaves 120 to be remotely controlled by the master 110 join the network, that is, the network access number is equal to the preset number, the master 110 can automatically exit the networking mode, or exit the networking mode through manual operation.

According to some embodiments, if all the slaves 120 to be remotely controlled do not join the network after 3 minutes, the master 110 may automatically exit the networking mode or may exit the networking mode through manual operation. The time waiting for the slave 120 to enter the network may be 3 minutes, but the time is not limited thereto.

As previously described in fig. 4, at S9, the master polls the slave to obtain information of the slave response.

As shown in fig. 6, at S01, the master polling the slave to obtain the slave response information includes: at S02, the master sends, to the slave, inquiry information including a network number of a polled slave, switches the master communication first-layer protocol response code to a unique code of the polled slave, and switches the master communication user protocol authentication code to the network number of the polled slave; at S03, the polled slave processes the inquiry information; at S04, the polled slave sends response information including the network number of the polled slave according to the inquiry information; at S05, determining whether the host receives the response information; at S06, the host performs data processing on the response message according to the response message; at S07, the master sends to the slave inquiry information including the network number of the next slave.

According to some embodiments, the switching of the host communication first layer protocol response code and the switching of the host communication user protocol authentication code are controlled by the first host control module 1101.

As shown in fig. 7a and 7b, according to some embodiments, a first main control module 1101 of a host controls a first low frequency sending module 1102 and a first low frequency receiving module 1103 to enter a communication mode and perform a communication operation; the second master control module 1201 of the slave controls the second low frequency transmitting module 1202 and the second low frequency receiving module 1203 to enter a communication mode and perform a communication operation.

As shown in fig. 6 and 7a, according to some embodiments, in step S02, the master 110 sends to the slave 120 inquiry information including a first network number of the polled slave 12011, including: if the response message is not received within the predetermined time, the slave 120 is repeatedly sent with the inquiry message including the first network number of the polled slave 12011, the master communication first-layer protocol response code is switched to the unique code pattern 1 of the polled slave 12011, and the master communication user protocol authentication code is switched to the first network number of the polled slave 12011. That is, when the master 110 polls the slave, the first master control module 1101 controls and transfers the first network number corresponding to the slave 12011 to be inquired to the first low frequency transmission module 1102 for transmission. Then, the first master control module 1101 controls the pattern code of the first low frequency receiving module 1103 to be switched from the pattern code B specified in the ad hoc network to the unique code pattern 1 of the slave to be queried, i.e., the queried slave 12011. The first master control module 1101 controls setting of the master communication user protocol authentication code as the first network number of the slave to be queried, i.e., the queried slave 12011.

As shown in fig. 7a and 7B, according to some embodiments, in the whole communication process, that is, in the non-ad hoc process, the first master control module 1101 controls the host communication first layer protocol inquiry code of the first low frequency sending module 1102 of the host to be switched from the pattern code pattern B specified in the ad hoc network to the network identifier pattern a; the first master control module 1101 controls the host communication first layer protocol response code of the first low frequency receiving module 1103 to be switched from the pattern code B specified in the ad hoc network to the unique code of the slave to be queried; the first master control module 1101 controls setting of the master communication user protocol authentication code as the network number of the slave to be queried. The second master control module 1201 of each slave controls the slave communication first-layer protocol inquiry code of the second low-frequency receiving module 1203 of each slave to be switched from the pattern code B specified in the ad hoc network to the network identification number pattern a. The second master control module 1201 of each slave controls the slave communication first-layer protocol response code of the second low-frequency transmission module 1202 of each slave to be switched from the pattern code pattern B specified in the ad hoc network to the unique codes pattern 1, pattern 2, and pattern3. The second master control module 1201 of each slave machine controls the slave machine communication user protocol verification code of each slave machine to be set as a first network number, a second network number and a third network number.

According to some embodiments, the master may actively send the inquiry information to the slave 120 at a time interval of 1s, that is, the first master control module 1101 controls the first low frequency sending module 1102 to send the inquiry information at the same time interval, but the time interval is not limited thereto, and may also be set to other reasonable values than 1s according to practical situations.

According to some embodiments, the predetermined time described above in the event that no response message is received within the predetermined time is equal to the interval between the sending of the query message by the host 110.

