RU2656825C1 - Underwater robotic-engineering system control method via the communication channel - Google Patents

Abstract

FIELD: radio equipment and communications.

SUBSTANCE: invention relates to the field of the radio signals transmission for the control over the underwater robotic system (URS). Autonomous unmanned underwater vehicle (AUUV) and the control station (CS) are functionally connected via radio channel and are provided with the information receiving and transmitting means. Radio communication and control channel between the AUUV and the CS is implemented through the cellular radiotelephone communication system when AUUV is in the coverage area of the latter and its radio antenna is located above the water surface. As the reception and transmission means, cellular radiotelephones are installed aboard AUUV and CS, including at least functionally interconnected digital signal processor (CPU), analog-to-digital converter, speech encoder, channel encoder, channel decoder, speech decoder, digital-to-analog converter, equalizer, keyboard, display, messages encryption and decryption unit, speech activity detector, terminal devices, SIM card.

EFFECT: technical result consists in increase in the radio signals transmission communication channel reliability and stability.

1 cl, 1 dwg

Description

The invention relates to the field of signal transmission, characterized by the use of wireless electrical communications, namely, the use of radio signals, and is intended primarily for organizing a communication channel and controlling an underwater robotic complex (PRTK), including an autonomous uninhabited underwater vehicle (AUV) and a ship or coastal control post ( PU), through the use of a cellular radiotelephone communication system, provided that the PRTK is in the coverage area of the means and systems of cellular communications in Russia, ak and beyond. This invention can also be used to organize a communication channel and control unmanned aerial vehicles and ground-based robotic systems.

Underwater robotic systems are used for mapping bottom topography, performing surveying sonar and photographing the seabed, surveying bottom structures, trunk pipelines, submarine cables, port water areas, monitoring the marine environment, including burial sites of chemical and explosives and examining potentially dangerous underwater objects, studying the structure bottom soil, photographing selected areas of the bottom surface and underwater objects.

Obviously, the effectiveness of such operations would be much higher if the PRTK were equipped with radio communications, the main purpose of which is seen, on the one hand, in the possibility of operational control of the underwater vehicle-robot, and on the other, in the possibility of their transfer to a ship or coastal post management of the results of sonar equipment, video and other information.

Recently, mobile and ultra-compact communication devices, such as smartphones, cell phones, etc., are popular with a large number of different users. As this market segment has already been developed, more and more functionalities are being incorporated into mobile devices of cellular radiotelephone communication systems. As a rule, when the number of different types of mobile communication devices grows, the functionality included in them, as well as the requirement for added functions, also grows. Manufacturers of mobile devices for cellular communications are constantly responding to the increased demand for functional capabilities by the fact that they include additional functions and open the operating systems that control them, thereby providing users with the opportunity to expand the scope of their cellular communications system, for example, to organize a communication channel and control mobile PRTK when the AUV is in the range of cellular communications.

The invention is known related to a remotely-controlled mobile robotic complex, located on the moving part of the moving object-chassis, and a control point (patent RU No. 2547633, IPC G08C 17/02, published on 04/10/2015, "A method of organizing a wireless control channel for a mobile robotic complex and communication and data transmission system ”). This invention solves the problem of increasing the efficiency and reliability of robotic weapons systems.

In the known method of organizing a wireless control channel for a mobile robotic complex, which includes organizing a complex information exchange channel equipped with information reception and transmission systems between the complex systems, including between the pattern recognition system, information processing units, sensors and the complex computing system, that at the initial stage for the organization of a wireless control channel of a mobile robotic complex, an assessment and determination of determining the necessary bandwidth (connection speed) of the channel for transmitting control and telemetry commands, the second stage assesses and determines the necessary bandwidth (connection speed) of the channel for transmitting video information, taking into account the analysis of the recognition quality of objects of various configurations on the transmitted video information, at the third stage comparative analysis of video compression and transmission formats, selection of the source image modes and the general structure of the communication subsystem, even The third stage is the analysis of the characteristics of the frequency ranges and the selection of the most suitable frequency range for use as part of an RTO, based on the possibility of providing communication over a distance of (2-3) km and the technical characteristics of the necessary equipment; at the fifth stage, the structure of a communication and data transmission system is formed based on on a mixed (integrated) method of transmitting information in analog and digital form. This method of organizing a wireless control channel for a mobile robotic complex is implemented by a communication and data transmission system containing an information exchange channel, information processing units, information reception and transmission devices, a computer system in which the new thing is that in a communication and data transmission system for transmission at a mixed (integrated) method of transmitting information by a video signal transmitter, an on-board computer, a data radio modem installed on the mobile part of a mobile robotic complex, for data reception when the mixed (complex) method involves: a video receiver associated with the block of the analog decoding control station computer, a video capture unit, a data radio modem. A communication and data transmission system for transmission with a mixed (integrated) method for transmitting video information consists of a transmitting part located on the moving part of the mobile robotic complex (RTO) and a receiving part located on the control point (PU).

