A bionic lateral line communication system based on propeller wake field perception

Abstract

This invention provides a biomimetic lateral line communication system based on propeller wake field perception, belonging to the field of underwater communication technology. Based on the lateral line perception mechanism of fish, it utilizes the flow field disturbance signal generated by the interaction between the propeller and the flow field as the communication signal to achieve network communication for underwater robots. The flow field disturbance of the main propeller is converted into a carrier signal to increase the transmission distance and intensity, while the disturbance of the modulation propeller is converted into a modulation signal for information transmission. A neural network model and a nonlinear filtering model are used to achieve signal modulation and demodulation, exhibiting good environmental adaptability and improving the working efficiency and accuracy of the detection system. The beneficial effects of this invention are: the signal source used for biomimetic navigation perception is the flow field medium fluctuation signal, which can provide a novel approach and practical detection sensing means for underwater covert detection and guidance tracking technology.

Description

Technical Field

[0001] This invention relates to the field of underwater communication technology, and in particular to a biomimetic side-line communication system based on propeller wake field sensing. Background Technology

[0002] Future underwater warfare will change the traditional way submarines fight, gradually shifting towards unmanned, intelligent, and clustered methods.

[0003] Currently, acoustic and optical systems are the primary means of information exchange for UUVs and other underwater equipment. However, optical sensing is limited in its application in underwater environments due to its limited imaging quality and susceptibility to water turbidity. While acoustic systems can provide effective underwater sensing, in complex environments or during swarm operations, sound waves can cause "ghosting" due to multipath effects, and multiple signals can interfere with each other during swarm operations, hindering accurate environmental perception. In short, existing optical and acoustic underwater information sensing technologies are insufficient in some situations to provide high-sensitivity, high-precision near-field sensing information for UUV target guidance, becoming a technological bottleneck restricting the application and development of underwater guidance and communication. Therefore, exploring new sensing principles based on other information sources is crucial for advancing underwater communication technology. Summary of the Invention

[0004] This invention provides a biomimetic lateral line communication system based on propeller wake field perception. According to the lateral line perception mechanism of fish, the system uses the flow field disturbance signal generated by the interaction between the propeller and the flow field as the communication signal to realize the networking communication of underwater robots. The flow field disturbance of the main propeller is converted into a carrier signal to increase the transmission distance and intensity, and the disturbance of the modulation propeller is converted into a modulation signal for information transmission. The system uses a neural network model and a nonlinear filtering model to realize the modulation and demodulation of the signal, which has good environmental adaptability and improves the working efficiency and accuracy of the detection system.

[0005] To address the aforementioned technical problems, this application provides a biomimetic side-line communication system based on propeller wake field sensing, comprising a signal generation system, a signal transmission system, and a signal receiving system. The signal generation system includes a modulation propeller, a propeller, a power motor, a power drive module, a modulation motor, a modulation drive module, a controller, a modulator, and a main control system. The modulation propeller is located at the tail end of the propeller, and the propeller is connected to the power motor via a power propeller shaft. The power propeller shaft is a hollow structure with a modulation propeller shaft embedded inside. After passing through the power propeller shaft, one end of the modulation propeller is connected to the modulation propeller, and the other end is connected to the modulation motor. The power motor and the modulation motor are respectively equipped with a power drive module and a modulation drive module. The power drive module includes an encoder and a driver, and the modulation drive module includes an encoder and a driver. The power drive module and the modulation drive module are respectively connected to the output end of the controller via wires, and the input end of the controller is connected to the modulator via wires. The modulator and the power drive module are also connected to the main control system via wires. The power motor module detects the speed and direction parameters of the power motor and transmits them. Within the main control system, the main control system issues a communication command after comprehensively analyzing the overall machine status parameters. The modulator, in conjunction with the motion parameters of the power motor, compiles motion parameter commands for the modulated motor based on the communication command, and transmits them to the modulation drive module through the controller to control the modulation motor to perform actions, thereby driving the modulation propeller to generate specific flow field disturbance signals. The signal transmission system includes a modulated flow field signal and a carrier flow field signal. The modulated flow field signal is the flow field pressure signal and flow field velocity signal generated by the interaction between the modulation propeller and the flow field medium. The carrier flow field signal is the flow field pressure signal and flow field velocity signal generated by the interaction between the propeller and the flow field medium. The signal receiving system includes a bionic side-line sensing array, a signal demodulator, a signal processor, and a signal transmitter. The bionic side-line sensing array includes a center sensor and an edge sensor. The center sensor and the edge sensor respectively collect the flow field signals at their respective locations and use a weighted fusion algorithm to form a fused flow field signal, which is transmitted to the signal demodulator for signal demodulation. The signal amplifier and AD conversion module in the signal processor (14) convert the demodulated signal into a digital signal and then send it to the signal receiving terminal through the signal transmitter.

