CN115361071A - Vector co-axis based movable cross-domain communication equipment - Google Patents
Vector co-axis based movable cross-domain communication equipment Download PDFInfo
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- CN115361071A CN115361071A CN202211037143.0A CN202211037143A CN115361071A CN 115361071 A CN115361071 A CN 115361071A CN 202211037143 A CN202211037143 A CN 202211037143A CN 115361071 A CN115361071 A CN 115361071A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
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Abstract
The invention relates to the technical field of communication, in particular to a movable cross-domain communication device based on vector coaxiality, which comprises: the device comprises an antenna, an underwater acoustic transducer, a water bin mechanism, a central controller, a sealed cabin and a power mechanism; the antenna, the water sump mechanism and the central controller are all positioned in the sealed cabin; the power mechanism is positioned at one end of the sealed cabin; the underwater acoustic transducer is positioned at the other end of the sealed cabin; the antenna is used for carrying out radio frequency communication; the underwater acoustic transducer is used for underwater acoustic communication; the power mechanism is used for providing an air lift force and an underwater thrust force for the sealed cabin; the central controller is used for controlling the water sump mechanism, the antenna, the underwater acoustic transducer and the power mechanism. The invention can carry out communication and movement across domains and can carry out real-time communication in the air, on the water surface and under the water.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a movable cross-domain communication device based on vector coaxiality.
Background
Under the development of a new generation of intelligent communication network with global intercommunication and everything interconnection, the flexible construction of the sea-air-sky integrated communication network provides an idea for the development of global intelligent communication. How to realize that a series of underwater equipment needing communication, such as an underwater sensor, an underwater sound detection radar, an underwater submarine and the like, and a ground-based radio base station and a space-based satellite network more effectively establish a communication link, how to flexibly form a network and how to effectively transmit data in real time are important problems which need to be considered under the whole communication network framework.
Various communication base stations have been developed in the field of wireless communication to solve the problem of communication relay in wireless communication networks, and these base stations are classified into two types, namely fixed communication base stations and mobile communication base stations. The fixed communication base station comprises a signal base station installed on land, an underwater acoustic communication base station with anchor nails, a water surface base station based on underwater acoustic transducers and the like; the mobile communication base station comprises a radio communication base station carried by a hot air balloon, a radio frequency communication relay carried by an unmanned aerial vehicle, an underwater acoustic communication relay based on an underwater vehicle and the like. Because various complex scenes mostly need to be supported by communication equipment, special communication scenes need specific communication equipment to ensure real-time communication. The different communication base stations mentioned above have covered almost all types, including cross-media communication systems based on underwater acoustic transducers, which allow the connection of electromagnetic radio wave devices with underwater acoustic wave devices near the water surface. But still lack a communication equipment that can move across the medium, solve the problem that communication node fast network deployment, fast dispatch in the integrated communication network of sea sky.
In addition, the prior art referred to mechanically includes an amphibious unmanned aerial vehicle, a cross-medium unmanned aerial vehicle, an air-submerged unmanned aerial vehicle and the like, but the invention or discovery (air-submerged unmanned aerial vehicle) of the single mechanical structure only realizes cross-region movement, does not solve the cross-region communication problem in the communication field, and simultaneously does not consider an underwater control method, and cannot realize effective control or effective communication on the unmanned aerial vehicle located in deep water through land radio.
Disclosure of Invention
In view of the above, the present invention provides a movable cross-domain communication device based on vector coaxiality, which can realize multiple movements of a communication base station across two media, namely water and air, and realize real-time communication connection no matter radio or underwater sound through a radio device and an underwater acoustic transducer, thereby realizing a cross-medium communication network based on an acoustic-electric cooperation technology, breaking through the limitations of the original mobile communication base station, and providing a favorable guarantee for the future construction of global communication network mutual fusion and intelligent network.
In order to achieve the purpose, the invention provides the following scheme:
a movable cross-domain communication device based on vector co-axial, comprising: the device comprises an antenna, an underwater acoustic transducer, a water bin mechanism, a central controller, a sealed cabin and a power mechanism;
the antenna, the water sump mechanism and the central controller are all positioned in the sealed cabin;
the power mechanism is positioned at one end of the sealed cabin; the underwater acoustic transducer is positioned at the other end of the sealed cabin;
the antenna is used for carrying out radio frequency communication; the underwater acoustic transducer is used for underwater acoustic communication;
the power mechanism is used for providing an air lift force and an underwater thrust force for the sealed cabin;
the central controller is used for controlling the water bin mechanism, the antenna, the underwater acoustic transducer and the power mechanism.
