CN113840263B

CN113840263B - Communication method and device for diving equipment assisted by base station and flying equipment

Info

Publication number: CN113840263B
Application number: CN202010591282.2A
Authority: CN
Inventors: 王楠; 张路; 李笑昕
Original assignee: Nokia Shanghai Bell Co Ltd
Current assignee: Nokia Shanghai Bell Co Ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2023-10-13
Anticipated expiration: 2040-06-24
Also published as: CN113840263A

Abstract

The present application provides a communication method and device for diving equipment assisted by a base station and a flying equipment, the method comprising: in the submerging process, when a wireless radio frequency communication link between the base station and the base station is detected to meet a preset condition, suspending submerging and sending submerging indication information to the base station, wherein the submerging indication information comprises position information of the submerging equipment, so that the base station informs flying equipment to fly to an airspace above the submerging equipment according to the position information; establishing a wireless radio frequency D2D communication link with the flying equipment, and establishing a laser D2D communication link with the flying equipment with the help of the wireless radio frequency D2D communication link; and disconnecting the wireless radio frequency D2D communication link, communicating with the flying device only through the laser D2D communication link, and continuing to submerge. The scheme of the application can always maintain the two-way communication between the diving equipment and the flying equipment.

Description

Communication method and device for diving equipment assisted by base station and flying equipment

Technical Field

The application relates to the technical field of wireless communication, in particular to a technical scheme for communication of diving equipment assisted by a base station and flying equipment.

Background

With the development of the age, the development and exploration demands on the sea, river and lake are increasing, and the use of a submersible has become an important way for corresponding behaviors (such as underwater sightseeing, channel detection and the like) in scientific research and commercial development. The quality of communication between a submersible and a ground base (terrestrialbase) determines whether a submersible can actually play a critical role in an important issue, whereas laser communication has potential advantages over conventional communication based on the characteristics of the underwater environment. The concept of using blue-green lasers to communicate with a submersible in deep water was originally proposed in the early 1970 s, and generally, laser communication was established between the submersible and a low orbit satellite, specifically, two methods, one that allows the laser to be launched from the ground and reflected by the satellite toward the target area (i.e., the area in which the submersible is located), and the other that allows the laser to be launched directly through the satellite, and communications between satellites can be used to find the satellite transmitter with the best location to transmit signals to the target area. However, since the cost of communication using satellites is very high, it is very not cost-effective to use the aforementioned submersible-satellite laser communication (subs-satellite laser communication) approach for scientific research and commercial development.

In the prior art, for cost reduction, a submersible-aircraft laser communication (subsume-airplane laser communication) scheme is proposed, where an aircraft refers to a conventional aircraft that needs to be operated by one or more pilots, in particular, a laser transmitter is carried by the aircraft, and then, when the pilot steers the aircraft across a target water area, a laser beam is swept across the target water area, so that broadcast communication with the submersible within the target water area can be accomplished.

Disclosure of Invention

It is an object of the present application to provide a communication method and device for diving equipment assisted by a base station and a flying device.

The application proposes a communication method for diving equipment assisted by a base station and a flying equipment, applied to diving equipment, wherein the method comprises the following steps:

in the submerging process, when a wireless radio frequency communication link between the base station and the base station is detected to meet a preset condition, suspending submerging and sending submerging indication information to the base station, wherein the submerging indication information comprises position information of the submerging equipment, so that the base station informs flying equipment to fly to an airspace above the submerging equipment according to the position information;

Establishing a wireless radio frequency D2D communication link with the flying equipment, and establishing a laser D2D communication link with the flying equipment with the help of the wireless radio frequency D2D communication link;

and disconnecting the wireless radio frequency D2D communication link, communicating with the flying device only through the laser D2D communication link, and continuing to submerge.

Optionally, the method further comprises:

in the floating process, if a wireless radio frequency communication link cannot be directly established with the base station after the base station floats on the water surface, establishing a wireless radio frequency D2D communication link with the flying equipment with the help of the laser D2D communication link, then disconnecting the laser D2D communication link, continuously trying to establish the wireless radio frequency communication link with the base station, and disconnecting the wireless radio frequency D2D communication link with the flying equipment after the wireless radio frequency communication link is successfully established with the base station;

and in the floating process, if the wireless radio frequency communication link can be directly established with the base station, the laser D2D communication link is disconnected.

According to another embodiment of the present application, there is also provided a communication method for diving equipment assisted by a base station and a flying equipment, applied to the flying equipment, wherein the method includes:

According to the notice from the base station, flying to an airspace above the diving equipment, wherein the diving equipment is in the diving process and is currently suspended to dive;

establishing a wireless radio frequency D2D communication link with the diving equipment, and establishing a laser D2D communication link with the diving equipment with the help of the wireless radio frequency D2D communication link;

disconnecting the wireless radio frequency D2D communication link to communicate with the diving equipment only through the laser D2D communication link, wherein the diving equipment will continue to dive after disconnecting the wireless radio frequency D2D communication link.

Optionally, the method further comprises:

disconnecting the laser D2D communication link based on an indication of the diving equipment, or with the help of the laser D2D communication link, establishing a wireless radio frequency D2D communication link with the diving equipment, then disconnecting the laser D2D communication link, and disconnecting the wireless radio frequency D2D communication link with the diving equipment after the diving equipment establishes a wireless radio frequency communication link with the base station, wherein the diving equipment has floated on the water surface at this time;

and if receiving the landing indication information sent by the base station, flying back to a landing point.

According to another embodiment of the present application, there is also provided a diving apparatus, wherein the diving apparatus includes:

means for suspending submerging and transmitting submerging instruction information to a base station when a wireless radio frequency communication link with the base station is detected to satisfy a predetermined condition in the submerging process, wherein the submerging instruction information includes position information of the submerging equipment, so that the base station notifies flying equipment to fly to an airspace above the submerging equipment according to the position information;

means for establishing a wireless radio frequency D2D communication link with the flying device and with the aid of the wireless radio frequency D2D communication link, establishing a laser D2D communication link with the flying device;

means for disconnecting the wireless radio frequency D2D communication link, communicating with the flying device only through the laser D2D communication link, and continuing the submerging.

Optionally, the diving equipment further comprises:

means for, after the device is floated on the water surface, if the wireless radio frequency communication link cannot be directly established with the base station, establishing a wireless radio frequency D2D communication link with the flying device with the aid of the laser D2D communication link, then disconnecting the laser D2D communication link, continuing to attempt to establish the wireless radio frequency communication link with the base station, and disconnecting the wireless radio frequency D2D communication link with the flying device after the wireless radio frequency communication link is successfully established with the base station;

And the device is used for disconnecting the laser D2D communication link if the wireless radio frequency communication link can be directly established with the base station in the floating process.

According to another embodiment of the present application, there is also provided a flying apparatus, wherein the flying apparatus includes:

means for flying to an airspace above the diving equipment based on a notification from a base station, wherein the diving equipment is in the process of diving and is currently suspended from diving;

means for establishing a wireless radio frequency, D2D, communication link with the diving equipment and with the aid of the wireless radio frequency, D2D, communication link with the diving equipment;

means for disconnecting the wireless radio frequency D2D communication link to communicate with the diving equipment only through the laser D2D communication link, wherein the diving equipment will continue to dive after disconnecting the wireless radio frequency D2D communication link.

Optionally, the flying device further comprises:

means for disconnecting the laser D2D communication link based on an indication of the diving equipment, or establishing a wireless radio frequency D2D communication link with the diving equipment with the aid of the laser D2D communication link, after which the laser D2D communication link is disconnected and the wireless radio frequency D2D communication link with the diving equipment is disconnected after the diving equipment establishes a wireless radio frequency communication link with the base station, wherein the diving equipment has been floated onto the water surface at this time;

And the device is used for flying back to the landing point if receiving the landing indication information sent by the base station.