[0006] In a preferred embodiment of this solution, the diameter of the modulated propeller is smaller than that of the propeller, and the pressure signal variation curves with rotational speed in the wake flow fields of the modulated propeller, propeller, and hybrid propeller are obtained by simulation calculation and flow field measurement methods, respectively.

[0007] As a preferred embodiment of this solution, the modulator uses a hybrid method of amplitude modulation, frequency modulation and phase modulation for signal modulation. The carrier signal database is a function of the pressure signal variation of the propeller wake field under different speeds, and the modulation signal database is a function of the pressure signal variation of the modulated propeller wake field.

[0008] As a preferred embodiment of this solution, the overall system status parameters transmitted from the main control system to the modulator include the rotational speed and direction of the power motor, the overall speed and heading of the aircraft, and the depth, temperature, and density of the environment.

[0009] As a preferred embodiment of this solution, the controller is equipped with a neural network regression model. The basic training database consists of the amplitude characteristics, time domain characteristics, and frequency domain characteristics of the propeller and hybrid propeller tail flow pressure signals. The regression parameters are the rotational speed and direction of the modulated propeller when the required hybrid propeller tail flow pressure signal can be generated.

[0010] As a preferred embodiment of this solution, the controller and signal processor are equipped with a matching communication protocol that couples the overall coordinate position, motion speed, surrounding hydrological parameters and flow field signal amplitude, time domain characteristics and frequency domain characteristics of the machine.

[0011] As a preferred embodiment of this solution, the signal demodulator is equipped with a nonlinear filter based on the Volterra series model and the RBF neural network model.

[0012] In a preferred embodiment of this solution, the biomimetic lateral sensing array includes planar and curved surface arrangements, and is composed of highly sensitive pressure sensors. The central sensor is located at the center of the array, and the number of edge sensors is even, uniformly distributed on the ring array of the central sensor.

[0013] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0014] Based on the lateral line sensing mechanism of fish, the flow field disturbance signal generated by the interaction between the propeller and the flow field is used as the communication signal to realize the networking communication of underwater robots. The flow field disturbance of the main propeller is used as a carrier signal to increase the transmission distance and intensity, and the disturbance of the modulation propeller is used as a modulation signal for information transmission. The modulation and demodulation of the signal are realized by using a neural network model and a nonlinear filtering model, which has good environmental adaptability and improves the working efficiency and accuracy of the detection system. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic cross-sectional view of the overall structure of an embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the communication control system according to an embodiment of this application;

[0018] Figure 3 This is a schematic diagram of a signal generation system according to an embodiment of this application;

[0019] Figure 4 This is a schematic diagram of a biomimetic side-line sensing array according to an embodiment of this application.

[0020] Figures 1-4 In the middle: 1. Modulated propeller, 2. Propeller, 3. Power propeller shaft, 4. Power motor, 5. Power drive module, 5-1. Encoder 1, 5-2. Driver 1, 6. Modulated motor, 7. Modulated drive module, 7-1. Encoder 2, 7-2. Driver 2, 8. Controller, 9. Modulator, 10. Main control system, 11. Modulated propeller shaft, 12. Bionic side-line sensing array, 13. Signal demodulator, 14. Signal processor, 15. Signal transmitter, 16. Signal transmission system, 16-1. Modulated flow field signal, 16-2. Carrier flow field signal. Detailed Implementation

[0021] This invention provides a biomimetic lateral line communication system based on propeller wake field perception. According to the lateral line perception mechanism of fish, the system uses the flow field disturbance signal generated by the interaction between the propeller and the flow field as the communication signal to realize the networking communication of underwater robots. The flow field disturbance of the main propeller is converted into a carrier signal to increase the transmission distance and intensity, and the disturbance of the modulation propeller is converted into a modulation signal for information transmission. The system uses a neural network model and a nonlinear filtering model to realize the modulation and demodulation of the signal, which has good environmental adaptability and improves the working efficiency and accuracy of the detection system.