According to some embodiments, the repeatedly sending the query information containing the network number of the polled slave 12011 to the slave 120 includes: if the number of times of the repeated transmission reaches a predetermined number, inquiry information including the network number of the next slave 12012 is transmitted to the slave 120. That is, in step S051, it is determined whether the number of times of repeatedly sending inquiry information by the host 110 reaches the predetermined number of times.

As shown in fig. 6 and 7a, according to some embodiments, in step S051, the predetermined number of times of circularly sending inquiry information may be 3 times, and may be set to other times.

As shown in fig. 6 and 7a, according to some embodiments, in step S07, the inquiry content of the inquiry information containing different slave network numbers sent by the first low frequency sending module 1102 each time may be the same or different.

According to some embodiments, the polled slave 12011, the next slave 12012, and the other slaves 12013 may be any slaves as the case may be.

As shown in fig. 6, 7a, in step S03, according to some embodiments, the polled slave 12011 processes the inquiry information including: the query message is processed if the master communication first layer protocol query code of the master 110 sending the query message is equal to the slave communication first layer protocol query code of the polled slave 12011 and the network number in the query message is equal to the slave communication user protocol authentication code of the polled slave 12011.

That is, when the master transmits the inquiry information including the network number of the slave 12011 to be polled, even if the slave communication first layer protocol inquiry code of the next slave 12012 and the slave communication first layer protocol inquiry code of the other slave 12013 are equal to the master communication first layer protocol inquiry code of the master 110, that is, both are the network identification number pattern a, the inquiry information is not processed. That is, at this time, the next slave 12012 and the other slave 12013 will receive the inquiry information but will not process the inquiry information. Since the slave communication user protocol verification code of the next slave 12012 and the slave communication user protocol verification codes of the other slaves 12013 are the second network number and the third network number, respectively, they are not equal to the first network number of the polled slave 12011 included in the inquiry information at this time. Therefore, the phenomenon that signals cannot be received or wrong signals are received due to signal interference generated among all devices when low-frequency signals are received is effectively avoided.

As shown in fig. 6 and 7b, according to some embodiments, in step S04, the second low frequency receiving module 1203 transmits the response information immediately after receiving the inquiry information by the second low frequency transmitting module 1202.

As shown in fig. 6 and 7b, according to some embodiments, in step S05, the host 110 receives the response information, which includes: receiving the response message if the slave communication first layer protocol response code of the polled slave 12011 is equal to the master communication first layer protocol response code of the master 110 and the first network number in the response message is equal to the master communication user protocol authentication code of the master 110.

That is, when the polled slave 12011 sends the response message, the master first lf receiving module 1103 accurately receives the response message from the polled slave 12011. Since the host communication first-layer protocol response code of the first lf receiving module 1103 is equal to the slave communication first-layer protocol response code of the polled slave 12011, i.e. both are unique codes pattern 1, and the first network number included in the response message is equal to the current host communication user protocol authentication code of the host 110. Therefore, the phenomenon that signals cannot be received or wrong signals are received due to signal interference generated among all devices when low-frequency signals are received is effectively avoided.

As shown in fig. 6 and 7b, according to some embodiments, in step S05, it is determined whether the host 110 receives the response message within a predetermined time. If the first lf receiving module 1103 receives the response message within the predetermined time, it sends an inquiry message including the second network number of the next slave 12012 to the slave 120.

According to some embodiments, the response message includes the response content of the slave 120 according to the inquiry message sent by the master 110.

According to some embodiments, the invention uses network mark number and unique code to construct a layer of protocol in the communication process; another layer of protocol in the communication process is constructed using the network number. The two-layer protocol ensures the implementation of low frequency two-way wireless communication.

FIG. 8 illustrates a flow chart of a method of underwater real-time two-way wireless communication according to an exemplary embodiment.

Referring to fig. 8, in the method for underwater real-time two-way wireless communication of the exemplary embodiment, a host performs networking and communication processes.