According to another embodiment of the present application, there is also provided a communication method for diving equipment assisted by a base station and a flying equipment, wherein the method comprises:

in the submergence process of the diving equipment, when the wireless radio frequency communication link between the diving equipment and the base station is detected to meet the preset condition, suspending submergence and sending submergence indication information to the base station, wherein the submergence indication information comprises position information of the diving equipment;

after receiving the submerging indication information, the base station informs the flying equipment to fly to an airspace above the submerging equipment according to the position information;

the flying device flies to an airspace above the diving equipment according to the notification from the base station, then, the establishment of a wireless radio frequency D2D communication link with the diving equipment is initiated, and after the wireless radio frequency D2D communication link is established, a laser D2D communication link is established with the help of the wireless radio frequency D2D communication link;

the diving equipment breaks a wireless radio frequency D2D communication link with the flying equipment, communicates with the flying equipment only through the laser D2D communication link, and continues to dive.

Optionally, the method further comprises:

if the diving equipment cannot directly establish a wireless radio frequency communication link with the base station after floating to the water surface in the floating process, under the help of the laser D2D communication link, initiating the establishment of the wireless radio frequency D2D communication link with the flying equipment, after establishing the wireless radio frequency D2D communication link, disconnecting the laser D2D communication link, continuing to attempt to establish the wireless radio frequency communication link with the base station, and after successfully establishing the wireless radio frequency communication link with the base station, disconnecting the wireless radio frequency D2D communication link with the flying equipment; if the diving equipment can directly establish a wireless radio frequency communication link with the base station in the floating process, the laser D2D communication link is disconnected;

the base station sends landing indication information to the flying device after establishing a wireless radio frequency communication link with the diving equipment;

and if the flight equipment receives the landing indication information, the flight equipment flies back to a landing point.

Compared with the prior art, the application has the following advantages: through the logic of establishing and disconnecting the wireless radio frequency D2D communication link and the laser D2D communication link between the diving equipment and the flying equipment, the two-way communication between the diving equipment and the flying equipment can be always maintained; compared with the laser communication of the submersible-satellite and the laser communication of the submersible-airplane in the prior art, the cost is greatly reduced; by having a base station (e.g., 5G nb) as a ground base that can provide continuous wide area coverage, the flying device can more easily find a direct communication link with the ground base, thereby enabling a greater opportunity for real-time data processing of the data collected by the diving equipment at the data processing center.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:

FIG. 1 shows a flow diagram of a communication method for a diving equipment in the diving equipment according to one embodiment of the present application;

FIG. 2 illustrates a flow diagram of a communication method for diving equipment in a flying device in accordance with one embodiment of the present application;

FIG. 3 shows a schematic diagram of the configuration of a diving apparatus of an embodiment of the present application;

FIG. 4 shows a schematic structural view of a flying apparatus according to one embodiment of the present application;

FIG. 5 illustrates a schematic diagram of the structure of an exemplary 5G UAV of the present application;

FIG. 6 shows a schematic diagram of the structure of an exemplary 5G submersible of the present application;

FIG. 7 illustrates a communication flow during 5G submersible descent based on the 5G UAV shown in FIG. 5 and the 5G submersible implementation shown in FIG. 6;

FIG. 8 illustrates a communication flow during ascent of a 5G wetter based on the 5G UAV shown in FIG. 5 and the 5G wetter implementation shown in FIG. 6;

FIG. 9 illustrates an exemplary system that may be used to implement various embodiments described in the present application.

The same or similar reference numbers in the drawings refer to the same or similar parts.

Detailed Description

Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

The schemes of the embodiments of the present application can be applied to any existing or future wireless communication system supporting submersible communication, such as a 5G (5 th GenerationMobile Communication System) network with higher data transmission rate, higher reliability, lower latency, higher connection/traffic density, so that the application of Device-to-Device (D2D) communication, especially the application of D2D communication with an unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV), becomes more feasible and useful in a 5G network, and thus the schemes of the embodiments of the present application can be applied to a 5G network, and also, for example, as space/sky/ocean/ground integrated communication has been proposed as one of the important technical fields of a 6G (6 th Generation Mobile Communication System) network, the schemes of the embodiments of the present application can be applied to a future 6G network.

In this context, the term "device" refers to an intelligent electronic device that can execute a predetermined process such as numerical computation and/or logic computation by executing a predetermined program or instruction, and may include a processor and a memory, where the predetermined process is executed by the processor executing a program instruction pre-stored in the memory, or the predetermined process is executed by hardware such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), or a combination of the two.

The application relates generally to equipment including base stations, diving equipment and flying equipment. Wherein the base station means a radio station (radio station) having a bi-directional transceiver which can communicate uplink and downlink with user equipment in its served cell by radio signals and can also communicate directly or indirectly with other base stations; the Base stations include, but are not limited to, gNB (5G Base Station) in a 5G system. Wherein the diving equipment refers to equipment having underwater viewing and/or operation capabilities, in the context of which the diving equipment may also be referred to as a "submersible". The flying equipment is equipment with a flying function, in some embodiments, the flying equipment is an unmanned plane, and compared with a conventional aircraft, the unmanned plane has the advantages of small size, low manufacturing cost, convenience in use, long stagnation time, low requirements on a flying environment, stronger survivability under severe flying conditions and the like.

The methods discussed later herein (some of which are illustrated by flowcharts) may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine or computer readable medium such as a storage medium. The processor(s) may perform the necessary tasks.

Specific structural and functional details disclosed herein are merely representative and are for purposes of describing exemplary embodiments of the application. The application may be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.

It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may in fact be executed substantially concurrently or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.

The application is described in further detail below with reference to the accompanying drawings.

FIG. 1 shows a flow diagram of a communication method for a diving equipment in the diving equipment according to one embodiment of the present application. Fig. 1 shows a communication flow of the diving equipment during the diving, and the method according to the present embodiment includes step S11, step S12 and step S13.

In step S11, in the process of diving, when the wireless radio frequency communication link between the diving equipment and the base station is detected to meet the preset condition, the diving is suspended, and diving indication information is sent to the base station, wherein the diving indication information comprises position information of the diving equipment, so that the base station informs the flying equipment to fly to an airspace above the diving equipment according to the position information.

It should be noted that, in the context, the "submerging process" includes: a process in which the diving equipment sails on the water surface to drive from the shore to the water surface above the predetermined diving location, and a process in which the diving equipment is submerged from the water surface above the predetermined diving location in the vertical direction.

In general, as the distance between the diving equipment and the base station gets farther and farther, the signal between the diving equipment and the base station becomes weaker, and when the predetermined condition is satisfied, the signal strength between the diving equipment and the serving base station becomes weak enough, and at this time, the diving equipment is triggered to send the diving indication information to the base station so as to start the communication flow with the flying equipment. In some embodiments, the predetermined condition comprises: the received power of the reference signal received by the diving equipment and sent by the base station through the wireless radio frequency communication link is lower than a preset power threshold value. In some embodiments, the predetermined condition comprises: the spatial distance between the diving equipment and the base station is greater than or equal to a predetermined spatial distance threshold. The above predetermined conditions are merely examples, and it will be understood by those skilled in the art that any condition capable of determining that the signal strength between the diving equipment and its serving base station becomes sufficiently weak should be included in the scope of the predetermined conditions described in the present application.

Wherein the above-mentioned diving indication information including the position information of the diving equipment is used for informing the base station that the diving equipment has started diving. In some embodiments, the diving equipment may obtain its location information through a GPS (Global Positioning System ) receiver in the diving equipment. The base station refers to a service base station of the diving equipment, in some embodiments, after receiving the diving indication information from the diving equipment, the base station notifies a flying device which is simultaneously connected to the base station and is in an RRC (Radio Resource Control ) idle state, so as to notify the flying device to fly to an airspace above a target water area where the diving equipment is located; in some embodiments, the base station transmits the position information of the diving equipment to the flying equipment when informing the flying equipment to take off, so that the flying equipment determines the airspace above the target water area where the diving equipment is positioned according to the position information; in some embodiments, the base station determines an airspace above a target water area in which the diving equipment is located based on the position information of the diving equipment, and transmits the determined airspace range to the flying equipment when the flying equipment is notified to take off.

