CN113541713A - Cross-domain gateway cabin based on underwater robot fish - Google Patents
Cross-domain gateway cabin based on underwater robot fish Download PDFInfo
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- CN113541713A CN113541713A CN202110630728.2A CN202110630728A CN113541713A CN 113541713 A CN113541713 A CN 113541713A CN 202110630728 A CN202110630728 A CN 202110630728A CN 113541713 A CN113541713 A CN 113541713A
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- gateway
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
- H01Q1/24—Supports; Mounting means by structural association with other equipment or articles with receiving set
- H01Q1/241—Supports; Mounting means by structural association with other equipment or articles with receiving set used in mobile communications, e.g. GSM
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/16—Gateway arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a cross-domain gateway cabin based on an underwater robotic fish, which is characterized in that a buoy gateway is arranged in the cross-domain communication gateway cabin, and the appearance structure of the cross-domain communication gateway cabin is designed in a conformal manner with an underwater robotic fish platform, so that the gateway cabin can be used independently or used as an independent cabin section to be carried on the underwater robotic fish for mobile use, and the survival capability and the concealment performance of the buoy gateway are enhanced on the basis of improving the mobility of the buoy gateway, thereby effectively solving the problems that the buoy of the existing communication gateway is fixedly arranged, low in concealment performance and easy to find.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a cross-domain gateway cabin based on underwater robotic fish.
Background
The wireless/underwater acoustic communication gateway buoy is a commonly used cross-domain communication gateway at present, and the cross-domain communication gateway buoy interconnects and intercommunicates an underwater sensing network with other airspace networks in a wireless communication mode. As shown in fig. 1, in the cross-domain communication (racom) buoy gateway structure, the buoy in the overall mechanical structure of the buoy is of a building block structure and mainly comprises 5 parts of an antenna (VHF antenna and GPS antenna), a beacon light and a mounting system thereof, an antenna support rod, a floating body, an electronic instrument cabin, a transducer and a cable connection system thereof. The existing cross-domain communication gateway buoy is laid on the water surface, is low in concealment, and has the problem that the buoy is easy to find and damage.
Disclosure of Invention
The invention provides a cross-domain gateway cabin based on underwater robotic fish, which aims to solve the problems that in the prior art, cross-domain communication gateway buoys are all fixedly arranged on the water surface, are low in concealment and are easy to find.
The invention provides a cross-domain gateway cabin based on underwater robotic fish, which comprises: the system comprises a robot fish and a gateway cabin arranged on the robot fish, wherein the robot fish drives the gateway cabin to move, and the gateway cabin is designed to be conformal with a platform of the robot fish; the gateway cabin comprises an antenna housing, a cabin body and an underwater transducer fixing structure which are sequentially connected;
the antenna housing is used for fixing various antennas of the buoy gateway;
the cabin body is used for accommodating the main body structure of the buoy gateway;
the underwater energy converter fixing structure is arranged on the periphery of the transmitting and receiving energy converter of the buoy gateway and used for protecting the transmitting and receiving energy converter.
Optionally, the radome housing is streamline as a whole, and the radome further includes a first outer housing and a second outer housing that are symmetrically disposed with respect to each other;
a first antenna clamp is arranged on the first outer shell, a second antenna clamp is arranged on the second outer shell, and the antenna in the buoy gateway is fixed through the matching of the first antenna clamp and the second antenna clamp;
the first antenna clamp and the second antenna clamp are arranged on the basis that the antenna can be stably fixed.
Optionally, the first antenna fixture is disposed at a preset height position of the first outer shell, the second antenna fixture is disposed at a preset height position of the second outer shell, and when the first outer shell and the second outer shell are connected in a closed manner, the first antenna fixture and the second antenna fixture fix the antenna in the floating gateway.
Optionally, the radome housing is fixed to the cabin body by a fixing steel ring.
Optionally, the first antenna fixture and the second antenna fixture respectively include a plurality of antennas, and the first antenna fixture and the second antenna fixture are arranged in a one-to-one manner, so as to respectively fix the plurality of antennas in the floating gateway.