As shown in fig. 8, the method for underwater real-time two-way wireless communication according to an exemplary embodiment is used for a master in a remote control system, the remote control system including the master and at least one slave, and includes: at S111, entering a networking mode; at S112, transmitting a networking instruction, wherein the networking instruction comprises a network mark number of the host; at S113, receiving a network access application, where the network access application includes a unique code of the slave device; at step S114, a network access confirmation instruction is replied according to the network access application of each slave, where the network access confirmation instruction includes a network number corresponding to the unique code of the slave and the unique code of the slave; in S115, according to preset conditions, exiting the networking mode and entering a communication mode; at S116, the slave is polled to obtain information of the slave response.

According to some embodiments, the network identification number of the host is the host communication first layer protocol challenge code at step S112.

According to some embodiments, after the receiving the network entry application in step S113, the method further includes: and storing the unique code as a host communication first-layer protocol response code of the host corresponding to the slave.

According to some embodiments, in step S114, before replying the confirmed network entry command according to the network entry application of each slave, the method further includes: and storing the network number which is distributed by the host and corresponds to the unique code of the slave machine as a host communication user protocol verification code.

According to some embodiments, in step S115, exiting the networking mode and entering the communication mode according to the preset condition includes: when the network access number of the slave machines is equal to the preset number, exiting the networking mode and entering a communication mode; or exiting the networking mode and entering the communication mode in response to a manual exit instruction.

According to some embodiments, said polling said slave for slave acknowledge information comprises: sending inquiry information containing the network number of the polled slave to the slave, switching the master communication first-layer protocol response code into the unique code of the polled slave, and switching the master communication user protocol verification code into the network number of the polled slave; receiving the response information, wherein the response information comprises the network number of the polled slave; processing data of the response information according to the response information; sending to the slave an inquiry message containing the network number of the next slave.

According to some embodiments, said sending to said slave inquiry information containing the network number of the polled slave comprises: if the response information is not received within the preset time, repeatedly sending inquiry information containing the network number of the polled slave to the slave, switching the master communication first-layer protocol response code into the unique code of the polled slave, and switching the master communication user protocol verification code into the network number of the polled slave.

According to some embodiments, said repeatedly sending to said slave inquiry information containing the network number of said polled slave comprises: and if the number of times of repeated transmission reaches a preset number, transmitting inquiry information containing the network number of the next slave to the slave.

According to some embodiments, the receiving the response message comprises: and if the slave communication first-layer protocol response code of the polled slave is equal to the current host communication first-layer protocol response code of the host, and the network number in the response message is equal to the current host communication user protocol verification code of the host, receiving the response message.

Referring to fig. 9, in the underwater real-time bidirectional wireless communication method of the exemplary embodiment, the slave machines perform networking and communication processes.

As shown in fig. 9, the method for underwater real-time two-way wireless communication according to an exemplary embodiment is used for a slave in a system, the system includes a master and the slave, and includes: at S121, entering a networking mode; at S122, after receiving a networking instruction, generating a random delay time, where the networking instruction includes the host network identification number; at S123, after the random delay time, sending a network access application, where the network access instruction includes a unique code of the slave; at S124, receiving a network access confirmation instruction, where the network access confirmation instruction includes a network number corresponding to the unique code of the slave and the unique code of the slave; in S125, each slave computer exits the networking mode after receiving the network access confirmation instruction; at S126, the host polls and provides responsive information.

According to some embodiments, at step S122, the generating a random delay time includes: and generating a random number according to a random number algorithm, and multiplying the random number by a fixed numerical value to generate the random delay time.

According to some embodiments, after the step S122, after receiving the networking instruction, the method further includes: and storing the network identification number as a first upper-layer protocol inquiry code of the slave communication.

According to some embodiments, at step S123, the unique code of the slave is generated according to a specified algorithm, and the unique code is a slave communication first upper layer protocol response code.

According to some embodiments, after the receiving the network entry confirmation command at step S125, the method further includes: and storing the network number which is allocated by the master machine and corresponds to the unique code of the slave machine as a slave machine communication user protocol verification code of each slave machine.

According to some embodiments, the information polled and providing responses by the host at step S126 includes: processing the query information; and sending response information containing the network number of the polled slave according to the inquiry information.

According to some embodiments, said processing said query information comprises: and if the host communication first-layer protocol inquiry code of the host sending the inquiry information is equal to the slave communication first-layer protocol inquiry code, and the network number in the inquiry information is equal to the slave communication user protocol verification code, processing the inquiry information.