The technical result obtained by the implementation of the group of inventions is to create a method for organizing a wireless control channel for a mobile robotic complex and a communication and data transmission system that provide transmission of control commands and reception of telemetry, video transmission, transmission of service information, updating of microprograms without complicating the functioning of the communication system and data transmission and applied technical means while ensuring a high degree of reliability and stability communication channel.

The known method of organizing a wireless control channel for a mobile robotic complex is intended for use in terrestrial conditions on the moving part of a moving chassis object, and an operator console on a control machine. A practically known method in its essence cannot be used to provide the possibility of remote monitoring, communication and control of an autonomous uninhabited underwater vehicle PRTK.

There is also known a method of a wireless communication channel and control an underwater robotic complex (see Boreyko A.A., Gornak V.E., Maltseva SV., Matvienko Yu.V., Mikhailov D.N. Small-sized multi-functional autonomous uninhabited underwater vehicle "MT- 2010 "// Underwater research and robotics. 2011. No. 2 (12). S. 37-42). The well-known PRTK includes an autonomous uninhabited underwater vehicle (AUV) and an operator control post located on board a supply vessel (OS), which are functionally interconnected via two-way radio communication using a radio modem when the AUV is on the sea surface and is directly visible from the OS. In this case, the radio modem provides two-way communication between the AUV and the OS at a speed of 19.2 kbaud at a distance of at least 3 km for transmitting commands on board the AUV that allow controlling its movement on the sea surface, as well as for reprogramming and restarting the AUV with a new mission and receiving data from the board of the AUV.

The underwater vehicle is also equipped with a sonar communication system, telecontrol and telemetry, which provides reception of control commands and receiving response signals, transmission of current telemetry information to the operating system containing speed, course, altitude, depth and coordinates of the AUV, as well as receiving telemetry information from the OS .

The interaction of systems within the AUV, their control and management are regulated at the software and hardware level as part of a local area network (LAN).

In the general structure of the AUV control system, both basic systems have been identified that ensure its functioning both as an equipment carrier and information retrieval systems. All AUV control systems are functionally connected and are presented in the following structure: AUV search system, radio communication system, program control system, energy supply system, on-board navigation system, search and measurement systems, as well as sonar and propulsion systems. The organizing core of the base system is the program control system (SPU), which provides traffic control, as well as emergency control and search functions.

The radio communication system in the famous AUV is organized using radio modems - radio devices designed to transmit synchronous digital data streams over a radio channel without using specialized access protocols to the data transmission medium.

The disadvantages of their use include:

- the communication range depends on the data transfer speed and their characteristics used in conjunction with the antenna modem, and can reach only a few kilometers in conditions of direct visibility, which is not enough to control autonomous autonomous vehicles, since this requires the continued presence of the supply vessel;

- the possibility of using radio modems only for transmitting synchronous digital streams also imposes restrictions on the types of information transmitted from the AUV, which makes it difficult to analyze the incoming data necessary for making a decision and its application.

The problem to which the invention is directed, is to create an effective way to organize a communication channel and control the PRTK, including one or a group of AUVs, by using a cellular radiotelephone system when the AUV is in the area of the latter.