Preferably, the power mechanism includes: the device comprises a first rotor, a second rotor, a first motor, a second motor, a first sleeve, a second sleeve, a first roll-over stand, a second roll-over stand, a support frame, a first steering engine, a second steering engine, a first connecting rod mechanism and a second connecting rod mechanism;
the first sleeve and the second sleeve are connected through a plurality of bearing sleeves;
the first rotor wing is connected with one end of the first sleeve, and the first motor is connected with the other end of the first sleeve through a first speed change gear box;
the second rotor wing is connected with one end of the second sleeve, and the second motor is connected with the other end of the second sleeve through a second speed change gear box;
the first rotor wing is positioned above the second rotor wing, and the rotation direction of the first rotor wing is opposite to that of the second rotor wing;
the first motor and the second motor are both fixed on the first overturning frame, the second overturning frame is sleeved on the outer side of the first overturning frame, and the first overturning frame is rotatably connected with the second overturning frame; the second overturning frame is arranged on the supporting frame and is in rotary connection with the supporting frame;
the rotating shaft of the first turnover frame is perpendicular to the rotating shaft of the second turnover frame; the first steering engine is fixed on the second turnover frame, and an output shaft of the first steering engine is connected with the first turnover frame through the first connecting rod mechanism; the second steering engine is fixed on the support frame, and an output shaft of the second steering engine is connected with the second turnover frame through the second connecting rod mechanism;
the support frame is fixedly arranged at one end of the sealed cabin.
Preferably, the sump mechanism includes: the water treatment system comprises a first water pump, a second water pump, a first water sump and a second water sump;
the first water sump and the second water sump are respectively positioned at two ends in the sealed cabin;
the first water pump is used for filling and discharging water to the first water sump;
and the second water pump is used for filling and discharging water to the second water sump.
Preferably, the movable cross-domain communication device further comprises a battery and a voltage converter;
the voltage converter converts the electric energy provided by the battery and then provides energy for the antenna, the underwater acoustic transducer, the water bin mechanism and the power mechanism.
Preferably, the first linkage comprises a first swing arm and a first rocker;
one end of the first swing arm is fixed on an output shaft of the first steering engine, the other end of the first swing arm is hinged to one end of the first rocker, and the other end of the first rocker is hinged to the first turnover frame.
Preferably, the second linkage comprises a second swing arm and a second rocker;
one end of the second swing arm is fixed on an output shaft of the second steering engine, the other end of the second swing arm is hinged to one end of the second rocker, and the other end of the second rocker is hinged to the second roll-over stand.
Preferably, the second roll-over stand is provided with two first rotating holes and two second rotating holes respectively, the first rotating holes are coaxially arranged, the second rotating holes are coaxially arranged, the coaxial line of the first rotating holes is perpendicular to the coaxial line of the second rotating holes, the first roll-over stand is rotatably connected with the second roll-over stand through the two first rotating holes, and the second roll-over stand is rotatably connected with the support frame through the two second rotating holes.
Preferably, the movable cross-domain communication equipment comprises three communication modes of underwater acoustic communication, radio frequency communication and hybrid communication;
when the movable cross-domain communication device is located in the air; the central controller controls the antenna to carry out radio frequency communication;
when the movable cross-domain communication device is located underwater; the central controller controls the underwater acoustic transducer to carry out underwater acoustic communication;
when the mobile cross-domain communication device is located on the surface of the water; the central controller controls the antenna to carry out air radio frequency communication; the central controller controls the underwater acoustic transducer to perform underwater acoustic communication.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to a movable cross-domain communication device based on vector coaxiality, which comprises: the system comprises an antenna, an underwater acoustic transducer, a water bin mechanism, a central controller, a sealed cabin and a power mechanism; the antenna, the water sump mechanism and the central controller are all positioned in the sealed cabin; the power mechanism is positioned at one end of the sealed cabin; the underwater acoustic transducer is positioned at the other end of the sealed cabin; the antenna is used for carrying out radio frequency communication; the underwater acoustic transducer is used for underwater acoustic communication; the power mechanism is used for providing an air lift force and an underwater thrust force for the sealed cabin; the central controller is used for controlling the water sump mechanism, the antenna, the underwater acoustic transducer and the power mechanism. The invention can carry out communication and movement across domains and can carry out real-time communication in the air, on the water surface and under the water.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a block diagram of a movable cross-domain communication device based on vector co-axis according to the present invention.