Optionally, the underwater transducer fixing structure further comprises an anti-collision protection rod, a fixing seat and an anti-collision protection base;
the first end part of the anti-collision protection rod is connected with the fixed seat, the second end part of the anti-collision protection rod is connected with the anti-collision protection base, and the fixed seat is arranged on the fixed rod of the receiving and transmitting transducer of the buoy gateway;
the anti-collision protection rods are multiple and all surround the periphery of the receiving and transmitting transducer.
Optionally, the arrangement rule of the crash bars is based on the principle that the transceiver transducer can be protected.
Optionally, the cabin further includes a horizontal outer bin section, a front end cover and a rear end cover, wherein the front end cover is disposed at a first port of the horizontal outer bin section, the rear end cover is disposed at a second port of the horizontal outer bin section, and the horizontal outer bin section is sealed by the front end cover and the rear end cover.
Optionally, a fixing frame is arranged in the horizontal outer bin section, the horizontal outer bin section is cylindrical, and the shape of the fixing frame is matched with that of the horizontal outer bin section;
the two end parts of the fixing frame are connected with the front end cover and the rear end cover, and the horizontal outer bin section is integrally divided into three layers of structures along the central axis direction of the horizontal outer bin section through the fixing frame, wherein the three layers of structures respectively comprise a first layer of structure, a second layer of structure and a third layer of structure;
a template board card and a water surface communication module of the buoy gateway are arranged in the first layer structure;
a signal processing board and an underwater acoustic communicator of the buoy gateway are arranged in the second layer structure;
and a battery pack and a control panel of the buoy gateway are arranged in the third structure.
Optionally, the fixing frame and the front end cover, and the fixing frame and the rear end cover are all connected in a sealing manner, and the front end cover is provided with a power supply, a communication hole, an antenna and a cabin penetrating hole for mounting.
The invention has the following beneficial effects:
according to the invention, the buoy gateway is arranged in the cross-domain communication gateway cabin, and the appearance structure of the cross-domain communication gateway cabin and the underwater robotic fish platform are designed in a conformal manner, so that the gateway cabin can be used independently or used as an independent cabin section to be carried on the underwater robotic fish for moving, and therefore, the viability and the concealment of the buoy gateway are enhanced on the basis of improving the mobility of the buoy gateway, and the problems that existing cross-domain communication gateway buoys are fixedly arranged on the water surface, are insufficient in mobility and low in concealment and are easy to find are effectively solved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of a conventional cross-domain communication buoy gateway;
fig. 2 is a schematic diagram of an overall structure of a cross-domain communication gateway cabin provided in the embodiment of the present invention;
fig. 3 is a schematic cross-sectional view of a cross-domain communication gateway cabin structure provided in an embodiment of the present invention;
FIG. 4 is a schematic view of a cabin according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a front end cap according to an embodiment of the present invention;
fig. 6 is a schematic cross-sectional view of a radome structure provided by an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an antenna fixture provided in an embodiment of the present invention;
FIG. 8 is a schematic view of an apparatus fixture provided by an embodiment of the present invention;
fig. 9 is a schematic view illustrating the integration and fixation of the devices in the cabin according to the embodiment of the present invention;
fig. 10 is a schematic view of an underwater transducer fixing structure provided by the embodiment of the invention.
Description of the drawings: the underwater acoustic communication device comprises a cabin body 1, an antenna housing 2, an equipment fixing part in the cabin 3, an underwater transducer fixing structure 4, an underwater acoustic transducer 5, a water surface communication module 6, a module board card 7, an underwater acoustic communication machine 8, a signal processing board 9, a control board 10, a battery pack 11, a horizontal outer cabin section 1-1, a front end cover 1-2, a front end cover 1-3, a front end cover ring 1-4, a rear end cover 1-5, a rear end cover ring 1-6, an antenna housing 2-1, an antenna clamp 2-2, a top fixing plate 3-1, a main fixing plate 3-2, a battery fixing sleeve 3-3, a fixing frame 3-4, an anti-collision protection rod 4-1, an anti-collision protection base 4-2, an energy transducer fixing rod 4-3 and a fixing seat 4-4.