In some embodiments, the diving equipment has a retractable antenna for wireless radio frequency communication, and the retractable antenna remains above the water surface while the diving equipment is suspended from diving.

In step S12, the diving equipment establishes a wireless radio frequency D2D communication link with the flying equipment, and with the help of the wireless radio frequency D2D communication link, establishes a laser D2D communication link with the flying equipment. During the process performed in step S12, the diving equipment is still in a state of suspending diving.

It should be noted that, during the submerging process of the diving equipment, the flying equipment initiates the establishment of the wireless radio frequency D2D communication link between the flying equipment and the diving equipment, specifically, when the flying equipment flies to the airspace above the diving equipment, the flying equipment initiates the establishment of the wireless radio frequency D2D communication link between the flying equipment and the diving equipment. In some embodiments, the flying device may employ a base station assistance mode or a non-assistance mode to establish a wireless radio frequency D2D communication link with the diving equipment, that is, the exact wireless resources used by the flying device to transmit data and control information directly to the diving equipment may be scheduled by the serving base station or may be selected from a pool of resources by the flying device itself. As an implementation manner, in the process of diving the diving equipment, the flying equipment adopts a base station assistance mode to establish a wireless radio frequency D2D communication link with the diving equipment, and the base station schedules and distributes air interface resources required by the wireless radio frequency D2D communication link between the flying equipment and the diving equipment; as another implementation manner, during the submerging process of the diving equipment, the flying equipment adopts a non-assistance mode to establish a wireless radio frequency D2D communication link with the diving equipment, and the flying equipment (i.e. the initiator of the wireless radio frequency D2D communication link) schedules and allocates air interface resources required by the wireless radio frequency D2D communication link between the flying equipment and the diving equipment, i.e. the flying equipment selects the air interface resources required by the wireless radio frequency D2D communication link from the resource pool.

In some embodiments, the step S12 further includes: establishing a wireless radio frequency D2D communication link with the flying device; then, a laser signal transceiver is turned on and continuously transmits a laser reference signal so as to form a light spot in a space above the diving equipment; transmitting laser indication information to the flying device through a wireless radio frequency (D2D) communication link between the flying device and the flying device, so that the flying device triggers laser detection operation after receiving the laser indication information, and establishes a laser D2D communication link between the flying device and the diving device when the light spot is detected; a laser D2D communication link is established with the flying device. In some embodiments, the diving equipment turns on the laser signal transceiver and uses the blue-green laser beam to continuously transmit the laser reference signal, and the blue-green laser beam emitted by the diving equipment forms a light spot in the airspace above the target waters. In some embodiments, the diving equipment uses a wireless radio frequency D2D communication link with the flying equipment to send laser indication information to the flying equipment, wherein the laser indication information is used for indicating that the diving equipment has opened a laser signal transceiver, the flying equipment opens the laser signal transceiver in the flying equipment after receiving the laser indication information through the wireless radio frequency D2D communication link and tries to detect a light spot formed by a blue-green laser beam emitted by the diving equipment, and once the flying equipment detects the light spot, the laser D2D communication link is established between the flying equipment and the diving equipment, and meanwhile the wireless radio frequency D2D communication link is maintained.

Optionally, the turning on the laser signal transceiver and continuously sending the laser reference signal further includes: and increasing the emission power of the laser reference signal to increase the size of the light spot. Therefore, the light spot formed by the blue-green laser beam emitted by the diving equipment can be more conveniently detected by the flying equipment, and the detection efficiency of the flying equipment is improved. In some embodiments, after the laser D2D communication link is established between the diving equipment and the flying equipment, the diving equipment may cease to increase the emitted power of the laser reference signal to conserve energy.

Optionally, the sending the laser reference signal includes: and acquiring azimuth information of the diving equipment through gravity sensing, and transmitting a laser reference signal according to the azimuth information so as to form light spots in an air space above the diving equipment. In some embodiments, the diving equipment comprises a gravity sensor, based on which the diving equipment can obtain the azimuth information of the diving equipment through gravity induction, and according to the azimuth information, the diving equipment can always keep the direction of the laser beam to the airspace above the target water area.

In step S13, the diving equipment disconnects the wireless radio frequency D2D communication link, communicates with the flying equipment only through the laser D2D communication link, and continues to dive. The process of disconnecting the wireless radio frequency D2D communication link is initiated by the diving equipment.

In some embodiments, when the laser D2D communication link becomes stable, the diving equipment breaks the wireless radio frequency D2D communication link with the flying device and continues to dive. In some embodiments, the submersible device retracts the retractable antenna for wireless radio frequency communication after disconnecting the wireless radio frequency D2D communication link with the flying device; optionally, after the wireless radio frequency D2D communication link between the diving equipment and the flying equipment is disconnected, the module for wireless radio frequency communication in the diving equipment is put into a dormant state, so that energy is saved. During the submergence of the diving equipment, before the wireless radio frequency D2D communication link between the diving equipment and the flying equipment is disconnected (when the diving equipment pauses to submerge), the diving equipment and the flying equipment can simultaneously maintain the laser D2D communication link and the wireless radio frequency D2D communication link, and after the wireless radio frequency D2D communication link between the diving equipment and the flying equipment is disconnected, the diving equipment can continue to submerge, and communication with the flying equipment is only maintained through the laser D2D communication link during the continuous submergence.

In some embodiments, the method further comprises: if the diving equipment cannot directly establish a wireless radio frequency communication link with the base station after floating to the water surface in the floating process, establishing a wireless radio frequency D2D communication link with the flying equipment with the help of the laser D2D communication link, then disconnecting the laser D2D communication link, continuing to attempt to establish the wireless radio frequency communication link with the base station, and disconnecting the wireless radio frequency D2D communication link with the flying equipment after successfully establishing the wireless radio frequency communication link with the base station; and in the floating process of the diving equipment, if the diving equipment can directly establish a wireless radio frequency communication link with the base station, the laser D2D communication link is disconnected.

Wherein the diving equipment maintains communication with the flying equipment only through the laser D2D communication link before floating up to the surface. In some embodiments, once the diving equipment floats from the water, the diving equipment will extend the retractable antenna for wireless radio frequency communication and wake up the module for wireless radio frequency communication (no further wake up operations need to be performed if the module for wireless radio frequency communication is in an operational state). After the diving equipment is successfully accessed into the base station, the base station sends landing indication information to the flying equipment so as to inform the flying equipment to return and land.

It should be noted that, after the diving equipment floats on the water surface, if the diving equipment cannot directly access the base station and needs to establish the wireless radio frequency D2D communication with the flying equipment, the wireless radio frequency D2D communication is established by the diving equipment at this time, the diving equipment can establish the wireless radio frequency D2D communication link with the flying equipment in a base station assistance mode or a non-assistance mode, if the diving equipment adopts the base station assistance mode to establish the wireless radio frequency D2D communication link with the flying equipment, the base station schedules and allocates air interface resources required by the wireless radio frequency D2D communication link between the diving equipment and the flying equipment, if the diving equipment adopts the non-assistance mode to establish the wireless radio frequency D2D communication link with the flying equipment, the diving equipment (i.e. the initiator of the wireless radio frequency D2D communication link) schedules and allocates air interface resources required by the wireless radio frequency D2D communication link between the diving equipment and the flying equipment, i.e. the diving equipment selects air interface resources required by the wireless radio frequency D2D communication link from the resource pool.

In some embodiments, the method further comprises: at the beginning of the ascent, an ascent indication is sent to the flying device over the laser D2D communication link to inform the flying device that a wireless radio frequency D2D communication link with the diving equipment is ready to be established when needed.

The floating indication information is used for indicating that the diving equipment starts floating. It should be noted that, during the process of floating up, the wireless radio frequency D2D communication link with the flying device may or may not need to be established, and the flying device may be ready to establish the wireless radio frequency D2D communication link with the diving device when needed after receiving the floating up indication information from the diving device.