Description of the symbols: the system comprises an antenna 1, an underwater acoustic transducer 2, a water bin mechanism 3, a central controller 4, a sealed cabin 5, a power mechanism 6 and a battery 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a movable cross-domain communication device based on vector coaxiality, which can realize multiple movements of a communication base station across water and air media, and realize real-time communication connection of radio and underwater sound through a radio device and an underwater acoustic transducer, thereby realizing a cross-media communication network based on an acoustic-electric cooperative technology, breaking through the limitation of the original mobile communication base station, and providing favorable guarantee for the construction of future global communication network mutual fusion and intelligent network.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
FIG. 1 is a block diagram of a movable cross-domain communication device based on vector co-axis according to the present invention. As shown in fig. 1, the present invention provides a movable cross-domain communication device based on vector co-axis, comprising: the underwater acoustic transducer comprises an antenna 1, an underwater acoustic transducer 2, a water bin mechanism 3, a central controller 4, a sealed cabin 5, a power mechanism 6 and a battery 7.
The antenna 1, the water sump mechanism 3 and the central controller 4 are all located in the sealed cabin 5.
The power mechanism 6 is positioned at one end of the sealed cabin 5; the underwater acoustic transducer 2 is located at the other end of the capsule 5.
The antenna 1 is used for radio frequency communication; the underwater acoustic transducer 2 is used for underwater acoustic communication.
The power mechanism 6 is used for providing air lift force and underwater thrust force for the sealed cabin 5.
The central controller 4 is used for controlling the water sump mechanism 3, the antenna 1, the underwater acoustic transducer 2 and the power mechanism 6.
Specifically, the power mechanism 6 includes: first rotor, second rotor, first motor, second motor, first sleeve pipe, second sleeve pipe, first roll-over stand, second roll-over stand, support frame, first steering wheel, second steering wheel, first link mechanism and second link mechanism.
The first sleeve and the second sleeve are connected by a number of bearing sleeves.
First rotor with first sheathed tube one end is connected, first motor through first change gear case with first sheathed tube the other end is connected.
The second rotor is connected with one end of the second sleeve, and the second motor is connected with the other end of the second sleeve through a second speed change gear box.
The rotating speed of the first motor can be adjusted under the same power based on different gear ratios of the first speed change gear box, so that the problem of interference of different rotating speeds of the first motor on sound waves with different frequencies is solved. The rotating speed of the second motor can be adjusted under the same power based on different gear ratios of the second change speed gear box, so that the problem of interference of different rotating speeds of the second motor on sound waves with different frequencies is solved.
The first rotor is located above the second rotor, and the rotation direction of the first rotor is opposite to that of the second rotor.
The first motor and the second motor are both fixed on the first overturning frame, the second overturning frame is sleeved on the outer side of the first overturning frame, and the first overturning frame is rotatably connected with the second overturning frame; the second roll-over stand is arranged on the support frame, and the second roll-over stand is rotatably connected with the support frame.
The rotating shaft of the first turnover frame is perpendicular to the rotating shaft of the second turnover frame; the first steering engine is fixed on the second turnover frame, and an output shaft of the first steering engine is connected with the first turnover frame through the first connecting rod mechanism; the second steering engine is fixed on the support frame, and an output shaft of the second steering engine is connected with the second turnover frame through the second connecting rod mechanism.
The support frame is fixedly arranged at one end of the sealed cabin 5.
Further, the sump mechanism 3 includes: the water tank comprises a first water pump, a second water pump, a first water bin and a second water bin.
The first water sump and the second water sump are respectively positioned at two ends inside the sealed cabin 5.
The first water pump is used for filling water and discharging water to the first water sump.
And the second water pump is used for filling and discharging water to the second water sump.