[0022] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0023] like Figures 1-4As shown, a biomimetic side-line communication system based on propeller wake field perception includes a signal generation system, a signal transmission system 16, and a signal receiving system. The signal generation system comprises a modulation propeller 1, a propeller 2, a power motor 4, a power drive module 5, a modulation motor 6, a modulation drive module 7, a controller 8, a modulator 9, and a main control system 10. The modulation propeller 1 is located at the tail end of the propeller 2. The propeller 2 is connected to the power motor 4 via a power propeller shaft 3. The power propeller shaft 3 is a hollow structure, with a modulation propeller shaft 11 embedded inside. After passing through the power propeller shaft 3, one end of the modulation propeller shaft 11 is connected to the modulation propeller 1, and the other end is connected to the modulation motor 6. The power motor 4 and the modulation motor 6 are respectively equipped with a power drive module 5 and a modulation drive module 7. The power drive module 5 includes an encoder 5-1 and a driver 5-2, and the modulation drive module 7 includes an encoder 7-1 and a driver 7-2. The power drive module 5 and the modulation drive module 7 are respectively connected to the output terminal of the controller 8 via wires. The input terminal is connected to the modulator 9 via a wire. The modulator 9 and the power drive module 5 are also connected to the main control system 10 via a wire. The power motor module 5 detects the speed and direction parameters of the power motor 4 and transmits them to the main control system 10. After integrating the overall machine status parameters, the main control system 10 issues a communication command. The modulator 9 combines the motion parameters of the power motor 4 and compiles the motion parameter command of the modulated motor 6 according to the communication command. After being transmitted to the modulated drive module 7 through the controller 8, the modulated motor 6 is controlled to perform the action, thereby driving the modulated paddle 1 to generate a specific flow field disturbance signal.

[0024] The signal transmission system 16 includes a modulated flow field signal 16-1 and a carrier flow field signal 16-2. The modulated flow field signal is the flow field pressure signal and flow field velocity signal generated by the interaction between the modulated propeller 1 and the flow field medium. The carrier flow field signal is the flow field pressure signal and flow field velocity signal generated by the interaction between the propeller 2 and the flow field medium.

[0025] The signal receiving system includes a biomimetic side-line sensing array 12, a signal demodulator 13, a signal processor 14, and a signal transmitter 15. The biomimetic side-line sensing array 12 includes a center sensor 12-1 and an edge sensor 12-2. The center sensor 12-2 and the edge sensor 12-1 respectively collect the flow field signal at their respective locations and form a fused flow field signal using a weighted fusion algorithm. The fused flow field signal is then transmitted to the signal demodulator 13 for demodulation. The signal processor 14 includes a signal amplifier and an AD conversion module, which convert the demodulated signal into a digital signal and then transmits it to the signal receiving terminal through the signal transmitter 15.

[0026] In practical applications, the diameter of the modulated propeller 1 is smaller than that of the propeller 2, and the pressure signal variation curves with rotational speed in the tail flow fields of the modulated propeller 1, propeller 2 and hybrid propeller are obtained by simulation calculation and flow field measurement.

[0027] In practical applications, the modulator 9 uses a hybrid method of amplitude modulation, frequency modulation, and phase modulation for signal modulation. The carrier signal database is a function of the change in pressure signal of the wake field of the propeller 2 under different speeds, and the modulation signal database is a function of the change in pressure signal of the wake field of the modulated propeller 1.

