TWI577190B - Communication device of underwater vehicle - Google Patents

Description

Water downloading device

The present invention relates to a communication device for a water downloading device, and more particularly to a water downloading device for transmitting signals by using a technology of Ethernet and a symmetric high-speed digital subscriber line (Symmetrical high-speed digital subscriber line). Communication device.

General marine research vessels are equipped with a salt temperature depth instrument (CTD) to sense the conductivity, temperature and pressure of seawater. Because of the small amount of data sensed by the salt temperature instrument, the general salt temperature instrument Data transmission can be completed by Twisted pair and Serial communication. However, due to the limited bandwidth of serial communication, it is impossible to perform instantaneous and high data transmission (such as high-resolution video, Signal transmission of optical images or sonar images).

Since it is impossible to carry out real-time image transmission, when a general marine research vessel conducts seabed exploration sampling, it usually takes the sonar or optical image of the seabed first, and then collects the water downloading device containing the sonar or the camera to the deck. When reading the sonar image or optical image to determine the seabed environment for research or exploration, then sampling the sampler for sampling, repeating the water downloading and sampling and recycling of the sampler is not only time-consuming, but also because there is no instant The image prevents the researchers from sampling immediately, causing the sample to be sampled to differ from the sonar image or optical image, making the exploration of the seabed difficult. In addition, if the scientific equipment installed in the water downloader fails and the data cannot be transmitted to the surface of the water surface, the researcher can only recover the water downloading tool and then repair it, which is difficult and time-consuming for seabed exploration.

To solve the above problems, please refer to Taiwan Patent Application No. 102207953 "Long-distance land-water communication structure", which discloses a long-distance land-water communication structure with a communication conversion interface and a water download a wireless transmission structure and a fiber transmission structure, wherein the communication conversion interface transmits data through the wireless transmission structure and the optical transmission structure to the water downloading device to perform signals of electromagnetic signals, sonar signals or optical fiber communication signals Conversion, but the transmission capacity of radio waves in water is quite limited. Therefore, when communicating by radio waves, the water depth of the water downloading device is limited; when communicating with sound waves, the bandwidth is limited, and it is impossible to carry out the instant. High-transmission data transmission; although fiber-optic communication can achieve fast and high-transmission data transmission requirements, generally marine research vessels only have twisted-pair or coaxial cables, and relatively rare configurations are fiber-optic cables. The communication will need to reconfigure the fiber optic cable and the corresponding fiber optic cable strander and cable, which will be a large number. Increase the allocation of the cost of the instrument, and limit its applicability.

The main purpose of the present invention is to use an Ethernet, Symmetrical high-speed digital subscriber line technology for a Twisted pair for surface control systems and underwater communication systems. The signal transmission enables long-distance and high-speed signal transmission between the surface control system and the underwater communication system.

The communication device of the water downloading device of the present invention comprises a water surface control system and an underwater communication system, the water surface control system is a first Ethernet extender and a symmetric high-speed digital subscriber circuit (Symmetrical high-speed digital subscriber) Line) technology and the underwater communication system for signal transmission, the underwater communication system operates underwater, the underwater communication system has a second Ethernet extender, the second Ethernet extender Is electrically connected to the first Ethernet extender via a twisted pair cable, and the underwater communication system uses the second Ethernet extender and a symmetric high-speed digital subscriber loop (Symmetrical The technology of the high-speed digital subscriber line is transmitted with the surface controller.

The invention transmits signals by means of an Ethernet, a Symmetrical high-speed digital subscriber line technology and the twisted pair cable, so that the water surface control system and the underwater communication system Long-distance and high-speed signal transmission can be achieved, and dynamic image transmission can be performed instantly. Therefore, researchers can directly sample seabed samples by using dynamic images, which can reduce the working time and possible sampling errors. Increase the ability of seabed exploration.