As shown in fig. 5a to 5e and fig. 7a to 7b, according to an exemplary embodiment, the master 110 device for underwater real-time bidirectional wireless communication is used in a system including the master 110 and the slave 120, where the master 110 includes a first master control module 1101, a first low frequency transmitting module 1102, and a first low frequency receiving module 1103:

the first master module 1101 is configured to: controlling the host 110 to enter a networking mode; controlling the host 110 to transmit a networking instruction, where the networking instruction includes a network identifier number pattern a of the host 110; replying a network access confirmation instruction according to a network access application of each slave, wherein the network access application comprises a unique code of the slave 120, and the network access confirmation instruction comprises a network number which is distributed by the master 110 and corresponds to the unique code of the slave 120 and the unique code of the slave 120; enabling the host 110 to exit a networking mode and enter a communication mode according to a preset condition; in a communication mode, having the master 110 poll the slave 120;

the first low frequency transmission module 1102 is configured to: transmitting a networking instruction according to the instruction of the first master control module 1101; sending the network access confirmation instruction according to the instruction of the first main control module 1101; sending inquiry information to the slave 120 according to an instruction of the first master control module 1101, wherein the inquiry information includes a network number of the polled slave 12011;

the first low frequency receiving module 1103 is configured to: receiving the network access application and notifying the first main control module 1101; receive the response message sent by the polled slave 12011, and transfer the response message to the first master module 1101, where the response message includes the network number of the polled slave 12011.

As shown in fig. 5a to 5e and fig. 7a to 7b, according to an exemplary embodiment of the device of the slave 120 for underwater real-time bidirectional wireless communication, the device of the slave 120 is used for a system including the slave 120 and the master 110, and the slave 120 includes a second master control module 1201, a second low frequency transmitting module 1202, and a second low frequency receiving module 1203:

the second master module 1201 is configured to: controlling the slave 120 to enter a networking mode; controlling the slave machine 120 to generate a random delay time after receiving the networking instruction, wherein the networking instruction includes a network identification number of the master machine 110; controlling the slave 120 to send a network access application in a time-sharing manner after the random delay time, wherein the network access application comprises a unique code of the slave 120; causing the slave 120 to exit the networking mode and enter a communication mode; responding to polling of the host 110 in a communication mode;

the second low frequency transmission module 1202 is configured to: replying the network access application according to the instruction of the second master control module 1201; sending response information to the master 110 according to the instruction of the second master control module 1201, where the response information includes a network number of the slave 120;

the second low frequency receiving module 1203 is configured to: receiving the networking instruction and notifying the second main control module 1201; receiving a network access confirmation instruction and notifying the second master control module 1201, where the network access confirmation instruction includes a network number corresponding to the unique code of the slave 120 and the unique code of the slave 120; receiving inquiry information sent by the master, and transmitting the inquiry information to the second master control module 1201, where the inquiry information includes a network number of the slave 120.

According to some embodiments, the master 110 is a remote control system in the system, and the slave 120 is a control system in the system.

According to some embodiments, the first low frequency receiving module 1103 and the second low frequency receiving module 1203 may use the same type of receiving unit chip to implement an ad hoc network protocol constructed according to a pattern code, but are not limited thereto. The first low-frequency sending module 1102 and the second low-frequency sending module 1202 can adopt sending unit single-chip microcomputers of any type.

According to some embodiments, the first low frequency receiving module 1103 and the second low frequency receiving module 1203 employ a chip model AS3933 to wake up the wireless receiving chip. AS3933 is capable of detecting the presence of an inductively coupled carrier and may extract the envelope of the ON-OFF-keying (ook) modulated carrier. In the case where the carrier is manchester encoded, the clock may be recovered from the received signal and the data may be associated with the programming mode. If the detected pattern corresponds to the stored pattern, the wake-up signal (IRQ) is raised. Mode correlation may be disabled; in this case, the wake-up detection is based only on the frequency detection, and the chip model is not limited thereto. The pattern code referred to herein is derived from the chip, and is a layer of protocol code, but the protocol code used to achieve the same protocol effect is not limited thereto. The model of the chip used by the first main control module 1101 and the second main control module 1201 is STM32F303CCT6, but the model is not limited to this.