The problem is achieved in that in a method for organizing a wireless communication channel and controlling an underwater robotics complex, including an autonomous uninhabited underwater vehicle (AUV) and a control post (PU), functionally connected through a radio channel and equipped with means for receiving and transmitting information, moreover, control systems providing the operation of AUVs, is implemented at the software and hardware level as part of a local area network, including functionally connected AN search systems And, radio communications, program control, energy supply, on-board navigation, search and measurement, as well as sonar and propulsion-steering complexes, the radio communication and control channel between the AUV and the control room is organized by means of a cellular radiotelephone communication system, when the AUV is in the zone of its operation and is located radio antennas above the surface of the water, cellular radiotelephones, including at least functionally interconnected Digital signal processor (CPU), analog-to-digital converter (ADC), speech encoder, channel encoder, channel decoder, speech decoder, digital-to-analog converter (DAC), equalizer, keyboard, display, message encryption and decryption unit, speech activity detector, terminal devices, a Sim card, while the digital signal processor (CPU) of the cellular radiotelephone located on board the AUV is functionally connected to the AUV software control system, and the cell radiotelephone itself is additionally equipped with an automatic VC unit so me, which is connected functionally to a digital signal processor (CPU) of the cellular telephone.

In the claimed method of organizing a wireless communication channel and controlling an underwater robotic complex, including an autonomous uninhabited underwater vehicle (AUV) and a control post (PU), the common essential features for it and the prototype are:

- AUV and PU are functionally connected through a radio channel;

- ANPA and PU are equipped with means for receiving and transmitting information;

- management of systems that ensure the functioning of AUVs is implemented at the software and hardware level as part of a local computer network, including functionally connected search systems of AUVs, radio communications, program control, power supply, on-board navigation, search and measurement, as well as sonar and propulsion systems steering.

A comparative analysis of the essential features of the claimed method of organizing a wireless communication channel and controlling an underwater robotic complex shows that the first, unlike the prototype, has the following significant distinguishing features:

- the radio channel of communication and control between the AUV and the control room is organized by means of a cellular radiotelephone communication system, when the AUV is in the coverage area of the latter and its radio antenna is located above the surface of the water;

- Cellular radiotelephones are installed as reception and transmission facilities on board the AUV and PU, including at least functionally interconnected digital signal processor (CPU), analog-to-digital converter (ADC), speech encoder, channel encoder, channel decoder, speech decoder , digital-to-analog converter (DAC), equalizer, keyboard, display, message encryption and decryption unit, voice activity detector, terminal devices, Sim-card;

- the digital signal processor (CPU) of the cellular radiotelephone, located on board the AUV, is functionally connected to the AUV software control system;

- the cellular radiotelephone itself is additionally equipped with an automatic switch-on unit, which is connected functionally to the digital signal processor (CPU) of this cellular radiotelephone.

This combination of well-known and distinctive essential features provides a technical result in all cases to which the requested amount of legal protection applies.

Due to the fact that the cellular communication system is a unified means of communication, together with the control system of the AUV, the problem of transmitting and receiving large flows of information when solving AUVs of various tasks is solved and the need to constantly be located near the AUVs of the supporting vessel is eliminated.

The use of the proposed communication system at the PRTK increases the operational efficiency of the AUV control due to the possibility of real-time control of it and the stealth of control using special cellular radiotelephones that protect information. The small size, weight and power consumption of cellular radiotelephones placed on the AUV make it possible to increase the length of time spent in communication with the AUV and its operation underwater as a whole. The cellular communication system performs the function of confirming the delivery of the sent message, which is very important in the management process of the AUV. It should also be noted that there is the possibility of transmitting video from the underwater position of the AUV to the control room from the AUV cellular radiotelephone via a buoy relay, during the entire time the AUV task is completed.

Based on the foregoing, we can conclude that the set of essential features of the claimed invention has a causal relationship with the achieved technical result, i.e. thanks to this combination of essential features of the invention, it has become possible to solve the problem.

Therefore, the claimed invention is new, has an inventive step, i.e. it does not explicitly follow from the prior art and is suitable for industrial use.

The essence of the claimed method of organizing a wireless communication channel and control the underwater robotic complex is illustrated in the drawing, which shows a structural diagram of a wireless communication channel and control PRTK. In the drawing and in the description of the invention, the following notation:

1 - the overall structure of the communication system and management of the AUV,

2 - AUV control post, which is based on the OS or the shore,

3 - cellular radiotelephone, presented in the form of digital and logical parts,

4 - block automatically turn on the cellular radiotelephone installed on board the AUV,

5 - digital signal processor (CPU) of a cellular radiotelephone installed on board the AUV,

6 - display of a cellular radiotelephone installed on board the AUV,

7 - software control system AUV.

A method of organizing a wireless communication channel and controlling an underwater robotic complex, including AUV and launcher, by means of a cellular radiotelephone communication system is as follows.