Referring to FIG. 1 , a first embodiment of the present invention is a water downloading device 100. The water downloading device 100 has a water surface control system 110, an underwater communication system 120 and a twisted pair. a cable 130 (Twisted pair), the water surface control system 110 is disposed on a water surface, a shore or a ship deck, and the twisted pair cable 130 is wound around a winch (not shown), and the twisted pair cable 130 is The water surface control system 110 and the underwater communication system 120 are respectively connected to the two ends, so that the water surface control system 110 and the underwater communication system 120 can transmit signals to each other by the twisted pair cable 130, and the underwater communication system 120 is configured. The water downloading device can be placed in the water through the control of the winch to enable the underwater communication system 120 to operate underwater, or the water downloading device can also be used in a water downloading device (not shown). It is recovered to the surface through the winch. The winch is a salt deep depth gauge (CTD Winch) or a multi-function stranding machine which is generally required for a general marine research ship, and the twisted pair cable 130 is a transmission cable used by a general salt depth meter. Therefore, the water is used. The downloading device 100 can be directly installed on a general marine research vessel, and the cost of purchasing the instrument can be eliminated.

Referring to FIG. 1 , the surface control system 110 has a first Ethernet extender 111 , a control processor 112 , and a human interface 113 . The first Ethernet extender 111 connects the twisted pair cable 130 . And the control processor 112, the control processor 112 is connected to the human machine interface 113. The human interface 113 can be a computer, a personal mobile device, or any machine that can be used to input and display data. The human interface 113 is used to input a control signal to the control processor 112, and is configured by the first Ethernet. The technology of the path extender 111 and the symmetric high-speed digital subscriber line is used for signal transmission, and the control signal is transmitted to the underwater communication system 120 for control, or when the first Ethernet network The road extender 111 receives the data from the underwater communication system 120 from the twisted pair cable 130, and the data is processed by the control processor 112 and displayed by the human machine interface 113.

Referring to FIG. 1 , the underwater communication system 120 has a second Ethernet extender 121 , a microcontroller 122 , a power supply module 123 , and an underwater sensing module 124 . The second Ethernet The network extender 121 is connected to the twisted pair cable 130 such that the second Ethernet extender 121 is electrically connected to the first Ethernet extender 111. The underwater communication system 120 is connected to the second B. The technology of the network extender 121 and the Symmetrical high-speed digital subscriber line and the water surface controller 110 perform signal transmission, and the signal transmission speed can reach 2 Mbps and the depth can reach 8000 meters. The microcontroller 122 is connected to the second Ethernet extender 121 and the power supply module 123. The power supply module 123 is configured to provide power to the microcontroller 122 and the second Ethernet extender 121 respectively. The underwater sensing module 124 is configured to activate the second Ethernet extender 121 and the underwater sensing module 124.

Referring to FIG. 2, in the embodiment, the underwater sensing module 124 has at least one sensor 124a, at least an actuator 124b, and a webcam 124c, due to the second Ethernet. The road extender 121 can have the expansion function of the router, the bridge or the gateway. The sensor 124a, the actuator 124b and the network camera 124c can be directly electrically connected to the second Ethernet extension. The sensor 124, the actuator 124b and the network camera 124c respectively receive the power provided by the power supply module 123, wherein the sensor 124a can be selected from a depth gauge, a thermometer, and a salinity Meter or sonar, etc., for performing underwater environmental data measurement, and transmitting underwater environmental data to the surface through the second Ethernet extender 121 and the twisted pair cable 130 in an instant and continuously Control system 110. The actuator 124b can be selected from a propeller, illuminator or robotic arm, etc. to move the water download, fill light or perform underwater sampling. The webcam 124c is configured to capture underwater high or dynamic high-definition images, and transmit high-definition images to the surface through the second Ethernet extender 121 and the twisted pair cable 130 in an instant and continuously. Control system 110. The underwater communication system 120 is the underwater environment data measured by the sensor 124a and the underwater image captured by the network camera 124c by the technology of a symmetric high-speed digital subscriber line (Symmetrical high-speed digital subscriber line). High-quality images are transmitted to the surface control system 110. Therefore, by using instant and high-quality images, the researchers can directly issue commands to the robotic arm for sampling or to additionally sample the sampler to underwater for sampling, which not only reduces Repeated deployment and back The steps of receiving the instrument and ensuring that the sample being sampled is required for research or exploration can greatly reduce the difficulty of seabed exploration.