[0028] In practical applications, the overall system status parameters transmitted from the main control system 10 to the modulator 9 include the rotational speed and direction of the power motor 4, the overall speed and heading of the aircraft, and the depth, temperature, and density of the environment.

[0029] In practical applications, the controller 8 is equipped with a neural network regression model. The basic training database consists of the amplitude characteristics, time domain characteristics, and frequency domain characteristics of the pressure signals of the propeller 2 and the hybrid propeller tail flow field. The regression parameters are the rotational speed and direction of the modulated propeller 1 when the required hybrid propeller tail flow field pressure signal can be generated.

[0030] In practical applications, the controller 8 and signal processor 14 are equipped with matching communication protocols that couple the overall coordinate position, speed, surrounding hydrological parameters and flow field signal amplitude, time domain characteristics and frequency domain characteristics of the machine.

[0031] In practical applications, the signal demodulator 13 is equipped with a nonlinear filter based on the Volterra series model and the RBF neural network model.

[0032] In practical applications, the biomimetic lateral sensing array 12 includes planar and curved surface arrangements, and is composed of high-sensitivity pressure sensors. The central sensor 12-2 is located at the center of the array, and the number of edge sensors 12-1 is even, which are evenly distributed on the ring array of the central sensor 12-2.

[0033] Working principle:

[0034] Step 1: The main control system 10 of the underwater robot integrates the overall status parameters of the robot, including position, speed, heading, environmental depth, temperature, density, propulsion system speed and steering, etc., and combines them with the mission requirements parameters to form an input data packet which is then transmitted to the modulator 9.

[0035] Step 2: Modulator 9 modulates the amplitude, frequency and phase of the signal to be transmitted based on the propeller wake pressure signal change function and the modulator wake pressure signal change function.

[0036] Step 3: After receiving the required modulation signal function, the controller 8 converts it into the amplitude characteristics, time domain characteristics, and frequency domain characteristics of the wake field pressure signal according to the communication protocol, and uses them as input parameters to input into the neural network model for regression training to obtain the speed and steering commands required by the modulation propeller 1.

[0037] Step 4: After receiving the motion command from the controller 8, the modulation drive module 7 drives the modulation motor 6 to operate, interfering with the wake field signal of the propeller 2 according to specific parameters such as speed, direction and frequency of change, thereby realizing the fusion loading of the carrier signal and the modulation signal.

[0038] Step 5: The pressure sensor in the biomimetic side-line sensing array 12 receives the flow field disturbance signal from the propeller. Based on the weighted fusion method, the signals at different locations are fused, and the high-frequency carrier flow field signal 16-2 is filtered out based on the nonlinear filter to complete the demodulation of the modulated flow field signal 16-1.

[0039] Step 6: The signal processor 14 amplifies the demodulated modulated flow field signal 16-1 and converts the flow field signal, such as amplitude characteristics, time domain characteristics, and frequency domain characteristics, into electrical signals with physical meaning, such as position, speed, and heading, according to the communication protocol. After being converted into digital signals by the AD conversion module, the signals are transmitted to the receiving terminal through the signal transmitter 15 to complete the signal communication.