Detailed Description
The embodiment of the invention aims at the problems that the existing cross-domain communication buoy gateway is fixedly arranged, has low concealment, is easy to find and damage, has low design integration level, is provided with a single VHF data transmission radio station communication module on the water surface, is low in applicability in the face of complex offshore communication environment, is not provided with a protection device easily to be damaged no matter a water surface antenna or an underwater transducer, and the like. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The embodiment of the invention provides a cross-domain gateway cabin based on underwater robotic fish, which is shown in figure 2 and comprises the following components: the underwater robot fish is used for driving the gateway cabin to move, wherein the appearance structure of the gateway cabin is conformal to the platform of the underwater robot fish; the gateway cabin comprises a cabin body 1, an antenna housing 2 and an underwater transducer fixing structure 4 which are sequentially connected;
the antenna housing 2 is used for fixing various antennas of the buoy gateway;
the cabin body 1 is used for accommodating a main body structure of the buoy gateway;
the underwater energy converter fixing structure is arranged on the periphery of the transmitting and receiving energy converter of the buoy gateway and used for protecting the transmitting and receiving energy converter.
That is to say, in the embodiment of the invention, the buoy gateway is arranged in the cross-domain communication gateway cabin, and the appearance structure of the cross-domain communication gateway cabin is designed in a conformal manner with the underwater robotic fish platform, so that the gateway cabin can be used independently or used as an independent cabin segment to be carried on the underwater robotic fish for mobile use, and the survival capability and the concealment performance of the buoy gateway are enhanced on the basis of improving the mobility of the buoy gateway. Therefore, the problems that the existing cross-domain communication gateway buoy is fixedly arranged, low in concealment and easy to discover are effectively solved.
It should be noted that the cross-domain communication gateway cabin of the embodiment of the invention integrates various water surface communication devices and underwater acoustic communication devices such as Beidou communication, Iridium communication, data transmission communication, 4G communication, WiFi communication and the like, adopts a modularized and integrated design, can be plugged and matched according to application requirements, and is provided with protection devices on a water surface antenna and an underwater transducer, so that the stability and the adaptability of the device are improved. Meanwhile, because a plurality of water surface communication modes and a protection device are integrated in the cross-domain communication gateway cabin, the stability and the adaptability of the equipment are improved.
As shown in fig. 2 and 3, the cross-domain communication gateway cabin based on the robot fish according to the embodiment of the invention mainly comprises a cabin body 1, an antenna housing 2, an in-cabin equipment fixing member 3 and an underwater transducer fixing structure 4, wherein the antenna housing 2 clamps and fixes the antenna housing 2 above the cabin body 1 through a fixing steel ring, and the underwater transducer fixing structure 4 is fixed below the cabin body 1 through fixing screws.
Further, the cabin 1 according to the embodiment of the present invention further includes a horizontal outer cabin, a front end cover and a rear end cover 1-5, wherein the front end cover and the rear end cover 1-5 are disposed at the port of the horizontal outer cabin to seal the horizontal outer cabin. The horizontal outer bin section is cylindrical, and the shape of the fixing frame is matched with that of the horizontal outer bin section.
In addition, in the embodiment of the invention, the horizontal outer bin section is provided with a fixing frame 3-4, two end parts of the fixing frame 3-4 are connected with the front end cover and the rear end cover 1-5, the fixing frame 3-4 divides the whole horizontal outer bin section into three layers along the central axis direction of the horizontal outer bin section, the space size of each layer of structure can be adjusted according to equipment contained in the structure, and the three layers of structures respectively comprise a first layer of structure, a second layer of structure and a third layer of structure; a template board card and a water surface communication module 6 of the buoy gateway are arranged in the first layer structure; a signal processing board 9 and an underwater acoustic communicator 8 of the buoy gateway are arranged in the second layer structure; the battery pack 11 and the control panel 10 of the buoy gateway are arranged in the third structure, the fixing frame 3-4 is hermetically connected with the front end cover 1-2 and the rear end cover 1-5, and the front end cover 1-2 is provided with a power supply, a communication hole, an antenna hole and a hanging hole.