In some embodiments, during ascent, after ascent, the diving equipment continuously attempts to access its serving base station while maintaining the laser D2D communication link with the flying equipment, and after successfully accessing its serving base station, disconnects the laser D2D communication link with the flying equipment, and after successful access of the diving equipment to the base station, the base station will send a landing indication message to the flying equipment to inform the flying equipment to return and land. In this embodiment, after the diving equipment floats on the water surface, if the diving equipment cannot directly access to the service base station, the diving equipment continues to try, and does not establish a wireless radio frequency (D2D) communication link with the flying equipment, so that the flying equipment does not need to do relevant preparation work (such as a module for wireless radio frequency communication that the flying equipment enters a sleep state before waking up).

In some embodiments, the method further comprises: retracting a retractable antenna of the diving equipment for carrying out wireless radio frequency communication after disconnecting a wireless radio frequency D2D communication link with the flying equipment in the diving process; the retractable antenna is extended after the diving equipment floats up to the water surface in the process of floating up. Because the retractable antenna is retracted when the diving equipment is in water, the damage of the antenna can be prevented, the service life of the antenna can be prolonged, and meanwhile, the resistance of the diving equipment when the diving equipment is sailing in water can be reduced.

FIG. 2 shows a flow diagram of a method of line communication for diving equipment in a flying device in accordance with one embodiment of the present application. Fig. 2 shows a flow of communication by the flying device with the diving equipment during the diving of the diving equipment, and the method according to the present embodiment comprises a step S21, a step S22 and a step S23.

In step S21, the flight device flies to the airspace above the diving equipment according to the notification from the base station. Wherein the diving equipment is in the process of diving and is currently suspended from diving.

Specifically, after receiving the diving indication information from the diving equipment, the base station informs the flying equipment to fly to the airspace above the diving equipment according to the position information in the diving indication information, and after receiving the notification, the flying equipment flies to the airspace above the diving equipment according to the notification. The related operations are described in detail in the foregoing embodiments, and are not described herein.

In step S22, the flying device establishes a wireless radio frequency D2D communication link with the diving equipment, and with the help of the wireless radio frequency D2D communication link, establishes a laser D2D communication link with the diving equipment. In this step the diving equipment is still in a state of suspending diving. The related operations are described in detail in the foregoing embodiments, and are not described herein.

In some embodiments, the step S22 further includes: establishing a wireless radio frequency (D2D) communication link with the diving equipment, wherein the diving equipment is in the diving process and is currently suspended to dive; and responding to the received laser indication information sent by the diving equipment through the wireless radio frequency D2D communication link, opening a laser signal transceiver, performing laser detection operation by using an onboard photoelectric sensor (airborne photoelectric sensor), and establishing a laser D2D communication link with the diving equipment when a light spot formed by a laser reference signal sent by the diving equipment is detected. The related operations are described in detail in the foregoing embodiments, and are not described herein.

In some embodiments, the method further comprises: spraying is performed when a laser detection operation is performed by using an onboard photoelectric sensor, so that the scattering effect of laser is enhanced by using fine suspended water drops or aerosol formed by spraying to help detect light spots formed by the laser reference signal. In some embodiments, to facilitate the flying device to detect the light spot formed by the laser reference signal emitted by the diving equipment using the onboard photoelectric sensor, the flying device may emit a spray, and at the same time the diving equipment may increase the emitted power of the laser reference signal to increase the size of the light spot. After the flying device detects the light spot, the spraying may be stopped.

In step S23, the flying device disconnects the wireless radio frequency D2D communication link to communicate with the diving equipment only through the laser D2D communication link, wherein the diving equipment will continue to dive after disconnecting the wireless radio frequency D2D communication link. In some embodiments, the flying device may put a module for wireless radio frequency communication in the flying device into a sleep state after disconnecting the wireless radio frequency D2D communication link with the diving equipment. The related operations are described in detail in the foregoing embodiments, and are not described herein.

In some embodiments, the method further comprises: disconnecting the laser D2D communication link based on an indication of the diving equipment, or with the help of the laser D2D communication link, establishing a wireless radio frequency D2D communication link with the diving equipment, then disconnecting the laser D2D communication link, and disconnecting the wireless radio frequency D2D communication link with the diving equipment after the diving equipment establishes a wireless radio frequency communication link with the base station, wherein the diving equipment has floated on the water surface at this time; and if receiving the landing indication information sent by the base station, flying back to a landing point. In some embodiments, after the diving equipment floats on the water surface, if the diving equipment can directly access the base station (i.e. directly establish a wireless radio frequency communication link with the base station), a process for disconnecting the laser D2D communication link is initiated, the flying equipment disconnects the laser D2D communication link based on the indication of the diving equipment, then the communication between the flying equipment and the diving equipment is ended, and after receiving the landing indication information sent by the base station, the flying equipment flies back to the landing point of the flying equipment. In some embodiments, after the diving equipment floats on the water surface, if the diving equipment cannot directly access the base station, the diving equipment informs the flying equipment that the wireless radio frequency D2D communication link needs to be established through the laser D2D communication link, when the wireless radio frequency D2D communication link between the diving equipment and the flying equipment is successfully established, the diving equipment initiates a flow for disconnecting the laser D2D communication link, the flying equipment disconnects the laser D2D communication link based on the indication of the diving equipment, at the moment, the flying equipment and the diving equipment only communicate through the wireless radio frequency D2D communication link, then the diving equipment continues to try to access the base station, and initiates the flow for disconnecting the wireless radio frequency D2D communication link after the diving equipment is successfully accessed to the base station, after the wireless radio frequency D2D communication link between the diving equipment and the diving equipment is disconnected, the communication between the flying equipment and the diving equipment ends, and after the diving equipment receives the landing indication information sent by the base station, the diving equipment flies back to the landing point of the flying equipment. In some embodiments, the diving equipment always tries to access the base station after floating up to the water surface, and initiates a process for disconnecting the laser D2D communication link after successfully accessing the base station, the flying equipment disconnects the laser D2D communication link based on the indication of the diving equipment, and then the communication between the flying equipment and the diving equipment is ended, and the flying equipment flies back to the landing point of the flying equipment after receiving the landing indication information sent by the base station.

In some embodiments, before performing the operation step of establishing a wireless radio frequency D2D communication link with the diving equipment with the aid of the laser D2D communication link, the method further comprises: and receiving floating indication information sent by the diving equipment through the laser D2D communication link when the diving equipment starts to float, and responding to the floating indication information, and preparing to establish a wireless radio frequency D2D communication link with the diving equipment when necessary. The related operations are described in detail in the foregoing embodiments, and are not described herein.

The application also provides a communication method for the diving equipment in the wireless communication system, which comprises the following communication flow in the diving equipment diving process: in the submergence process of the diving equipment, when the wireless radio frequency communication link between the diving equipment and the base station is detected to meet the preset condition, suspending submergence and sending submergence indication information to the base station, wherein the submergence indication information comprises position information of the diving equipment; after receiving the submerging indication information, the base station informs the flying equipment to fly to an airspace above the submerging equipment according to the position information; the flying device flies to an airspace above the diving equipment according to the notification from the base station, then, the establishment of a wireless radio frequency D2D communication link with the diving equipment is initiated, and after the wireless radio frequency D2D communication link is established, a laser D2D communication link is established with the help of the wireless radio frequency D2D communication link; the diving equipment breaks a wireless radio frequency D2D communication link with the flying equipment, communicates with the flying equipment only through the laser D2D communication link, and continues to dive. The related operations are described in detail in the foregoing embodiments, and are not described herein.