According to some embodiments, during the communication process, the first main control module 1101 may control the first low frequency transmission module 1102 to transmit the specified inquiry information and the network number; after receiving the response message, the first low frequency receiving module 1103 notifies and transmits the message to the first main control module 1101 for determining a network number and processing data of the response message.

According to some embodiments, during the communication process, the second master control module 1201 may control the second low frequency transmission module 1202 to transmit the specified response information and the network number; the second low frequency receiving module 1203, after receiving the query information, notifies and transmits the query information to the second main control module 1201 to perform network number determination and perform data processing on the query information.

Other functions can be referred to the above description and will not be described herein.

According to some embodiments, there is also provided an electronic device, which may include: at least one processor; at least one memory for storing one or more programs; at least one receiver for receiving one or more instructions; at least one transmitter for transmitting one or more instructions; when executed by the at least one processor, the one or more programs cause the at least one processor to implement the method for underwater real-time two-way wireless communication as described above.

According to some embodiments, there is also provided an underwater device which may include the underwater real-time two-way wireless communication method, apparatus, electronic device according to the foregoing example embodiments.

According to some embodiments, during the ad hoc networking process, the master and the slave may or may not be implemented under water; in the communication process, namely the non-ad hoc network process, the host and the slave can be used underwater, so that underwater low-frequency bidirectional real-time wireless communication is realized, and the host and the slave can also be used out of water. The number of underwater devices as slaves may be 3 of the illustrated embodiment, but is not limited thereto. The underwater equipment can be the same equipment or different equipment.

According to some embodiments, the underwater equipment may include underwater thrusters, underwater robots, and the like. The underwater equipment utilizes an underwater real-time two-way wireless communication method based on low frequency, so that the problem that a user cannot obtain the state of a slave machine through a host machine under water is solved, and some safety problems are prevented; meanwhile, the problem that mutual interference occurs in low-frequency signals in the bidirectional communication process is solved. The method not only realizes real-time two-way communication, but also can realize that the host obtains the state of the slave in a short time.

Exemplary embodiments of the present invention are specifically illustrated and described above. It is to be understood that the invention is not limited to the precise construction, arrangements, or instrumentalities described herein; on the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method of underwater real-time two-way wireless communication for a system comprising a master and a slave, comprising:

the master machine and the slave machine enter a networking mode;

the host transmits a networking instruction, wherein the networking instruction comprises a network mark number of the host;

the slave computer receives the networking instruction and then generates random delay time;

after the random delay time, the slave machine sends a network access application, wherein the network access application comprises a unique code of the slave machine;

the host receives the network access application;

the master machine replies a network access confirmation instruction according to the network access application of each slave machine, wherein the network access confirmation instruction comprises a network number which is distributed by the master machine and corresponds to the unique code of the slave machine and the unique code of the slave machine;

each slave computer exits the networking mode after receiving the network access confirmation instruction;

according to preset conditions, the host exits the networking mode and enters a communication mode;

and after entering a communication mode, the host polls the slave to acquire information responded by the slave, and the host and the slave communicate through a double-layer protocol.

2. The method of claim 1, wherein the network identification number of the master is a master communication first layer protocol interrogation code of the master, and the slave stores the network identification number as a slave communication first layer protocol interrogation code of the slave.

3. The method of claim 1, wherein generating a random delay time after the slave receives the networking instruction comprises:

and generating a random number according to a random number algorithm, and multiplying the random number by a fixed numerical value to generate the random delay time.

4. The method of claim 2, wherein the unique code of the slave is generated by the slave according to a specified algorithm, the unique code is a slave communication first layer protocol response code of the slave, and the master stores the unique code as a master communication first layer protocol response code of the master corresponding to the slave.

5. The method of claim 4, wherein the network number assigned by the master corresponding to the unique code of the slave serves as a master communication user protocol authentication code for the master, and wherein the slave stores the network number assigned by the master corresponding to the unique code of the slave as a slave communication user protocol authentication code for each slave.

6. The method of claim 1, wherein said exiting the networking mode and entering the communication mode by the host based on a predetermined condition comprises:

when the network access number of the slave machines is equal to the preset number, the host exits the networking mode and enters a communication mode; or

The host responds to the manual exit instruction to exit the networking mode and enter the communication mode.