As shown in fig. 4 and 5, in the embodiment of the present invention, a cabin body 1 is composed of a horizontal outer cabin section 1-1, a front end cover 1-2, a front end cover ring 1-3, a sealing ring 1-4, a rear end cover 1-5, and a rear end cover ring 1-6, wherein the front end and the rear end of the horizontal outer cabin section 1-1 are provided with threaded holes, the inner end of the front end cover is provided with a sealing ring groove and a threaded hole axially corresponding to the horizontal outer cabin section 1-1, the front end cover ring 1-3 is inserted into the front end of the horizontal outer cabin section 1-1 after the sealing ring 1-4 is arranged in the sealing ring groove arranged at the outer end of the front end cover inner ring 1-3, and the horizontal outer cabin section 1-1 and the front end cover ring 1-3 are fixed by screws after aligning with screw holes. The front end cover 1-2 and the front end cover ring 1-3 are fixed by screws after aligning with the screw hole positions of the front end cover 1-2 and the front end cover ring 1-3. The back end cap 1-5 is implemented as the front end cap 1-2, and the back end cap ring 1-6 is implemented as the front end cap ring 1-3. Power supply, communication, antenna and mounting cabin penetrating holes are reserved at the front end of the front end cover end 1-2 of the cabin body 1, and power and information transmission of the robot fish and the gateway cabin and cabin penetrating fixation of the communication antenna and the transducer are achieved through the watertight connector 12.
That is, the cabin body 1 in the embodiment of the present invention is composed of a horizontal cabin section and front and rear end caps 1-5. Power supply, communication, antenna and mounting cabin penetrating holes are reserved at the front end of a front end cover 1-2 of a cabin body 1, and electric power and information transmission of the underwater robot fish and the gateway cabin and cabin penetrating fixation of the communication antenna and the transducer are achieved through watertight connectors.
In specific implementation, the radome housing 2-1 according to the embodiment of the invention is streamline as a whole, and the radome 2 further comprises a first outer housing and a second outer housing which are symmetrically arranged with each other; a first antenna clamp is arranged on the first outer shell, a second antenna clamp is arranged on the second outer shell, and the antenna in the buoy gateway is fixed through the matching of the first antenna clamp and the second antenna clamp; the first antenna clamp and the second antenna clamp are arranged on the basis that the antenna can be stably fixed.
When the first outer shell and the second outer shell are connected in a closed mode, the first antenna clamp and the second antenna clamp fix the antennas in the buoy gateway.
In specific implementation, the radome housing 2-1 of the embodiment of the invention is fixed on the cabin body 1 through a fixed steel ring.
It should be noted that, in the embodiment of the present invention, each of the first antenna fixture and the second antenna fixture includes a plurality of antenna fixtures, and the first antenna fixture and the second antenna fixture are arranged in a one-to-one manner so as to fix the plurality of antennas in the floating gateway, respectively.
The first antenna holder and the second antenna holder together constitute an antenna holder 2-2 for holding an antenna.
As shown in fig. 6 and 7, the radome 2 is composed of a radome housing 2-1 and an antenna fixture 2-2, and the radome housing 2 is fixed by combining screws with corresponding screw fixing holes provided in the respective radomes. The cross-sectional view of the radome shell 2-1 is shown in the figure, the antenna clamp 2-2 is shown in the figure 7 and is a 3D printing structural part designed based on the antenna shape, the structural part is composed of clamps which are symmetrical left and right, corresponding threaded holes are formed in the two clamps, the water surface communication antennas are placed in antenna clamp grooves, and the antenna clamp 2-2 and the antennas are locked through screws.