Referring to FIGS. 1 and 2 again, in the embodiment, while the water downloading device is operating underwater, the microcontroller 122 can automatically or manually restart the underwater communication system 120 to perform preliminary failure. Excluding, in particular, the control processor 112 can periodically transmit a protocol string to the underwater communication system 120 through the first Ethernet extender 111 and the second Ethernet extender 121. The microcontroller 122, and when the microcontroller 122 does not receive the protocol string within a predetermined time period, that is, when the control device 112 and the microcontroller 122 are disconnected, the micro control The controller 122 instructs the power supply module 123 to stop supplying power to the second Ethernet extender 121 and the underwater sensing module 124, so that the second Ethernet extender 121 and the underwater sensing module After the group 124 is turned off, the microcontroller 122 commands the power supply module 123 to re-power the second Ethernet extender 121 and the underwater sensing module 124 to restart the underwater communication system. 120 performing preliminary troubleshooting to restore the surface control system 110 and the underwater communication system 120 Communication between.

In addition, the microcontroller 122 detects the signal transmission status of the underwater sensing module 124 through the second Ethernet extender 121. If the signal transmission of the underwater sensing module 124 is incorrect, for example, a period of time. When no signal output or output signal is greater than or less than a predetermined error value, the microcontroller 122 commands the power supply module 123 to stop providing power to the underwater sensing module 124 to enable the underwater sensing. After the module 124 is turned off, the microcontroller 122 commands the power supply module 123 to re-power the underwater sensing module 124 to restart the underwater sensing module 124 for initial troubleshooting. Communication between the surface control system 110 and the underwater sensing module 124.

The researcher can also directly send an instruction to the microcontroller 122 through the human interface 113 of the surface control system 110 to restart the underwater communication system 120, so that the underwater communication system 120 can be activated. In the event of a malfunction, the researcher can perform initial troubleshooting directly from the surface command, reducing the time cost of recycling the water download to the surface.

Referring to Figures 3 and 4, a second embodiment of the present invention differs from the first embodiment in that the underwater communication system 120 further has a conversion module 125, since the present invention uses Ethernet. The communication is carried out, but the sensor 124a and the actuator 124b carried by the water downloading device may not be suitable for the specification of the Ethernet communication. Therefore, the conversion module 125 is required to connect the second B. For the communication between the network extender 121 and the sensor 124a and the actuator 124b, please refer to FIG. 4, in the embodiment, the conversion module 125 has at least a first converter 125a and at least a second converter 125b, the first converter 125a is electrically connected to the second Ethernet extender 121 and the sensor 124a, and the second converter 125b is electrically connected to the second Ethernet extension And the actuator 124b, the first converter 125a is a serial communication/Ethernet converter, so that the second Ethernet extender 121 and the sensor 124a maintain communication, for example RS232 as a serial communication depth gauge, thermometer, salinity meter or sonar can pass through the first converter 1 25a is coupled to the second Ethernet extender 121. The second converter 125b can be selected from an analog output/Ethernet converter or a pulse width modulation (PWM)/Ethernet converter, etc., so that the second Ethernet extender 121 Communication with the actuator 124b, for example, an analog voltage controlled propeller or robot arm and an illuminator that controls brightness using pulse width modulation can be coupled to the second Ethernet via the second converter 125b. Road extender 121.

Referring to FIG. 5, a third embodiment of the present invention is different from the second embodiment in that the conversion module 125 has a hub 125c, wherein the network camera 124c, the first converter 125a, and the first The second converter 125b is electrically connected to the second Ethernet extender 121 through the hub 125c, so that if the second Ethernet extender 121 does not have an expansion function, the network can be connected through the hub 125c. The camera 124c, the first converter 125a, and the second converter 125b.

The invention transmits signals by means of an Ethernet, Symmetrical high-speed digital subscriber line technology and the twisted pair cable 130, so that the water surface control system 110 and the underwater The communication system 120 can achieve long-distance and high-speed signal transmission, and can transmit dynamic images in real time. Therefore, researchers can directly sample the seabed samples by using dynamic images, thereby reducing the operation time and possible sampling errors. Can greatly increase the ability of seabed exploration.

The scope of the present invention is defined by the scope of the appended claims, and any changes and modifications made by those skilled in the art without departing from the spirit and scope of the invention are within the scope of the present invention. .