The attitude angle of the movable cross-domain communication equipment is obtained through a gyroscope and is sent to the central controller 4, the central controller 4 adjusts the attitude of the movable cross-domain communication equipment in water according to the water amount in the first water sump and the second water sump adjusted by the attitude angle, the underwater acoustic transducer 2 is arranged at different angles underwater, and the problem that the underwater acoustic communication range is influenced by the angle of sound waves generated by the underwater acoustic transducer 2 is solved.
The electric energy provided by the battery 7 is converted by a voltage converter and then supplies power to the first motor, the second motor, the antenna 1, the underwater acoustic transducer 2, the first water pump, the second water pump, the first steering engine and the second steering engine.
Preferably, the first link mechanism includes a first swing arm and a first rocker.
One end of the first swing arm is fixed on an output shaft of the first steering engine, the other end of the first swing arm is hinged to one end of the first rocker, and the other end of the first rocker is hinged to the first turnover frame.
Preferably, the second linkage comprises a second swing arm and a second rocker.
One end of the second swing arm is fixed on an output shaft of the second steering engine, the other end of the second swing arm is hinged to one end of the second rocker, and the other end of the second rocker is hinged to the second roll-over stand.
Furthermore, the second turnover frame is provided with two first rotating holes and two second rotating holes respectively, the two first rotating holes are coaxially arranged, the two second rotating holes are coaxially arranged, the coaxial line of the two first rotating holes is perpendicular to the coaxial line of the two second rotating holes, the first turnover frame is rotatably connected with the second turnover frame through the two first rotating holes, and the second turnover frame is rotatably connected with the support frame through the two second rotating holes.
The movable cross-domain communication equipment provided by the invention comprises three communication modes of underwater acoustic communication, radio frequency communication and hybrid communication.
When the movable cross-domain communication device is located in the air; the central controller 4 controls the antenna 1 to perform radio frequency communication.
When the movable cross-domain communication device is underwater; the central controller 4 controls the underwater acoustic transducer 2 to perform underwater acoustic communication.
When the mobile cross-domain communication device is located on the surface of the water; the central controller 4 controls the antenna 1 to carry out air radio frequency communication; the central controller 4 controls the underwater acoustic transducer 2 to perform underwater acoustic communication. The central controller 4 performs fusion processing on the radio frequency communication and the underwater acoustic communication. Since the information transmission rates of the underwater acoustic communication and the radio frequency communication are greatly different, an independent acoustic-electric cooperative communication protocol is required as a support.
The type of interface for connecting the central controller 4 with the antenna 1 and the underwater acoustic transducer 2 is not limited.
The cross-domain process of the movable cross-domain communication device is as follows:
in the empty water cross-domain process, the movable cross-domain communication equipment firstly falls to the water surface based on the power mechanism 6, at the moment, the power mechanism 6 keeps vertical stability in water, the second water sump starts to fill water, and the power mechanism 6 stops rotating until the second water sump is full of water. When the movable cross-domain communication equipment is completely submerged below the water surface, the first water sump starts to be filled with water, and the posture of the first water sump is adjusted through posture data given by the gyroscope, so that the movable cross-domain communication equipment is kept horizontal in the water. When the movable cross-domain communication equipment needs to submerge rapidly, the first water bin is kept full of water, the second water bin is in a semi-water state, namely the head of the movable cross-domain communication equipment faces downwards, and at the moment, the power mechanism 6 is started to submerge rapidly in deep water. When the water storage capacity of the second water sump is larger than that of the first water sump, the head of the movable cross-domain communication equipment faces upwards, and the power mechanism 6 drives the movable cross-domain communication equipment to move quickly to the deep water surface. When the first water sump and the second water sump are empty, the movable cross-domain communication equipment can quickly float. When the movable cross-domain communication equipment is underwater and the water storage capacity of the first water sump and the second water sump is in a certain state, the movable cross-domain communication equipment is in a floating state underwater. When the movable cross-domain communication equipment floats to the water surface and the second water sump has a certain water volume, the movable cross-domain communication equipment can realize a floating state vertical to the water surface, and at the moment, the gravity center of the communication equipment is close to the bottom. When the movable cross-domain communication equipment is on the water surface and the power mechanism 6 is started, the communication equipment can be changed to a flying state, and the power mechanism 6 drives the movable cross-domain communication equipment to realize flying in different directions.