As shown in fig. 8 and 9, the cabin interior equipment fixing member 3 according to the embodiment of the present invention is composed of a top fixing plate 3-1, a main fixing plate 3-2, a battery fixing sleeve 3-3, and a fixing frame 3-4, wherein the fixing frame 3-4 is a three-layer integrated aluminum structure, the front end of the fixing frame is fixedly connected to a rear end cover 1-5 of the cabin body 1 through screws, and the top fixing plate 3-1, the main fixing plate 3-2, and the battery fixing sleeve 3-3 are respectively fixed to a top layer, a middle layer, and a bottom layer of the fixing frame 3-4 through screws. Fig. 9 is a schematic diagram of the integrated and fixed equipment in the cabin, wherein each water surface communication module 6 is integrated on a module board card 7, and the module board card 7 is fixed above the top fixing plate 3-1 through screws; the processing end of the underwater acoustic communication machine 8 is fixed above the main fixing plate 3-2 through screws, and the signal processing plate 9 and the control plate 10 are fixed below the main fixing plate 3-2 through copper columns; the battery pack 11 and the battery fixing sleeve 3-3 are fixed by screw locking.
As shown in fig. 10, the underwater transducer fixing structure 4 according to the embodiment of the present invention includes an anti-collision protection rod 4-1, an anti-collision protection base 4-2, a transducer fixing rod 4-3, and a fixing base 4-4. The bottom ends of 4 anti-collision protection rods 4-1 are fixed with an anti-collision protection base 4-2 through screws, the top ends of 4 anti-collision protection rods 4-1 are fixed with a fixed seat 4-4 through screws, an underwater acoustic transducer 5 and an energy transducer fixed rod 4-3 are fixed with the fixed seat 4-4 after being fixed through threads, and finally the fixed seat 4-4 and the lower portion of a horizontal outer cabin section 1-1 of a cabin body 1 are fixed through screws.
The equipment fixing device in the cabin body 1 in the embodiment of the invention consists of a top fixing plate 3-1, a main fixing plate 3-2, a battery fixing sleeve 3-3 and a fixing frame 3-4, wherein the fixing frame 3-4 is a three-layer integrated aluminum structure, the underwater transducer fixing structure 4 in the embodiment of the invention consists of an anti-collision protection frame, a fixing rod and a fixing seat 4-4, and the transducer is fixed under the cabin body by a fixing base after being assembled.
Generally, the appearance structure of the cross-domain communication gateway cabin based on the robot fish provided by the embodiment of the invention is designed in a conformal way with the existing underwater robot fish platform, so that the gateway cabin can be used independently and can also be used as an independent cabin section to be carried on the robot fish for moving, the maneuvering capability of the cross-domain communication gateway is greatly improved, and the survival capability and the concealment are enhanced. This cross-domain communication gateway cabin adopts modularization, integrated design, and multiple surface of water communication equipment and underwater acoustic communication equipment such as integrated big dipper communication, sky communication, iridium star communication, data transmission communication, 4G communication, wiFi communication have not protection device all on the surface of water antenna or underwater transducer, have improved stability and adaptability.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and the scope of the invention should not be limited to the embodiments described above.
Claims (10)
1. A cross-domain gateway cabin based on underwater robotic fish, comprising: the underwater robot fish is used for driving the gateway cabin to move, wherein the appearance structure of the gateway cabin is conformal to the platform of the underwater robot fish; the gateway cabin comprises an antenna housing, a cabin body and an underwater transducer fixing structure which are sequentially connected;
the antenna housing is used for fixing various antennas of the buoy gateway;
the cabin body is used for accommodating the main body structure of the buoy gateway;
the underwater energy converter fixing structure is arranged on the periphery of the transmitting and receiving energy converter of the buoy gateway and used for protecting the transmitting and receiving energy converter.
2. The cross-domain gateway compartment of claim 1, wherein the radome housing is streamlined as a whole, and the radome further comprises a first outer housing and a second outer housing disposed symmetrically to each other;
a first antenna clamp is arranged on the first outer shell, a second antenna clamp is arranged on the second outer shell, and the antenna in the buoy gateway is fixed through the matching of the first antenna clamp and the second antenna clamp;
the first antenna clamp and the second antenna clamp are arranged on the basis that the antenna can be stably fixed.