7. The method of claim 5, wherein the master polling the slave for information of the slave response comprises:

the master machine sends inquiry information containing the network number of the polled slave machine to the slave machine, switches a first-layer protocol response code of the master machine communication to a unique code of the polled slave machine, and switches a user protocol verification code of the master machine communication to the network number of the polled slave machine;

the polled slave processes the inquiry information;

the polled slave sends response information containing the network number of the polled slave according to the inquiry information;

the host receives the response information;

the host carries out data processing on the response information according to the response information;

the master sends to the slave an inquiry message containing the network number of the next slave.

8. The method of claim 7, wherein the master sending query information to the slave including a network number of the polled slave, comprising:

if the response information is not received within the preset time, repeatedly sending inquiry information containing the network number of the polled slave to the slave, switching the master communication first-layer protocol response code into the unique code of the polled slave, and switching the master communication user protocol verification code into the network number of the polled slave.

9. The method of claim 8, wherein said repeatedly sending to the slave a query message containing a network number of the polled slave comprises:

and if the number of times of repeated transmission reaches a preset number, transmitting inquiry information containing the network number of the next slave to the slave.

10. The method of claim 7, wherein the polled slave processes the inquiry information, comprising:

processing the inquiry information if the master communication first layer protocol inquiry code of the master sending the inquiry information is equal to the slave communication first layer protocol inquiry code of the polled slave and the network number in the inquiry information is equal to the slave communication user protocol authentication code of the polled slave.

11. The method of claim 7, wherein the host receiving the response message comprises:

and if the slave communication first-layer protocol response code of the polled slave is equal to the host communication first-layer protocol response code of the host, and the network number in the response message is equal to the host communication user protocol verification code of the host, receiving the response message.

12. A method of underwater real-time two-way wireless communication for a master in a system comprising the master and a slave, comprising:

entering a networking mode;

transmitting a networking instruction, wherein the networking instruction comprises a network identification number of the host;

receiving a network access application, wherein the network access application comprises a unique code of the slave machine;

replying a network access confirmation instruction according to the network access application of each slave, wherein the network access confirmation instruction comprises a network number corresponding to the unique code of the slave and the unique code of the slave;

exiting the networking mode and entering a communication mode according to a preset condition;

and after entering a communication mode, polling the slave to acquire information responded by the slave, wherein the host and the slave are communicated through a double-layer protocol.

13. The method of claim 12, wherein the network identification number of the host is a host communication first layer protocol challenge code.

14. The method of claim 12, wherein after receiving the network entry request, further comprising:

and storing the unique code as a host communication first-layer protocol response code corresponding to the slave machine.

15. The method as claimed in claim 14, wherein before replying the confirmed network entry command according to the network entry application of each slave, the method further comprises:

and storing the network number which is distributed by the host and corresponds to the unique code of the slave machine as a host communication user protocol verification code.

16. The method of claim 12, wherein exiting the networking mode and entering the communication mode according to a preset condition comprises:

when the network access number of the slave machines is equal to the preset number, exiting the networking mode and entering a communication mode; or

And exiting the networking mode and entering the communication mode in response to the manual exit instruction.

17. The method of claim 15, wherein polling the slave for slave response information comprises:

sending inquiry information containing the network number of the polled slave to the slave, switching the master communication first-layer protocol response code into the unique code of the polled slave, and switching the master communication user protocol verification code into the network number of the polled slave;

receiving response information, wherein the response information comprises the network number of the polled slave;

processing the response information according to the response information;

and sending inquiry information containing the network number of the next slave to the slave.

18. The method of claim 17, wherein sending query information to the slave including a network number of the polled slave comprises:

if the response information is not received within the preset time, repeatedly sending inquiry information containing the network number of the polled slave to the slave, switching the host communication first-layer protocol response code to the unique code of the polled slave, and switching the host communication user protocol verification code to the network number of the polled slave.

19. The method of claim 18, wherein said repeatedly sending to said slave a query message containing a network number of said polled slave comprises:

20. The method of claim 17, wherein said receiving said response message comprises:

and if the slave communication first-layer protocol response code of the polled slave is equal to the current master communication first-layer protocol response code, and the network number in the response message is equal to the current master communication user protocol verification code, receiving the response message.