To establish a wireless radio channel from a control station 2 with an autonomous uninhabited underwater vehicle 1, the control station 2 is equipped with a cellular radiotelephone. The PU operator dials the number of the cellular radiotelephone installed on board the AUV, which is in reception mode at this time. The signal from the cellular radiotelephone of the PU operator via the existing cellular communication system is supplied to the final cell in the area of which the AUV is located. When a call arrives at the antenna of the cellular radiotelephone 3, the signal in the form of electrical vibrations enters the block 4 for automatically turning on the digital signal processor (CPU) 5. The digital signal processor (CPU) 5 is turned on and thereby brings the cellular radiotelephone 3 into active mode, i.e. in reception mode - transmission. From that moment, the radio channel between the AUV and the launcher was established. The operator of the control unit transmits the AUV control commands and control programs necessary for transmission, which through the existing cellular communication through the antenna of the receiving cellular radiotelephone 3 system enter the digital signal processor (CPU) 5, from which it is simultaneously transmitted to the display 6 and to the AUV program control system 7 and further for execution in the relevant AUV systems.

Information and other data requested by the operator of the control unit with AUVs, such as photographs of underwater objects, from the respective systems are transmitted via the AUV 7 software control system to the digital signal processor (CPU) 5 of the cellular radiotelephone 3 and then, according to its scheme, the antenna is transmitted via the existing cellular communication system on a cellular radiotelephone operator PU. After the transfer of data and information, the cellular radiotelephone 3, located on board the AUV, goes from the active state to the reception (standby) mode.

Based on the capabilities of the cellular communication system and the hardware and software level of the AUV, the following communication programs are possible:

- continuous communication program;

- communication on the program;

- call communication;

- contacting the AUV with the PU at the end of the assignment or communication with suddenly arising problems.

Organization of communication in the direction of AUV - PU:

With a continuous communication program, it is possible to transfer video from the underwater position of the AUV to the control station directly from the video camera of the underwater vehicle via a fiber-optic cable through a buoy-repeater during the entire duration of the task. The telephone is in constant communication with the supporting vessel or control post ashore in real time and has the ability to transmit information in video mode, CMC or MMS to the control post.

Communication under the program can be organized both from an underwater position through a buoy-repeater, which can be released in accordance with a given program, and directly from the AUV when surfacing. If the AUV is in the above-water position, the information is transmitted, bypassing the buoy-repeater, directly from the AUV.

Communication on call. When the AUV is in the underwater position when organizing the communication “according to the program”, the latter is carried out via the sonar (sound underwater) communication channel.

Contact AUA with PU at the end of the assignment or in connection with sudden problems. The on-board computer of the AUV provides for the possibility of contacting the AUV in case of unforeseen situations or the early completion of a task. At the same time, the AUV can produce a report directly from the underwater position, releasing a buoy-repeater, or directly from the AUV, after surfacing to the surface.

Claims (2)

1. A method for controlling an underwater robotic complex over a communication channel, including an autonomous uninhabited underwater vehicle (AUV) and a control post (PU), functionally connected through a radio channel and equipped with means for receiving and transmitting information, moreover, the systems supporting the operation of the AUV are implemented using software hardware level as part of a local area network, including functionally connected search systems AUV, radio communications, program control, power supply, on-board navigation, search and measuring, as well as sonar and propulsion-steering complexes, characterized in that the radio communication channel and control between the AUV and the control room are organized by means of a cellular radiotelephone communication system, as a means of receiving and transmitting information on board the AUV and control unit, cellular radiotelephones are installed including at least functionally interconnected digital signal processor (CPU), analog-to-digital converter (ADC), speech encoder, channel encoder, channel decoder, speech decoder, digital A new converter (DAC), an equalizer, a keyboard, a display, a message encryption and decryption unit, a voice activity detector, terminal devices, a SIM card, and the digital signal processor (CPU) of a cellular radiotelephone located on board the AUV is functionally connected to a software system AUV control, and the cellular radiotelephone itself is additionally equipped with an automatic switch-on unit, which is connected functionally to the digital signal processor (CPU) of this cellular radiotelephone. 2. The method according to p. 1, characterized in that the radio channel of communication and control between the AUV and PU is organized by means of a cellular radiotelephone communication system while the AUV are in the coverage area of the latter and its radio antenna is located above the surface of the water.

Images