The relay process of the movable cross-domain communication equipment is as follows:
in the flight process, the movable cross-domain communication equipment only adopts radio frequency communication as a relay to transmit information, at the moment, the position and the height of the movable cross-domain communication equipment are adjusted according to the actual information data receiving and sending quantity, and then the movable cross-domain communication equipment is controlled to adjust the communication range or avoid and penetrate through a cloud layer. When the underwater equipment is in a water surface floating state, the movable cross-domain communication equipment fuses the radio-frequency signal and the underwater sound signal in a sound-electricity cooperative mode, so that the underwater equipment can be in communication connection with land-based equipment, space-based equipment and space-based equipment in real time. In a submergence state, the movable cross-domain communication equipment only adopts underwater acoustic communication as a relay to be responsible for underwater acoustic signals to transmit information, and meanwhile, the movable cross-domain communication equipment is suspended underwater by adjusting the water storage capacity of the first water sump and the second water sump, so that the energy consumption is reduced to the maximum extent, and the service life of the communication equipment is maximized.
The movable cross-domain communication equipment can be rapidly scheduled in different media and different areas, and can acquire sensor data at different underwater positions or reach positions needing communication resources for relaying.
The point-to-point communication and ad hoc network of the mobile cross-domain communication device are as follows:
the movable cross-domain communication equipment can be directly connected with other radio frequency communication relays in the air and expanded into a radio communication network, information is transmitted in a radio frequency signal mode, and meanwhile, a plurality of movable cross-domain communication equipment are used in the air, so that an ad-hoc radio frequency communication network can be formed, and the communication range is expanded. Similarly, the movable cross-domain communication equipment is directly connected with other underwater acoustic communication relays underwater and is expanded into an underwater acoustic communication network, information is transmitted in an underwater acoustic signal mode, and meanwhile, the plurality of movable cross-domain communication equipment are used underwater, so that an ad-hoc underwater acoustic communication network can be formed, and the communication range is expanded. The movable cross-domain communication equipment is characterized in that cross-medium communication can be realized by floating the movable cross-domain communication equipment on the water surface, namely, land-based, space-based and space-based radio frequency communication equipment and underwater sound wave communication equipment are connected at the same time, and information fusion of different signal modes is realized. The plurality of movable cross-domain communication devices are respectively positioned on water, on the water surface and under the water, so that a cross-medium communication network can be formed, a sound-electricity cooperative communication system is realized, the limitation of the original single-medium communication is broken through, and the movable cross-domain communication devices positioned under the water and on the water surface and the movable cross-domain communication devices positioned in the air can exchange positions, so that the realization of a sea-air-sky integrated communication network is promoted.
Control of the mobile cross-domain communication device:
because of the different communication modes of different media, no control system can be used in air and underwater simultaneously. The movable cross-domain communication equipment provided by the invention can control the movable cross-domain communication equipment under different media through two communication modes of radio frequency and underwater sound. When the movable cross-domain communication equipment is in the air, the movable cross-domain communication equipment can be directly controlled through radio frequency communication; when the movable cross-domain communication equipment is underwater, referring to the introduction of the movable cross-domain communication equipment on point-to-point communication and an ad hoc network, a plurality of movable cross-domain communication equipment are adopted, cross-medium communication relay in the floating process of the water surface is realized, radio frequency signals and underwater acoustic signals are fused, and the movable cross-domain communication equipment is controlled underwater.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understand the device and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (8)
1. A movable cross-domain communication device based on vector co-axial, comprising: the system comprises an antenna, an underwater acoustic transducer, a water bin mechanism, a central controller, a sealed cabin and a power mechanism;
the antenna, the water sump mechanism and the central controller are all positioned in the sealed cabin;
the power mechanism is positioned at one end of the sealed cabin; the underwater acoustic transducer is positioned at the other end of the sealed cabin;
the antenna is used for carrying out radio frequency communication; the underwater acoustic transducer is used for underwater acoustic communication;
the power mechanism is used for providing aerial lift force and underwater thrust force for the sealed cabin;
the central controller is used for controlling the water bin mechanism, the antenna, the underwater acoustic transducer and the power mechanism.