In some embodiments, the method further comprises the following communication flow during the ascent of the diving equipment: if the diving equipment cannot directly establish a wireless radio frequency communication link with the base station after floating to the water surface in the floating process, initiating the establishment of the wireless radio frequency D2D communication link with the flying equipment with the help of the laser D2D communication link, disconnecting the laser D2D communication link after establishing the wireless radio frequency D2D communication link with the flying equipment, continuing to attempt to establish the wireless radio frequency communication link with the base station, and disconnecting the wireless radio frequency D2D communication link with the flying equipment after successfully establishing the wireless radio frequency communication link with the base station; if the diving equipment can directly establish a wireless radio frequency communication link with the base station in the floating process, the laser D2D communication link is disconnected; the base station sends landing indication information to the flying device after establishing a wireless radio frequency communication link with the diving equipment; and if the flight equipment receives the landing indication information, the flight equipment flies back to a landing point. The related operations are described in detail in the foregoing embodiments, and are not described herein.

Fig. 3 shows a schematic structural view of a diving apparatus of an embodiment of the present application. The diving equipment 1 comprises a first means 11, a second means 12 and a third means 13. Wherein the first means 11, the second means 12 and the third means 13 are adapted to perform operations during the submergence of the diving equipment 1.

The first device 11 is configured to suspend submerging and send submerging indication information to a base station when a wireless radio frequency communication link between the base station and the base station is detected to meet a predetermined condition during submerging of the diving equipment, where the submerging indication information includes position information of the diving equipment, so that the base station notifies the flying equipment to fly to an airspace above the diving equipment according to the position information.

The second means 12 are arranged to establish a radio frequency D2D communication link with the flying device during the dive and to establish a laser D2D communication link with the flying device with the aid of the radio frequency D2D communication link. The diving equipment is still in a state of suspending diving during the operation of the second device 12.

In some embodiments, the second device 12 is further to: establishing a wireless radio frequency D2D communication link with the flying device; then, a laser signal transceiver is turned on and continuously transmits a laser reference signal so as to form a light spot in a space above the diving equipment; transmitting laser indication information to the flying device through a wireless radio frequency (D2D) communication link between the flying device and the flying device, so that the flying device triggers laser detection operation after receiving the laser indication information, and establishes a laser D2D communication link between the flying device and the diving device when the light spot is detected; a laser D2D communication link is established with the flying device. In some embodiments, the second device 12 turns on the laser signal transceiver and uses the bluish-green laser beam to continuously transmit the laser reference signal, the bluish-green laser beam emitted by the diving equipment travels one spot in the airspace above the target waters. In some embodiments, the second apparatus 12 transmits laser indicating information to the flying device using a wireless radio frequency D2D communication link with the flying device, the laser indicating information being used to indicate that the diving device has turned on the laser signal transceiver, the flying device, after receiving the laser indicating information through the wireless radio frequency D2D communication link, turning on the laser signal transceiver in the flying device and attempting to detect a light spot formed by a bluish green laser beam emitted by the diving device, the laser D2D communication link being established between the flying device and the diving device once the flying device detects the light spot, while maintaining the wireless radio frequency D2D communication link.

Optionally, the turning on the laser signal transceiver and continuously sending the laser reference signal further includes: and increasing the emission power of the laser reference signal to increase the size of the light spot. Therefore, the light spot formed by the blue-green laser beam emitted by the diving equipment can be more conveniently detected by the flying equipment, and the detection efficiency of the flying equipment is improved. In some embodiments, after the laser D2D communication link is established between the diving equipment and the flying equipment, the second device 12 may cease to increase the emitted power of the laser reference signal to conserve energy.

Optionally, the sending the laser reference signal includes: and acquiring azimuth information of the diving equipment through gravity sensing, and transmitting a laser reference signal according to the azimuth information so as to form light spots in an air space above the diving equipment. In some embodiments, a gravity sensor is included in the diving equipment, based on which the second device 12 can obtain orientation information of the diving equipment by gravity sensing, according to which the second device 12 can always keep the direction of its laser beam directed to the airspace above the target waters.

The third means 13 is configured to disconnect the wireless radio frequency D2D communication link, communicate with the flying device only through the laser D2D communication link, and continue to dive. The process of disconnecting the wireless radio frequency D2D communication link is initiated by the diving equipment.

In some embodiments, when the laser D2D communication link becomes stable, the third means 13 breaks the wireless radio frequency D2D communication link with the flying device and continues to dive. In some embodiments, the submersible device retracts the retractable antenna for wireless radio frequency communication after disconnecting the wireless radio frequency D2D communication link with the flying device; optionally, after the wireless radio frequency D2D communication link between the diving equipment and the flying equipment is disconnected, the module for wireless radio frequency communication in the diving equipment is put into a dormant state, so that energy is saved. During the submergence of the diving equipment, before the wireless radio frequency D2D communication link between the diving equipment and the flying equipment is disconnected (when the diving equipment pauses to submerge), the diving equipment and the flying equipment can simultaneously maintain the laser D2D communication link and the wireless radio frequency D2D communication link, and after the wireless radio frequency D2D communication link between the diving equipment and the flying equipment is disconnected, the diving equipment can continue to submerge, and communication with the flying equipment is only maintained through the laser D2D communication link during the continuous submergence.

In some embodiments, the diving apparatus 1 further comprises fourth means (not shown) and fifth means (not shown) for performing operations during the floating up of the diving apparatus 1. The fourth device is used for establishing a wireless radio frequency D2D communication link with the flying equipment with the help of the laser D2D communication link after the wireless radio frequency communication link cannot be established with the base station after the diving equipment floats upwards to the water surface, disconnecting the laser D2D communication link, continuing to attempt to establish the wireless radio frequency communication link with the base station, and disconnecting the wireless radio frequency D2D communication link with the flying equipment after the wireless radio frequency communication link is successfully established with the base station; and the fifth device is used for disconnecting the laser D2D communication link if the wireless radio frequency communication link can be directly established with the base station in the floating process of the diving equipment.

In some embodiments, the diving apparatus 1 is further configured for: at the beginning of the ascent, an ascent indication is sent to the flying device over the laser D2D communication link to inform the flying device that a wireless radio frequency D2D communication link with the diving equipment is ready to be established when needed.

In some embodiments, the diving apparatus 1 is further configured for: retracting a retractable antenna of the diving equipment for wireless radio frequency communication after disconnecting a wireless radio frequency D2D communication link with the flying equipment during the diving process; the retractable antenna is extended after the diving equipment floats up to the water surface in the process of floating up. Because the retractable antenna is retracted when the diving equipment is in water, the damage of the antenna can be prevented, the service life of the antenna can be prolonged, and meanwhile, the resistance of the diving equipment when the diving equipment is sailing in water can be reduced.

Fig. 4 shows a schematic structural view of a flying apparatus according to an embodiment of the present application. The flying device 2 comprises sixth means 21, seventh means 22 and eighth means 23, wherein the sixth means 21, seventh means 22 and eighth means 23 are adapted to perform operations during the submerging of the diving equipment.

The sixth means 21 is for flying to the space above the diving equipment according to the notification from the base station. Wherein the diving equipment is in the process of diving and is currently suspended from diving.

Specifically, the sixth means 21 notifies the flight device to fly to the space above the diving equipment based on the position information in the diving indication information after receiving the diving indication information, and flies to the space above the diving equipment based on the notification after the flight device receives the notification. The related operations are described in detail in the foregoing embodiments, and are not described herein.

The seventh means 22 are arranged to establish a radio frequency D2D communication link with the diving equipment and with the aid of the radio frequency D2D communication link to establish a laser D2D communication link with the diving equipment. In this step the diving equipment is still in a state of suspending diving. The related operations are described in detail in the foregoing embodiments, and are not described herein.

In some embodiments, the seventh means 22 is further for: establishing a wireless radio frequency (D2D) communication link with the diving equipment, wherein the diving equipment is in the diving process and is currently suspended to dive; and responding to the received laser indication information sent by the diving equipment through the wireless radio frequency D2D communication link, opening a laser signal transceiver, executing laser detection operation by utilizing an onboard photoelectric sensor, and establishing a laser D2D communication link with the diving equipment when a light spot formed by a laser reference signal sent by the diving equipment is detected. The related operations are described in detail in the foregoing embodiments, and are not described herein.