100‧‧‧Water downloading communication device

110‧‧‧Water surface control system

111‧‧‧First Ethernet Extender

112‧‧‧Control processor

113‧‧‧Human Machine Interface

120‧‧‧Underwater communication system

121‧‧‧Second Ethernet Extender

122‧‧‧Microcontroller

123‧‧‧Power supply module

124‧‧‧Underwater sensing module

124a‧‧‧Sensor

124b‧‧‧Actuator

124c‧‧‧Webcam

125‧‧‧Transition module

125a‧‧‧ first converter

125b‧‧‧Second converter

125c‧‧‧ hub

130‧‧‧Twisted pair cable

Figure 1 is a block diagram of a communication device for a water downloading device in accordance with a first embodiment of the present invention. Figure 2 is a block diagram of a communication device of the water downloading device in accordance with a first embodiment of the present invention. Figure 3 is a block diagram of a communication device for a water downloading device in accordance with a second embodiment of the present invention. Figure 4 is a block diagram of a communication device of the water downloading device in accordance with a second embodiment of the present invention. Figure 5 is a block diagram of a communication device for a water downloading device in accordance with a third embodiment of the present invention.

100‧‧‧Water downloading communication device

110‧‧‧Water surface control system

111‧‧‧First Ethernet Extender

112‧‧‧Controls

113‧‧‧Human Machine Interface

120‧‧‧Underwater communication system

121‧‧‧Second Ethernet Extender

122‧‧‧Microcontroller

123‧‧‧Power supply module

124‧‧‧Underwater sensing module

130‧‧‧Twisted pair cable

Claims (7)

A communication device for a water downloading device, comprising: a water surface control system for transmitting signals by using a first Ethernet extender and a Symmetrical high-speed digital subscriber line technology; The water surface control system has a control processor; and an underwater communication system that operates under water, the underwater communication system having a second Ethernet extender, a power supply module, and an underwater sensing module And a microcontroller, the second Ethernet extender is electrically connected to the first Ethernet extender via a twisted pair cable, and the underwater communication system uses the first The technology of the Ethernet network extender and the Symmetrical high-speed digital subscriber line is used for signal transmission with the water surface controller, and the power supply module is configured to respectively supply power to the microcontroller, a second Ethernet extender and the underwater sensing module, wherein the microcontroller detects the signal transmission status of the underwater sensing module through the second Ethernet extender, if the underwater feeling Modeling The signal transmission error, the microcontroller commands the power supply module to stop providing power to the underwater sensing module, so that the underwater sensing module is turned off, and then the microcontroller commands the power supply module to provide Powering the underwater sensing module to restart the underwater sensing module, wherein the control processor periodically transmits a first Ethernet extender and the second Ethernet extender The protocol string is sent to the microcontroller of the underwater communication system, and when the microcontroller does not receive the protocol string within a predetermined time, the microcontroller commands the power supply module to stop providing power to the first The Ethernet extension device and the underwater sensing module enable the second Ethernet extender and the underwater sensing module to be turned off, and then the microcontroller commands the power supply module to be re-provided The power is supplied to the second Ethernet extender and the underwater sensing module. The communication device of the water downloading device described in claim 1, wherein the underwater feeling The test module has at least one sensor, at least an actuator, and a webcam. The sensor, the actuator, and the network are electrically connected to the second Ethernet extender. And the sensor, the actuator and the network camera respectively receive the power provided by the power supply module. The communication device of the water downloading device of claim 2, wherein the sensor may be selected from a depth gauge, a thermometer, a salinity meter or a sonar, and the actuator may be selected from the group consisting of a propeller and an illumination. Or robotic arm. The communication device of the water downloading device of claim 2, wherein the underwater communication system further has a conversion module, the conversion module having at least one first converter and at least one second converter, The first converter is electrically connected to the second Ethernet extender and the sensor, and the second converter is electrically connected to the second Ethernet extender and the actuator. The communication device of the water downloading device of claim 4, wherein the conversion module has a hub, and the first converter and the second converter are electrically connected to the second Ethernet through the hub. Extender. The communication device of the water downloading device of claim 4, wherein the first converter is a serial communication/Ethernet converter, and the second converter is selected from an analog output/Ethernet Converter or Pulse Width Modulation (PWM) / Ethernet converter. The communication device of the water downloading device of claim 1, wherein the water surface control system has a human machine interface for inputting a control signal to the control processor and displaying the control processor by the Information received by the first Ethernet extender.