2. The movable cross-domain communication device of claim 1, wherein the power mechanism comprises: the device comprises a first rotor, a second rotor, a first motor, a second motor, a first sleeve, a second sleeve, a first roll-over stand, a second roll-over stand, a support frame, a first steering engine, a second steering engine, a first connecting rod mechanism and a second connecting rod mechanism;
the first sleeve and the second sleeve are connected through a plurality of bearing sleeves;
the first rotor wing is connected with one end of the first sleeve, and the first motor is connected with the other end of the first sleeve through a first speed change gear box;
the second rotor wing is connected with one end of the second sleeve, and the second motor is connected with the other end of the second sleeve through a second speed change gear box;
the first rotor is positioned above the second rotor, and the rotation direction of the first rotor is opposite to that of the second rotor;
the first motor and the second motor are both fixed on the first turning frame, the second turning frame is sleeved on the outer side of the first turning frame, and the first turning frame is rotationally connected with the second turning frame; the second overturning frame is arranged on the supporting frame and is in rotary connection with the supporting frame;
the rotating shaft of the first turnover frame is perpendicular to the rotating shaft of the second turnover frame; the first steering engine is fixed on the second turnover frame, and an output shaft of the first steering engine is connected with the first turnover frame through the first connecting rod mechanism; the second steering engine is fixed on the support frame, and an output shaft of the second steering engine is connected with the second turnover frame through the second connecting rod mechanism;
the support frame is fixedly arranged at one end of the sealed cabin.
3. The movable cross-domain communication device of claim 1, wherein the sump mechanism comprises: the water treatment system comprises a first water pump, a second water pump, a first water sump and a second water sump;
the first water sump and the second water sump are respectively positioned at two ends of the inside of the sealed cabin;
the first water pump is used for filling and discharging water to the first water sump;
and the second water pump is used for filling and draining water to the second water sump.
4. The movable cross-domain communication device of claim 1, further comprising a battery and a voltage converter;
the voltage converter converts the electric energy provided by the battery and then provides energy for the antenna, the underwater acoustic transducer, the water bin mechanism and the power mechanism.
5. The movable cross-domain communication device of claim 2, wherein the first linkage comprises a first swing arm and a first rocker arm;
one end of the first swing arm is fixed on an output shaft of the first steering engine, the other end of the first swing arm is hinged to one end of the first rocker, and the other end of the first rocker is hinged to the first turnover frame.
6. The movable cross-domain communication device of claim 2, wherein the second linkage comprises a second swing arm and a second rocker;
one end of the second swing arm is fixed on an output shaft of the second steering engine, the other end of the second swing arm is hinged to one end of the second rocker, and the other end of the second rocker is hinged to the second roll-over stand.
7. The mobile cross-domain communication device according to claim 2, wherein the second turning frame is provided with two first turning holes and two second turning holes, the two first turning holes are coaxially arranged, the two second turning holes are coaxially arranged, a coaxial line of the two first turning holes is perpendicular to a coaxial line of the two second turning holes, the first turning frame is rotatably connected with the second turning frame through the two first turning holes, and the second turning frame is rotatably connected with the supporting frame through the two second turning holes.
8. The movable cross-domain communication device of claim 2, wherein the movable cross-domain communication device comprises three communication modes of underwater acoustic communication, radio frequency communication and hybrid communication;
when the movable cross-domain communication device is located in the air; the central controller controls the antenna to carry out radio frequency communication;
when the movable cross-domain communication device is underwater; the central controller controls the underwater acoustic transducer to carry out underwater acoustic communication;
when the mobile cross-domain communication device is located on the surface of the water; the central controller controls the antenna to carry out air radio frequency communication; the central controller controls the underwater acoustic transducer to carry out underwater acoustic communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211037143.0A CN115361071A (en) | 2022-08-26 | 2022-08-26 | Vector co-axis based movable cross-domain communication equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211037143.0A CN115361071A (en) | 2022-08-26 | 2022-08-26 | Vector co-axis based movable cross-domain communication equipment |
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| CN115361071A true CN115361071A (en) | 2022-11-18 |
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| CN202211037143.0A Pending CN115361071A (en) | 2022-08-26 | 2022-08-26 | Vector co-axis based movable cross-domain communication equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116260529A (en) * | 2023-03-10 | 2023-06-13 | 中国舰船研究设计中心 | Cross-seawater medium high-speed information transmission device |
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2022
- 2022-08-26 CN CN202211037143.0A patent/CN115361071A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116260529A (en) * | 2023-03-10 | 2023-06-13 | 中国舰船研究设计中心 | Cross-seawater medium high-speed information transmission device |
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