[0040] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A biomimetic side-line communication system based on propeller wake field sensing, comprising a signal generation system, a signal transmission system (16), and a signal receiving system, characterized in that, The signal generation system includes a modulation propeller (1), a propeller (2), a power motor (4), a power drive module (5), a modulation motor (6), a modulation drive module (7), a controller (8), a modulator (9), and a main control system (10). The modulation propeller (1) is located at the tail end of the propeller (2). The propeller (2) is connected to the power motor (4) through a power propeller shaft (3). The power propeller shaft (3) is a hollow structure with a modulation propeller shaft (11) embedded inside. After the modulation propeller shaft (11) passes through the power propeller shaft (3), one end is connected to the modulation propeller (1), and the other end is connected to the modulation motor (6). The power motor (4) and the modulation motor (6) are respectively equipped with a power drive module (5) and a modulation drive module (7). The power drive module (5) includes an encoder (5-1) and a driver (5-2). The modulation drive module (7) includes... Encoder 2 (7-1) and driver 2 (7-2); the power drive module (5) and the modulation drive module (7) are respectively connected to the output end of the controller (8) through wires, and the input end of the controller (8) is connected to the modulator (9) through wires. The modulator (9) and the power drive module (5) are also connected to the main control system (10) through wires; the power drive module (5) detects the speed and direction parameters of the power motor (4) and transmits them to the main control system (10). The main control system (10) sends a communication command after integrating the overall machine status parameters. The modulator (9) combines the motion parameters of the power motor (4) and compiles the motion parameter command of the modulation motor (6) according to the communication command. After transmitting it to the modulation drive module (7) through the controller (8), it controls the modulation motor (6) to perform actions, thereby driving the modulation paddle (1) to generate a specific flow field disturbance signal; The signal transmission system (16) includes a modulated flow field signal (16-1) and a carrier flow field signal (16-2), wherein the modulated flow field signal is the flow field pressure signal and flow field velocity signal generated by the interaction between the modulated propeller (1) and the flow field medium, and the carrier flow field signal is the flow field pressure signal and flow field velocity signal generated by the interaction between the propeller (2) and the flow field medium; The signal receiving system includes a biomimetic side-line sensing array (12), a signal demodulator (13), a signal processor (14), and a signal transmitter (15). The biomimetic side-line sensing array (12) includes a center sensor (12-2) and an edge sensor (12-1). The center sensor (12-2) and the edge sensor (12-1) respectively collect the flow field signal at their respective locations and form a fused flow field signal using a weighted fusion algorithm. The fused flow field signal is then transmitted to the signal demodulator (13) for signal demodulation. The signal processor (14) includes a signal amplifier and an AD conversion module. After converting the demodulated signal into a digital signal, it is sent to the signal receiving terminal through the signal transmitter (15).

2. The biomimetic side-line communication system based on propeller wake field sensing according to claim 1, characterized in that, The diameter of the modulated propeller (1) is smaller than that of the propeller (2), and the pressure signal variation curves with rotational speed in the tail flow fields of the modulated propeller (1), propeller (2) and hybrid propeller are obtained by simulation calculation and flow field measurement.

3. The biomimetic side-line communication system based on propeller wake field sensing according to claim 1, characterized in that, The modulator (9) uses a hybrid method of amplitude modulation, frequency modulation and phase modulation to modulate the signal. The carrier signal database is the change function of the wake field pressure signal of the propeller (2) under different speed conditions, and the modulation signal database is the change function of the wake field pressure signal of the modulating propeller (1).

4. The biomimetic side-line communication system based on propeller wake field sensing according to claim 1, characterized in that, The overall system status parameters transmitted from the main control system (10) to the modulator (9) include the rotational speed and direction of the power motor (4), the overall speed and heading, and the depth, temperature and density of the environment.

5. A biomimetic side-line communication system based on propeller wake field sensing according to claim 1, characterized in that, The controller (8) is equipped with a neural network regression model. The basic training database consists of the amplitude characteristics, time domain characteristics, and frequency domain characteristics of the pressure signal of the propeller (2) and the hybrid propeller tail flow field. The regression parameters are the rotational speed and direction of the modulating propeller (1) when the required hybrid propeller tail flow field pressure signal can be generated.

6. A biomimetic side-line communication system based on propeller wake field sensing according to claim 1, characterized in that, The controller (8) and signal processor (14) are equipped with matching communication protocols that couple the coordinate position of the whole machine, the speed of movement, the surrounding hydrological parameters and the amplitude, time domain characteristics and frequency domain characteristics of the flow field signal.

7. A biomimetic side-line communication system based on propeller wake field sensing according to claim 1, characterized in that, The signal demodulator (13) is equipped with a nonlinear filter based on the Volterra series model and the RBF neural network model.

8. A biomimetic side-line communication system based on propeller wake field sensing according to claim 1, characterized in that, The biomimetic side-line sensing array (12) includes planar and curved surface arrangements and is composed of high-sensitivity pressure sensors. The central sensor (12-2) is located at the center of the array, and the number of edge sensors (12-1) is even, which are evenly distributed on the annular array of the central sensor (12-2).

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