21. A method of underwater real-time two-way wireless communication for a slave in a system, the system including a master and the slave, comprising:

entering a networking mode;

after receiving a networking instruction, generating random delay time, wherein the networking instruction comprises a network mark number of the host;

after the random delay time, sending a network access application, wherein the network access application comprises a unique code of the slave machine;

receiving a network access confirmation instruction, wherein the network access confirmation instruction comprises a network number corresponding to the unique code of the slave and the unique code of the slave;

after each slave computer receives the network access confirmation instruction, the slave computer exits the networking mode;

and after entering a communication mode, the host polls and provides response information, and the host and the slave communicate through a double-layer protocol.

22. The method of claim 21, wherein the generating a random delay time comprises:

generating a random number according to a random number algorithm, the random number being multiplied by a fixed value to generate the random delay time.

23. The method of claim 21, wherein after receiving the networking instruction, further comprising:

and storing the network identification number as a slave communication first-layer protocol inquiry code.

24. The method of claim 21, wherein the unique code of the slave is generated according to a specified algorithm, the unique code being a slave communication first layer protocol response code.

25. The method of claim 23, wherein after receiving the network entry confirmation instruction, further comprising:

and storing the network number which is allocated by the master machine and corresponds to the unique code of the slave machine as a slave machine communication user protocol verification code of each slave machine.

26. The method of claim 25, wherein the information polled by the host and providing a response comprises:

processing the inquiry information;

and sending response information containing the network number of the polled slave according to the inquiry information.

27. The method of claim 26, wherein said processing said query message comprises:

and processing the inquiry information if the master communication first layer protocol inquiry code of the master sending the inquiry information is equal to the slave communication first layer protocol inquiry code, and the network number in the inquiry information is equal to the slave communication user protocol verification code.

28. The utility model provides a real-time two-way wireless communication's host computer device under water for including the system of host computer and follow machine, host computer and follow machine communicate through double-deck agreement, the host computer includes first master control module, first low frequency send module, first low frequency receive module, its characterized in that:

the first master control module is configured to: controlling the host to enter a networking mode; controlling the host to transmit a networking instruction, wherein the networking instruction comprises a network mark number of the host; replying a network access confirmation instruction according to the network access application of each slave, wherein the network access application comprises the unique code of the slave, and the network access confirmation instruction comprises the network number which is distributed by the host and corresponds to the unique code of the slave and the unique code of the slave; enabling the host to exit a networking mode and enter a communication mode according to a preset condition; polling the slave by the master in a communication mode; the first low frequency transmission module is configured to: transmitting a networking instruction according to the instruction of the first main control module; sending the network access confirmation instruction according to the instruction of the first main control module; sending inquiry information to the slave according to the instruction of the first master control module, wherein the inquiry information comprises the network number of the polled slave;

the first low frequency receiving module is configured to: receiving the network access application and informing the first main control module; and receiving response information sent by the polled slave machine, and transmitting the response information to the first main control module, wherein the response information comprises a network number of the polled slave machine.

29. The utility model provides a real-time two-way wireless communication's of underwater from device for including the system of following machine and host computer, host computer and follow machine carry out communication through double-deck agreement, follow machine and include second master control module, second low frequency transmission module, second low frequency receiving module, characterized in that:

the second master module is configured to: controlling the slave to enter a networking mode; controlling the slave computer to generate random delay time after receiving a networking instruction, wherein the networking instruction comprises a network mark number of the host computer; controlling the slave machine to send a network access application in a time-sharing mode after the random delay time, wherein the network access application comprises a unique code of the slave machine; enabling the slave to exit the networking mode and enter a communication mode; responding to polling of the host in a communication mode;

30. An electronic device, comprising:

at least one processor;

at least one memory for storing one or more programs;

at least one receiver for receiving one or more instructions;

at least one transmitter for transmitting one or more instructions;

when executed by the at least one processor, cause the at least one processor to implement the method of any one of claims 12-27.

31. An underwater apparatus, comprising:

a master device, a slave device or an electronic apparatus for underwater real-time two-way wireless communication according to any one of claims 28 to 30.

32. An underwater device as claimed in claim 31 wherein the underwater device is an underwater booster or an underwater robot.