3. The cross-domain gateway pod of claim 2,
the first antenna clamp is arranged at the preset height position of the first outer shell, the second antenna clamp is arranged at the preset height position of the second outer shell, and when the first outer shell and the second outer shell are connected in a closed mode, the first antenna clamp and the second antenna clamp fix the antenna in the buoy gateway.
4. The cross-domain gateway pod of claim 2,
the first antenna clamp and the second antenna clamp are respectively provided with a plurality of pairs of antennas, the first antenna clamp and the second antenna clamp are arranged in a one-to-one manner, each pair of the first antenna clamp and the second antenna clamp jointly fixes one antenna, and the plurality of antennas in the floating gateway are respectively fixed through the plurality of pairs of the first antenna clamp and the second antenna clamp.
5. The cross-domain gateway pod of claim 1,
the radome shell is fixed on the cabin body through a fixed steel ring.
6. The cross-domain gateway cabin of claim 1, wherein the underwater transducer securing structure further comprises a crash protection pole, a securing base, and a crash protection base;
the first end part of the anti-collision protection rod is connected with the fixed seat, the second end part of the anti-collision protection rod is connected with the anti-collision protection base, and the fixed seat is arranged on the fixed rod of the receiving and transmitting transducer of the buoy gateway;
the anticollision protective rod is a plurality of, and all sets up in the periphery of receiving and dispatching transducer.
7. The cross-domain gateway pod of claim 6,
the setting rules of the crash bars are set on the basis of the principle that the transmitting and receiving transducer can be protected.
8. The cross-domain gateway bay according to any one of claims 1-7,
the cabin body further comprises a horizontal outer cabin section, a front end cover and a rear end cover, wherein the front end cover is arranged at a first port of the horizontal outer cabin section, the rear end cover is arranged at a second port of the horizontal outer cabin section, and the horizontal outer cabin section is sealed through the front end cover and the rear end cover.
9. The cross-domain gateway cabin of claim 8, wherein a fixing frame is arranged in the horizontal outer cabin section, the horizontal outer cabin section is cylindrical, and the shape of the fixing frame is matched with the shape of the horizontal outer cabin section;
the two end parts of the fixing frame are connected with the front end cover and the rear end cover, and the horizontal outer bin section is integrally divided into three layers of structures along the central axis direction of the horizontal outer bin section through the fixing frame, wherein the three layers of structures respectively comprise a first layer of structure, a second layer of structure and a third layer of structure;
a template board card and a water surface communication module of the buoy gateway are arranged in the first layer structure;
a signal processing board and an underwater acoustic communicator of the buoy gateway are arranged in the second layer structure;
and a battery pack and a control panel of the buoy gateway are arranged in the third structure.
10. The cross-domain gateway pod of claim 8,
the fixing frame is hermetically connected with the front end cover and the rear end cover, and the front end cover is provided with a power supply, a communication hole, an antenna hole and a cabin penetrating hole for mounting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110630728.2A CN113541713B (en) | 2021-06-07 | 2021-06-07 | Cross-domain gateway cabin based on underwater robot fish |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110630728.2A CN113541713B (en) | 2021-06-07 | 2021-06-07 | Cross-domain gateway cabin based on underwater robot fish |
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| Publication Number | Publication Date |
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| CN113541713A true CN113541713A (en) | 2021-10-22 |
| CN113541713B CN113541713B (en) | 2022-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110630728.2A Active CN113541713B (en) | 2021-06-07 | 2021-06-07 | Cross-domain gateway cabin based on underwater robot fish |
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| CN116800561A (en) * | 2023-06-21 | 2023-09-22 | 哈尔滨工程大学 | Cross-medium communication gateway equipment based on wireless terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115118549A (en) * | 2022-07-04 | 2022-09-27 | 中国科学院沈阳自动化研究所 | Bridge structure of large-depth underwater robot |
| CN116800561A (en) * | 2023-06-21 | 2023-09-22 | 哈尔滨工程大学 | Cross-medium communication gateway equipment based on wireless terminal |
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| CN113541713B (en) | 2022-08-16 |
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