In some embodiments, the flying device 2 is further configured to: spraying is performed when a laser detection operation is performed by using an onboard photoelectric sensor, so that a laser scattering effect is enhanced by using fine suspended water drops or aerosol formed by spraying to help detect a light spot formed by the laser reference signal. In some embodiments, to facilitate the flying device to detect the light spot formed by the laser reference signal emitted by the diving equipment using the onboard photoelectric sensor, the flying device may emit a spray, and at the same time the diving equipment may increase the emitted power of the laser reference signal to increase the size of the light spot. After the flying device detects the light spot, the spraying may be stopped.

Eighth means 23 is for disconnecting the wireless radio frequency D2D communication link for communicating with the diving equipment only via the laser D2D communication link, wherein the diving equipment will continue to dive after disconnecting the wireless radio frequency D2D communication link. In some embodiments, the flying device may put a module for wireless radio frequency communication in the flying device into a sleep state after disconnecting the wireless radio frequency D2D communication link with the diving equipment. The related operations are described in detail in the foregoing embodiments, and are not described herein.

In some embodiments, the flying apparatus 2 further comprises a ninth device (not shown) and a tenth device (not shown). Ninth means for disconnecting the laser D2D communication link based on an indication of the diving equipment, or with the aid of the laser D2D communication link, establishing a wireless radio frequency D2D communication link with the diving equipment, after which the laser D2D communication link is disconnected, and after the diving equipment establishes a wireless radio frequency communication link with the base station, disconnecting the wireless radio frequency D2D communication link with the diving equipment, wherein the diving equipment has been floated on the water surface at this time; and the tenth device is used for flying back to the landing point if receiving the landing indication information sent by the base station. In some embodiments, after the diving equipment floats on the water surface, if the base station can be directly accessed (i.e. a wireless radio frequency communication link is directly established with the base station), a process for disconnecting the laser D2D communication link is initiated, the ninth device disconnects the laser D2D communication link based on the indication of the diving equipment, after that, the communication between the flying equipment and the diving equipment is ended, and after receiving the landing indication information sent by the base station, the flying equipment flies back to the landing point of the flying equipment. In some embodiments, after the diving equipment floats on the water surface, if the diving equipment cannot directly access the base station, the diving equipment informs the flying equipment that the wireless radio frequency D2D communication link needs to be established through the laser D2D communication link, after the wireless radio frequency D2D communication link between the diving equipment and the flying equipment is successfully established, the diving equipment initiates a flow for disconnecting the laser D2D communication link, the ninth device disconnects the laser D2D communication link based on the indication of the diving equipment, at the moment, the flying equipment and the diving equipment only communicate through the wireless radio frequency D2D communication link, after the diving equipment continues to try to access the base station, and initiates a flow for disconnecting the wireless radio frequency D2D communication link after the diving equipment is successfully accessed into the base station, after the wireless radio frequency D2D communication link between the diving equipment and the diving equipment is disconnected, after the diving equipment receives the landing indication information sent by the base station, the diving equipment flies back to the landing point of the flying equipment. In some embodiments, the diving equipment always tries to access the base station after floating up to the water surface, and initiates a process for disconnecting the laser D2D communication link after successfully accessing the base station, the ninth device disconnects the laser D2D communication link based on the indication of the diving equipment, and then the communication between the flying equipment and the diving equipment is ended, and the flying equipment flies back to the landing point of the flying equipment after receiving the landing indication information sent by the base station.

In some embodiments, prior to performing the operation of establishing a wireless radio frequency D2D communication link with the diving equipment with the aid of the laser D2D communication link, the flying device 2 is further configured to: and receiving floating indication information sent by the diving equipment through the laser D2D communication link when the diving equipment starts to float, and responding to the floating indication information, and preparing to establish a wireless radio frequency D2D communication link with the diving equipment when necessary. The related operations are described in detail in the foregoing embodiments, and are not described herein.

Figure 5 illustrates a schematic diagram of the structure of an exemplary 5G UAV of the present application. The 5G UAV includes the following modules: CPU (Central Processing Unit ), memory (Memory), flight mechanism Module (Flying Mechanism Module), 5G antenna, 5G UE (User Equipment) Module, blue-green laser transceiver Module (Blue-greenLaser Transceiver Module), laser detection Module (Laser DetectingModule), spray Module (spray Module). The 5G UE module is used for wireless radio frequency communication with a base station or other 5G UEs; the blue-green laser transceiver module (i.e. corresponding to the "laser signal transceiver" mentioned above) is used to establish and maintain a bi-directional laser D2D communication link with the blue-green laser transceiver module in the 5G submersible, and the control circuit in the blue-green laser transceiver module can control the emission power of the blue-green laser signal according to the instructions of the CPU; the laser detection module consists of a 360-degree rotating device and a special onboard photoelectric sensor and is used for detecting light spots formed by laser reference signals emitted by the 5G submersible, and based on the light spots, the 5G UAV can detect the laser reference signals emitted by the 5G submersible at the fastest speed; the spraying module is used for spraying to form fine suspended water drops or aerosol when needed, which is very helpful for the 5G UAV to find light spots by using the laser detection module, and comprises a water injection pipe orifice (Water Filling Nozzle) from which clean fresh water can be added before the 5G UAV takes off; the flight mechanism module is to perform flight-related functions, such as hovering a 5G UAV over a 5G submersible to maintain a stable laser D2D communication link. It should be noted that one of ordinary skill in the art will appreciate that a module of the 5G UAV may be configured to perform all or part of the functions of one or more of the devices described in the embodiment of fig. 4, for example, the flight mechanism module of the 5G UAV may be configured to perform the functions of the sixth device 21 of fig. 4, and for example, the 5G UE module of the 5G UAV may be configured to perform the functions of the seventh device 22 to establish a wireless rf D2D communication link during the submergence of the diving equipment, and to perform the functions of the ninth device to establish a wireless rf D2D communication link during the uplift of the diving equipment.

Fig. 6 shows a schematic diagram of the structure of an exemplary 5G submersible of the application. The 5G submersible. The 5G submersible comprises the following modules: CPU, memory, motion mechanism module (Movement Mechanism Module), gravity sensor module (Gravity SensorModule), 5G UE module, retractable 5G Antenna (Retractable 5G Antenna), antenna Retractable mechanism module (Antenna Telescopic Mechanism Module), blue-green laser transceiver module (Blue-green Laser Transceiver Module), laser detection module (Laser Detecting Module). The 5G UE module is used for wireless radio frequency communication with a base station or other 5G UEs; the blue-green laser transceiver module is used for establishing and maintaining a bidirectional laser D2D communication link with the blue-green laser transceiver module in the 5G UAV, and a control circuit in the blue-green laser transceiver module can control the emission power of the conical blue-green laser beam according to the instruction of the CPU, so that the size of a light spot formed by the blue-green laser beam can be adjusted; the laser detection module consists of a 360-degree rotation device and a special photoelectric sensor, and by using the module, the 5G submersible can rapidly detect a laser signal from the 5G UAV; an antenna telescoping mechanism module for retracting the telescoping 5G antenna into the 5G submersible body when the submersible is submerged, and for extending the telescoping 5G antenna out of the 5G submersible body after the 5G submersible is floated up onto the water surface; the gravity sensor module is used for carrying out gravity sensing, and with the help of the gravity sensor module, the 5G submersible can always keep the emitted laser beam to be directed to the airspace above the target water area; and the motion mechanism module is used for executing motion-related functions, such as controlling the 5G submersible to suspend or continue to dive. It should be noted that one of ordinary skill in the art will appreciate that a module of the 5G submersible may be used to perform all or part of the functions of one or more of the devices described in the embodiment shown in fig. 3.

Fig. 7 illustrates an example communication flow during 5G submersible descent based on the 5G UAV of fig. 5 and the 5G submersible implementation of fig. 6. The specific flow is as follows: 1) When the 5G submersible starts to dive from the surface, the strength of the 5G signal between the 5G submersible and the gNB serving it will weaken, once the 5G signal becomes sufficiently weak (as when the reference signal received power measured at the 5G submersible is less than a predetermined threshold), the 5G submersible sends a dive indication information to the gNB, the dive indication information including the location information of the 5G submersible, the location information being obtained by the 5G submersible through the GPS receiver; the 5G submersible will not continue to dive after sending the diving indication information to the gNB, and at this stage, the retractable 5G antenna of the 5G submersible will still be located on the water surface; 2) After receiving the submergence indication information, the gNB informs a 5G UAV which is also connected to the gNB and is in an RRC idle state to fly to an airspace above a target water area where the 5G submersible is located; 3) When the 5G UAV reaches the airspace above the target waters, the 5G UAV will initiate establishment of a 5G D2D link (i.e., a wireless radio frequency D2D communication link) with the 5G submersible; 4) The steps further include: 4.1 After establishing a 5G d2d link with the 5G UAV, the 5G UE module in the 5G submersible requests to activate the blue-green laser transceiver module; 4.2 A blue-green laser transceiver module transmitting a laser reference signal using a blue-green laser; the 5G submersible obtains own azimuth information by gravity induction by utilizing a gravity sensor arranged on the 5G submersible, and always keeps the direction of a blue-green laser beam emitted by the 5G submersible to point to an airspace above a target water area according to the azimuth information; 5) The steps further include: 5.1 Using a 5G d2d link with the 5G UAV telling the 5G UAV that it has activated the blue-green laser transceiver module; 5.2 A 5G UE module in a 5G UAV requesting activation of a blue-green laser transceiver module; 6) After the 5G UAV starts the blue-green laser transceiver module, trying to find a light spot formed by a blue-green laser beam emitted by the 5G submersible, wherein for convenience of the 5G UAV to find the light spot by using an onboard photoelectric sensor, a spraying module of the 5G UAV can emit spraying, and the 5G submersible can increase the emission power of a blue-green laser signal to increase the size of the light spot; once the 5G UAV finds the spot formed by the bluish-green laser beam emitted by the 5G submersible, the 5G UAV and 5G submersible will establish a bluish-green laser D2D communication link while still maintaining the 5G D2D link; 7) The steps further include: 7.1 When the blue-green laser D2D communication link becomes stable, the 5G submersible will break the 5G D2D link with the 5G UAV and continue to dive, wherein after the 5G D2D link between the 5G submersible and the 5G UAV is broken, the 5G submersible will retract its retractable 5G antenna and put its 5G UE module into sleep; 7.2 In the water (including the process of continuing to submerge and the process prior to floating up to the surface), the 5G UAV and 5G submersible will remain in two-way communication only through the blue-green laser D2D communication link.

Figure 8 illustrates an example communication flow during 5G wetter ascent based on the 5G UAV shown in figure 5 and the 5G wetter implementation shown in figure 6. The specific flow is as follows: 1) When the 5G submersible starts to float up, the 5G submersible notifies the 5G UAV that it has started to float up through the cyan laser D2D communication link, once the cyan laser transceiver module of the 5G UAV successfully receives the notification of the 5G submersible, the 5G UE module of the 5G UAV will be ready to establish a 5G D2D link with the 5G submersible when needed; 2) Once emerging from the water, the 5G submersible will wake up its own 5G UE module and extend the retractable 5G antenna, before attempting to access the gNB directly. There are two possibilities thereafter, one of which is: 2.1 If the 5G submersible can directly access the gNB, the following operations are performed: 2.1.1 A 5G submersible disconnects the blue-green laser D2D communication link with the 5G UAV; 2.1.2 The gNB sends landing indication information to the 5G UAV, the 5G UAV flies back to a landing point after receiving the landing indication information, and the whole process is finished. Another possibility is: 2.2 If the 5G submersible cannot directly access the gNB, the following operations are performed: 2.2.1 Using a blue-green laser D2D communication link to tell the 5G UAV that a 5G D2D link needs to be established, after which the 5G submersible and the 5G UAV establish a 5G D2D link; 2.2.2 After the 5G D2D link is established, the 5G submersible disconnects the blue-green laser D2D communication link with the 5G UAV; 2.2.3 5G submersible will continue to attempt to access the gNB (5G submersible will travel to shore after floating out water so that the distance to the gNB will get closer) while maintaining the 5G d2d link with the 5G UAV; 2.2.4 After the 5G submersible is successfully accessed to the gNB, disconnecting a 5G D2D link with the 5G UAV; 2.2.5 Then, the gNB sends landing indication information to the 5G UAV to inform the 5G UAV to fly back to the landing point, and the 5G UAV flies back to the landing point after receiving the landing indication information, so that the whole process is finished.

In the prior art, in order to reduce the cost, a scheme of laser communication of a submersible-aircraft is proposed. The inventors of the present application have found that the following disadvantages exist for laser communication of a submersible-aircraft: 1) Conventional aircraft require one or more pilots to operate, while the overall cost of the aircraft and pilot remains high; 2) The conventional aircraft is not suitable for spinning on the target ocean/river/lake area, and the two-way communication between the submersible and the conventional aircraft cannot be always maintained due to the back and forth flight; 3) Not only are the number of ground bases available for direct communication with conventional aircraft small, but their geographical distribution is also difficult to meet, so one may have to build a ground base near the target ocean/river/lake area, or even have to build an on-board base, otherwise the data processing center will not be able to process the data collected by the submersible in real time.

According to the scheme of the application, through the logic of establishing and disconnecting the wireless radio frequency D2D communication link and the laser D2D communication link between the diving equipment and the flying equipment, the bidirectional communication between the diving equipment and the flying equipment can be always maintained when the signals between the diving equipment and the base station serving the diving equipment are weak; compared with the laser communication of the submersible-satellite and the laser communication of the submersible-airplane in the prior art, the cost is greatly reduced; by having a base station as a ground base that provides continuous wide area coverage, the flying device is made easier to find a direct communication link with the ground base, thereby enabling a greater opportunity for real-time data processing of the data collected by the diving equipment at the data processing center.

FIG. 9 illustrates an exemplary system that may be used to implement various embodiments described in the present application. In some embodiments, system 1000 can be implemented as any of the processing devices of embodiments of the present application. In some embodiments, system 1000 can include one or more computer-readable media (e.g., system memory or NVM/storage 1020) having instructions and one or more processors (e.g., processor(s) 1005) coupled with the one or more computer-readable media and configured to execute the instructions to implement the modules to perform the actions described in this disclosure.

For one embodiment, the system control module 1010 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 1005 and/or any suitable device or component in communication with the system control module 1010.

The system control module 1010 may include a memory controller module 1030 to provide an interface to the system memory 1015. The memory controller module 1030 may be a hardware module, a software module, and/or a firmware module.

System memory 1015 may be used, for example, to load and store data and/or instructions for system 1000. For one embodiment, system memory 1015 may comprise any suitable volatile memory, such as, for example, suitable DRAM. In some embodiments, the system memory 1015 may comprise double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, the system control module 1010 may include one or more input/output (I/O) controllers to provide an interface to NVM/storage 1020 and communication interface(s) 1025.

For example, NVM/storage 1020 may be used to store data and/or instructions. NVM/storage 1020 may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).

NVM/storage 1020 may include storage resources that are physically part of the device on which system 1000 is installed or which may be accessed by the device without being part of the device. For example, NVM/storage 1020 may be accessed over a network via communication interface(s) 1025.

Communication interface(s) 1025 may provide an interface for system 1000 to communicate over one or more networks and/or with any other suitable device. The system 1000 may wirelessly communicate with one or more components of a wireless network in accordance with any of one or more wireless network standards and/or protocols.

For one embodiment, at least one of the processor(s) 1005 may be packaged together with logic of one or more controllers (e.g., memory controller module 1030) of the system control module 1010. For one embodiment, at least one of the processor(s) 1005 may be packaged together with logic of one or more controllers of the system control module 1010 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 1005 may be integrated on the same die with logic of one or more controllers of the system control module 1010. For one embodiment, at least one of the processor(s) 1005 may be integrated on the same die with logic of one or more controllers of the system control module 1010 to form a system on chip (SoC).

In various embodiments, system 1000 may be, but is not limited to being: a server, workstation, desktop computing device, or mobile computing device (e.g., laptop computing device, handheld computing device, tablet, netbook, etc.). In various embodiments, system 1000 may have more or fewer components and/or different architectures. For example, in some embodiments, system 1000 includes one or more cameras, keyboards, liquid Crystal Display (LCD) screens (including touch screen displays), non-volatile memory ports, multiple antennas, graphics chips, application Specific Integrated Circuits (ASICs), and speakers.

The application also provides a diving equipment, wherein the diving equipment comprises: a memory for storing one or more programs; and one or more processors coupled to the memory, which when executed by the one or more processors, cause the one or more processors to perform the communication method for the diving equipment assisted by the base station and the flying equipment in the diving equipment according to the present application.

The application also provides a flying device, wherein the flying device comprises: a memory for storing one or more programs; and one or more processors connected with the memory, which when executed by the one or more processors, cause the one or more processors to perform the communication method for diving equipment in flying equipment assisted by the base station and the flying equipment according to the present application.

The application also provides a computer readable storage medium having stored thereon a computer program which is executable by a processor to perform the communication method in a diving equipment, assisted by a base station and a flying equipment, for said diving equipment.

The application also provides a computer readable storage medium having stored thereon a computer program which is executable by a processor to perform the communication method for a diving equipment in a flying equipment assisted by a base station and a flying equipment according to the application.

The application also provides a computer program product which, when executed by a device, causes the device to perform the communication method in a diving equipment of the application, assisted by a base station and a flying device, for the diving equipment.

The application also provides a computer program product which, when executed by a device, causes the device to perform the communication method for a diving equipment in a flying device assisted by a base station and a flying device according to the application.

It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the system claims can also be implemented by means of software or hardware by means of one unit or means. The terms first, second, etc. are used to denote a name, but not any particular order.

Claims

1. A communication method for diving equipment assisted by a base station and a flying equipment, applied to diving equipment, wherein the method comprises:

establishing a wireless radio frequency D2D communication link with the flying equipment, and establishing a laser D2D communication link with the flying equipment with the help of the wireless radio frequency D2D communication link; wherein,,

transmitting laser indication information to the flying device through the wireless radio frequency D2D communication link to trigger laser detection operation of the flying device, so as to establish a laser D2D communication link between the flying device and the diving device when the flying device detects a light spot formed by the diving device through a laser reference signal in an upper airspace of the diving device;

2. The method of claim 1, wherein the method further comprises:

3. The method of claim 2, wherein the method further comprises:

at the beginning of the ascent, an ascent indication is sent to the flying device over the laser D2D communication link to inform the flying device that a wireless radio frequency D2D communication link with the diving equipment is ready to be established when needed.

4. The method of claim 1, wherein the predetermined condition comprises: the received power of the reference signal received by the diving equipment and sent by the base station through the wireless radio frequency communication link is lower than a preset power threshold value.

5. The method of claim 1, wherein the establishing a wireless radio frequency, D2D, communication link with the flying device and with the aid of the wireless radio frequency, D2D, communication link with the flying device comprises:

establishing a wireless radio frequency D2D communication link with the flying device;

turning on a laser signal transceiver and continuously transmitting a laser reference signal to form a light spot in a space above the diving equipment;

transmitting laser indication information to the flying device through a wireless radio frequency (D2D) communication link between the flying device and the flying device, so that the flying device triggers laser detection operation after receiving the laser indication information, and establishes a laser D2D communication link between the flying device and the flying device when the flying device detects the light spot;

a laser D2D communication link is established with the flying device.

6. The method of claim 5, wherein the turning on the laser signal transceiver and continuously transmitting the laser reference signal further comprises:

and increasing the emission power of the laser reference signal to increase the size of the light spot.

7. The method of claim 5 or 6, wherein the transmitting a laser reference signal comprises:

And acquiring azimuth information of the diving equipment through gravity sensing, and transmitting a laser reference signal according to the azimuth information so as to form light spots in an air space above the diving equipment.

8. The method of claim 1, wherein the method further comprises:

retracting the retractable antenna of the diving equipment after disconnecting the wireless radio frequency D2D communication link with the flying equipment during the diving;

during the floating, the telescopic antenna is extended after floating up to the water surface.

9. The method of claim 1, wherein if a base station assistance mode is employed between the diving equipment and the flying equipment to establish the wireless radio frequency D2D communication link, scheduling and allocating air interface resources required for the wireless radio frequency D2D communication link by the base station; if a non-assistance mode is adopted between the diving equipment and the flying equipment to establish the wireless radio frequency D2D communication link, an initiator of the wireless radio frequency D2D communication link schedules and distributes air interface resources required by the wireless radio frequency D2D communication link.

10. A communication method for diving equipment assisted by a base station and a flying equipment, applied to the flying equipment, wherein the method comprises:

establishing a wireless radio frequency D2D communication link with the diving equipment, and establishing a laser D2D communication link with the diving equipment with the help of the wireless radio frequency D2D communication link; wherein,,

performing a laser detection operation in response to laser indication information received from the diving equipment and sent through the wireless radio frequency D2D communication link, and establishing a laser D2D communication link with the diving equipment when a light spot formed by a laser reference signal sent by the diving equipment is detected;

11. The method of claim 10, wherein the method further comprises:

12. The method of claim 11, wherein prior to performing the operation of establishing a wireless radio frequency D2D communication link with the diving equipment with the aid of the laser D2D communication link, the method further comprises:

and receiving floating indication information sent by the diving equipment through the laser D2D communication link when the diving equipment starts to float, and responding to the floating indication information, and preparing to establish a wireless radio frequency D2D communication link with the diving equipment when necessary.

13. The method according to any one of claims 10 to 12, wherein the establishing a wireless radio frequency, D2D, communication link with the diving equipment and with the aid of the wireless radio frequency, D2D, communication link with the diving equipment comprises:

establishing a wireless radio frequency (D2D) communication link with the diving equipment, wherein the diving equipment is in the diving process and is currently suspended to dive;

and responding to the received laser indication information sent by the diving equipment through the wireless radio frequency D2D communication link, opening a laser signal transceiver, executing laser detection operation by utilizing an onboard photoelectric sensor, and establishing a laser D2D communication link with the diving equipment when a light spot formed by a laser reference signal sent by the diving equipment is detected.

14. The method of claim 13, wherein the method further comprises:

spraying is performed while performing a laser detection operation with an on-board photosensor to help detect a spot formed by the laser reference signal with fine suspended water droplets or aerosols formed by the spraying.

15. A diving apparatus, wherein the diving apparatus comprises:

means for establishing a wireless radio frequency D2D communication link with the flying device and with the aid of the wireless radio frequency D2D communication link, establishing a laser D2D communication link with the flying device; wherein,,

16. The diving apparatus of claim 15, wherein said diving apparatus further comprises:

17. A flying apparatus, wherein the flying apparatus comprises:

means for flying to an airspace above the diving equipment based on the notification from the base station, wherein the diving equipment is in the process of diving and is currently suspended from diving;

Means for establishing a wireless radio frequency, D2D, communication link with the diving equipment and with the aid of the wireless radio frequency, D2D, communication link with the diving equipment; wherein,,

18. The flying apparatus of claim 17, wherein the flying apparatus further comprises:

19. A method of communication for a diving equipment assisted by a base station and a flying equipment, wherein the method comprises:

the flying equipment flies to an airspace above the diving equipment according to the notification from the base station, a wireless radio frequency D2D communication link between the flying equipment and the diving equipment is established, and a laser D2D communication link between the flying equipment and the diving equipment is established with the help of the wireless radio frequency D2D communication link; wherein,,

the flying device responds to the laser indication information received from the diving equipment and sent by the diving equipment through the wireless radio frequency D2D communication link, performs laser detection operation, and establishes a laser D2D communication link with the diving equipment when a light spot formed by a laser reference signal sent by the diving equipment is detected;

20. The method of claim 19, wherein the method further comprises: