Emergency data transmission device and method applied to severe environment

Abstract

The invention discloses an emergency data transmission device and method applied to a severe environment, and the device comprises an interface unit which is used for being connected with an application field device and / or a sensing device; the communication unit is provided with a wired communication module and a wireless communication module and is used for realizing redundant communication; and the processing unit is used for preprocessing the field sensing data or information obtained by the interface unit to obtain simplest information or codes, and transmitting the simplest information or codes to an external receiving unit by using a redundant communication mode of the communication module. According to the invention, sensing data or information of an application site can be preprocessed in a relatively severe environment such as a tunnel or underwater environment to obtain simplest information or codes, so that the simplest information or codes can be quickly sent to an external receiving unit, and a communication function in the severe environment is ensured.

Description

Technical Field

[0001] The invention relates to an emergency data transmission device and method applied to a harsh environment, belonging to the technical field of data processing and transmission. Background Art

[0002] Communication transmission in harsh environments has always been a difficult technical field, such as communication interruption caused by a major accident in a tunnel or underwater data communication.

[0003] When a major accident occurs in a tunnel, it is usually accompanied by power outages, communication interruptions, lighting interruptions, and ventilation interruptions. If it is a serious accident, explosions may also occur, which will cause abnormally high temperatures, thick smoke and dust in parts of the tunnel. At this time, even if more sensor devices are installed in the tunnel, they will be useless due to communication interruptions. At this time, confirming the location of the tunnel accident, the nature of the accident, and the continuous development information is particularly important for rescue.

[0004] When transmitting data underwater, the most mature method is to use hydroacoustic communication to achieve real-time underwater data communication. However, a set of high-speed hydroacoustic communication equipment is very expensive, and the transmission bandwidth of low-speed hydroacoustic equipment is very narrow, so it is rarely used in the civilian field. At present, the application of underwater robots is becoming more and more popular. The mainstream control method for underwater robots is to install a buoy on the underwater robot, and the buoy is connected to the underwater robot through a cable. The shore-based equipment communicates with the shore-based equipment through the wireless interface carried by the underwater robot buoy through wireless interconnection, and transmits the shore-based data to the underwater robot through the cable to achieve interaction; there is also a more direct way to use a cable to directly connect the underwater robot, and the operator operates the underwater robot through the cable. However, the above methods are difficult to implement, complicated to operate, and costly.

[0005] Therefore, for communication transmission in harsh environments, there is an urgent need for a transmission device that can transmit as much data or information as possible in a harsh living environment, which will have a positive impact on accident rescue or underwater exploration. Summary of the invention

[0006] The purpose of the present invention is to provide an emergency data transmission device and method for use in harsh environments. The present invention can pre-process the sensing data or information at the application site in relatively harsh environments such as tunnels or underwater to obtain the simplest information or code, so that the simplest information or code can be quickly sent to an external receiving unit, ensuring the communication function in harsh environments.

[0007] The technical solution of the present invention is an emergency data transmission device for use in harsh environments, comprising:

[0008] An interface unit, used for connecting with equipment and / or sensing devices at the application site;

[0009] A communication unit, provided with a wired communication module and / or a wireless communication module, for achieving effective communication;

[0010] The processing unit is used to pre-process the field sensing data or information acquired by the interface unit to obtain the simplest information or code, and then use the communication module to transmit the simplest information or code to the external receiving unit.

[0011] The above-mentioned emergency data transmission device applied to harsh environments, the pre-processing is to compress and / or encode and / or package the on-site perception data or information to define and summarize the content that is urgently needed to be transmitted in the harsh environment.

[0012] The aforementioned emergency data transmission device for use in harsh environments also includes an address code unit, in which a unique address code is provided. The address code is put into the simplest information or code when the processing unit pre-processes the on-site perception data or information.

[0013] The aforementioned emergency data transmission device applied to harsh environments, the wireless communication module has the ability of single-chain or multi-chain wireless data transmission and single-node chain transmission, cross-node chain transmission or covering chain transmission; when the wired communication module is interrupted and the wireless communication of certain nodes is also interrupted, the wireless communication module automatically attempts to perform cross-node transmission and confirms the coordinates of the interrupted node in the data.

[0014] The aforementioned emergency data transmission device for use in harsh environments also includes a protocol library unit, which allows the user to implant different types of communication protocols as required. After embedding the relevant communication protocols, the gateway function is realized and serves as a redundant transmission channel for the equipment to compensate for and enhance the disaster recovery capability of the running equipment.

[0015] The aforementioned emergency data transmission device for harsh environments, when used in a tunnel environment, the housing of the emergency data transmission device, the antenna of the wireless communication module and the wires are packaged in a high-temperature resistant and waterproof housing with a protection capability of not less than IP67; the built-in battery of the emergency data transmission device meets the full-load operating time of not less than 60 minutes.

[0016] The aforementioned emergency data transmission device for use in harsh environments is installed on the left and right side guardrails of the road in a bidirectional arrangement along the tunnel direction, and the installation interval is such that the radio waves of the wireless communication module configured for any one of the emergency data transmission devices cover at least two similar emergency data transmission devices within the effective distance, so as to form a chain network and realize cross-section communication; the installation position of the emergency data transmission device is set on the tunnel wall and the height from the road surface is 0.3 meters to 1 meter; the antenna of the wireless communication module is installed on the tunnel wall at a distance of 1.50 meters to 2.2 meters from the tunnel road.

[0017] In the aforementioned emergency data transmission device applied to harsh environments, the wireless communication module uses a wireless frequency band of a VHF band or a UHF low frequency band as a signal transmission carrier frequency band.

[0018] The aforementioned emergency data transmission device applied to harsh environments, wherein the wireless communication module is an underwater acoustic communication transceiver.

[0019] The aforementioned method of emergency data transmission device applied to harsh environments, in harsh environments, pre-processes the on-site perception data or information obtained by the interface unit through the processing unit to obtain the simplest information or code, and then uses the redundant communication method of the communication module to transmit the simplest information or code to the external receiving unit.

[0020] Compared with the prior art, the present invention is a signal or data transmission device used in places such as tunnels and underwater where the data transmission environment is not very friendly. The present invention is a high-compression fast redundant communication device with redundant communication links and specially developed for accident site communications. The device has all the elements for independent operation and a universal interface for connecting to various third-party devices. At the same time, the device interface provided by the device can directly connect to various sensors (that is, directly connect the required sensors to the device), and can also introduce on-site perception data provided by third-party devices through interfaces or gateways and compress or convert these information or data into the minimum data amount and send them to the receiving unit outside the tunnel. The receiving unit can thus receive the on-site data and provide it to the end user in a predetermined format. Therefore, the present invention can ensure the communication function in harsh environments and ensure that external users can quickly know the basic information in harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flowchart of the whole process of one-way one-time code generation, transmission, reception, decoding and response in a specific implementation mode of the present invention;

[0022] Figure 2 The coding, decoding and response workflow of the code sent from the shore-based equipment to the underwater robot is described;

[0023] Figure 3The encoding, decoding and response workflow of the code sent by the underwater robot to the shore-based equipment is described. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0025] Embodiment 1: An emergency data transmission device for use in a harsh environment, comprising:

[0026] An interface unit, used for connecting with equipment and / or sensing devices at the application site;

[0027] The communication unit is provided with a wired communication module and / or a wireless communication module for realizing effective communication; at the same time, when both the wired communication module and the wireless communication module are available, redundant communication can be realized to provide communication fault tolerance;

[0028] The processing unit is used to pre-process the field sensing data or information acquired by the interface unit to obtain the simplest information or code, and then use the communication module to transmit the simplest information or code to the external receiving unit.

[0029] The emergency data transmission device (hereinafter referred to as the device) has an interface unit (including a communication interface or an interface (or gateway) connected to a third-party device) for accessing a sensing device (such as various sensors), can directly or indirectly obtain the required data from the local sensing device or the third-party device, and has the ability to pre-process the obtained data. The pre-processing refers to the compression, encoding or packaging of the data for the purpose of fast and efficient transmission of the obtained data, including but not limited to the pre-processing of the above contents, and its goal is to transmit the most detailed on-site situation to the external receiving unit through the simplest information or code.

[0030] The emergency data transmission device is provided with an address code unit, which has a unique address code. The address code is put into the simplest information or code when the processing unit pre-processes the field perception data or information. The wireless communication module is capable of realizing single-chain or multi-chain wireless data transmission with wireless modules of the same device or the same protocol, and has the ability to realize single-section chain transmission, cross-section chain transmission, or coverage chain transmission in the configuration of the chain wireless communication module; when the wired connection is interrupted and some wireless nodes are also interrupted, the wireless communication module of this device automatically attempts to perform cross-section transmission and confirms the coordinates of the interrupted node in the data.

[0031] In this embodiment, as for the most important information scope and content urgently needed by rescue personnel at the scene of major and serious accidents in tunnels, the main content can be summarized as time, location, scope, nature, current situation, number of stranded vehicles, estimated stranded personnel, rescue channel status, etc. The auxiliary information contained in each of the above main information items generally does not exceed 10, and each auxiliary information can usually be defined and summarized using a three-digit or four-digit code (of course, if it is not enough, the number of code bits can be increased, and the code format can be customized). This embodiment uses a four-digit code, with letters and numbers arranged or combined according to the required rules. The code set edited in this mode can basically meet the pre-built description of various situations on the scene (equivalent to the plan), that is, each code corresponds to a scene situation, and the additional code is connected to the main code by a plus sign. The number of definitions that can be included in the above code set is very large (26 letters and / or 999 numbers are arranged and combined in four digits). The number of bytes required to transmit these codes is very small, which can use the most concise way to send as much on-site status information as possible to external rescue forces when on-site communication is blocked.

[0032] Furthermore, the device is provided with a protocol library unit, which allows the user to embed different types of communication protocols as needed. At the same time, the device also has the ability to work in conjunction with wired and wireless communications. After embedding relevant communication protocols, it can also realize the gateway function and serve as a redundant transmission channel for third-party devices, which can make up for and improve the disaster recovery capability of the running traffic safety equipment.

[0033] Furthermore, when the communication environment of the built-in wired communication module or wireless communication module of this device is normal (the communication rate is higher than the threshold and meets the working requirements), the device executes the communication task at the highest rate, and can also directly use the standard communication protocol to realize communication between devices; when a communication bottleneck occurs and key information needs to be compressed, the encoded communication mode can be started (standard communication and compressed communication can be switched as needed). The priority of wired communication and wireless communication can be parameterized as needed; when the upper management device issues an instruction or the wired communication is interrupted or the bit error rate exceeds the threshold (threshold parameterization), the wireless communication automatically becomes the highest priority (when this device is used in underwater communication scenarios, the underwater acoustic communication transceiver is equivalent to the wireless communication module).

[0034] Furthermore, when a traffic accident occurs at the installation point of this device, it is often accompanied by high temperature. When the tunnel is equipped with an automatic sprinkler device, the fire extinguishing device will spray water. Therefore, this device is packaged in a high-temperature resistant and waterproof shell. When the ambient temperature is not higher than 100 degrees Celsius, the survival time of this device in this environment is not less than 30 minutes, and the host protection capability is not less than IP67.

[0035] When a traffic accident occurs at the installation point of this device, power outage and wired communication interruption usually occur. At this time, the built-in power supply is required. Therefore, the built-in battery can meet the full load operation time of this device for no less than 60 minutes, and has the ability to charge online. When there is external power supply conditions, the external power supply is used first.

[0036] The wireless antenna of the device is made of a material with a high temperature resistance of not less than 200 degrees Celsius, and the connection line between the antenna and the device also needs to use a high temperature resistant wire that can work normally below 200 degrees Celsius.

[0037] The antenna of the device is installed on the tunnel wall at a distance of not less than 150 cm and not more than 220 cm from the tunnel road surface. This position is a more suitable installation point that can survive for a long time and achieve effective communication when an explosive traffic accident occurs at a close distance.

[0038] In actual application, the main purpose of this device is to transmit the on-site situation when a serious or major traffic accident occurs in the tunnel. At this time, explosion is likely to occur at the traffic accident scene, and the temperature at the accident point will rise rapidly with the change of tunnel height. In order to extend the survival time of this device, the installation position of this device should be set on the tunnel wall and the height from the road surface should not be higher than 1 meter, nor lower than 0.3 meters.

[0039] When explosions occur in tunnels, a large amount of smoke, high-temperature flames, and dust will be generated. Radio waves will be refracted and attenuated when passing through smoke. When passing through high-temperature flames, the ionization generated by the high-temperature flames will interfere with and block radio waves. When radio waves pass through dust areas, they will be subject to greater interference similar to passing through smoke areas. In practice, increasing the wireless wavelength can reduce the degree of interference when passing through the above-mentioned interference areas, so this device should use the VHF band or UHF low-frequency band wireless frequency band as the signal transmission carrier frequency band. This implementation uses 868 MHz as the carrier frequency. In practice, 150 MHz and 433 MHz carrier frequencies have been tested and can meet the use requirements of this device.

[0040] When the device is installed in a tunnel environment, it is arranged in two directions along the tunnel on the left and right side walls of the road, and the installation interval is such that the radio waves of the wireless module configured for any one of the devices can cover at least two similar devices within the effective distance, so that the devices can form a chain network and realize cross-section communication.

[0041] Embodiment 2: This embodiment provides a specific application case based on the device in Embodiment 1, such as Figure 1The project of this embodiment was fully functionally tested in a tunnel in central Shaanxi. The design purpose of this device is to effectively provide key on-site real-time data to the outside of the tunnel when a serious accident occurs in the tunnel, and as an optional option in the tunnel traffic safety system, it can be increased or decreased in the tunnel traffic safety system as needed.

[0042] The basic configuration of this device is: the wireless communication module uses the zigbee module with a frequency of 868 MHz; the wired communication module uses the TCP / IP protocol interface, the sensing device connection uses the 485 interface, and the third-party device is converted based on the 232 interface to adapt to the third-party interface requirements.

[0043] The traffic safety system of the tunnel is a tunnel safety assurance system developed and produced by the applicant. It has been equipped with many types of tunnel traffic safety sensing devices. The main contents that can be detected include: vehicle speed, vehicle type, lane occupancy, vehicle spacing, parking events, collision detection, reverse driving, explosion and other traffic events, and the event detection coordinate error is less than 5 meters. The speed detection has been certified by measurement. The detection of the road surface includes discarded objects and road surface dryness and humidity; the detection of the environment includes tunnel smoke, tunnel visibility, and temperature (divided into contact temperature detection and non-contact temperature detection). The original system did not include an oxygen content sensor, so the oxygen content sensor was directly connected externally in this device.

[0044] The device and the battery are installed in a customized case, the shell of which is made of industrial ceramics, the inner layer is a vacuum-evacuated tempered glass insulation box, the external guide wire is a silicone braided high-temperature wire, and the wireless antenna is a customized plate-type directional antenna. The power supply voltage is 6V, and a 6.4V / 12Ah lithium battery is used as a backup power supply.

[0045] This device includes all the sensor device data that can be collected into the collection scope of this device, and uses a mixed coding method of four-digit numbers and letters to independently encode each type of data. The codes are prioritized according to the rescue weight. This device has a 3D tunnel schematic designed specifically for this tunnel. The schematic is provided with display points and scene status display codes corresponding to the data coordinates of this device (or called location marking points). The data sensed by the on-site sensors can display relevant values ​​at the corresponding positions on this 3D schematic. When a point has multiple data, the schematic can select the priority display item or list display mode. This device does not have a video acquisition interface, but can access dynamic data that is converted into traffic events after being recognized by the AI ​​module. The 3D schematic uses animation to display dynamic data (such as vehicle location, etc.).

[0046] This device has a set of encoding and decoding rules built in, and similar devices only need to configure the same encoding and decoding rules to achieve effective interaction. For each type of data that can be collected by this device, this device independently encodes it. This embodiment uses a 4-bit code to briefly describe the event, and related or continuous data is coupled (connected and described) using a + sign. The + after the first group of data indicates that the second group of data is a supplement to the first group, and any number of consecutive supplements can be achieved.

[0047] This device is a technical equipment for recording and reproducing the elements and development trends of the tunnel operation scene or accident scene from the rescue perspective. From the rescue perspective, there is actually no need to record and transmit the tunnel operation data, but from the tunnel management perspective, it is necessary to collect, transmit and reproduce these data. This embodiment encodes tunnel events from the perspective of both, which is briefly described as follows:

[0048] From the perspective of operation and management, the traffic flow in the tunnel is continuous. In order to continuously track the trajectory of each vehicle, each vehicle needs to be independently coded. The code starts from the vehicle entering the monitoring area of ​​the tunnel until the vehicle leaves the tunnel. The entire tunnel traffic flow monitoring device has the ability to track and monitor the entire process, so the code of the tracked vehicle must be unique throughout the entire process, which means that the number of codes generated in this device is the same as the number of vehicles in the tunnel at the same time. Therefore, a unique code can be generated for each vehicle entering the tunnel. Considering the limit of the number of vehicles that the tunnel can accommodate at the same time, it is estimated according to the traffic jam in the tunnel, that is, the maximum number of vehicles that can be parked in a single lane of one kilometer is calculated, 100 vehicles / kilometer, a 10-kilometer-long tunnel single lane has no less than 1,000 vehicles, and the number of lanes in the tunnel multiplied by the length can estimate the maximum carrying capacity of the tunnel. It is estimated that the number of codes can meet the requirements according to 4 digits (letters and numbers can be arranged according to needs or rules), so the code capacity for vehicles entering the tunnel can basically meet the needs of most application scenarios.

[0049] For the description of the event: 20 states are reserved (such as vehicle speed, vehicle spacing, vehicle position, etc.). This embodiment uses the first three digits to express the event state (which can also become the interpretation depth data of the event), and the last letter expresses the event attribute. For example, the vehicle location code: the last digit is expressed by the letter P. The position expression of this embodiment is the coordinates of the installation point of this device. The installation interval of this device in the tunnel is approximately 25 meters or 50 meters, so the number of 999 codes can meet the use requirements of most tunnels. The encoding method in this embodiment is a custom encoding method. The encoding requirement is that it is unique for a certain vehicle. Obviously, this encoding method can easily encode more events. Another example: for example, if the positioning code is A100, then A1000+021P=a certain vehicle is at the 21st marked coordinate from the tunnel entrance. If further description is needed, just add the corresponding code. For example, the vehicle's driving direction codes are 1234 for east, south, west and north respectively, so 001S means that the vehicle is traveling from east to west, and so on. When the vehicle leaves the tunnel, the code is discarded and waits for the next activation. The coding resources are regenerated using a rolling method.

[0050] The installation point of this device in the tunnel has a unique coordinate position, which is relatively consistent with the point marked in the 3D schematic diagram. Then the data sensed in the tunnel can be accurately reproduced on the 3D dynamic schematic diagram, which is very useful in computer management of tunnel events. It should be noted that this device is a typical practical way to fully digitally upgrade the environment and traffic events, and it can play a significant role in the next stage of traffic safety AI management.

[0051] Since a real accident scenario cannot be achieved in the actual measurement environment, the device in the tunnel of this embodiment is tested in a simulation manner. The physical location is an east-west tunnel entrance, and an accident occurs between base station No. 5 (this device is similar to a base station in the tunnel. For the sake of convenience, the location of this device in the tunnel is called a base station) and base station No. 6, and an explosion occurs. At this time, the data that can be received outside the tunnel are: 1. Accident vehicle code; 2. Accident vehicle location; 3. Time of the accident; 4. The number of blocked vehicles from the east-west tunnel entrance to the accident vehicle; 5. The number of blocked vehicles from the west-east tunnel entrance to the accident location; 6. Whether vehicles are still entering the entrances on both sides of the tunnel ; 7. Visibility value of the accident point; 8. Temperature data of the accident point; 9. Temperature change efficiency of the accident point; 10. Whether the escape channel is open and whether someone passes through the escape channel; 11. Oxygen content at the accident point; 12. Predict the remaining survival time at the accident point based on the temperature change slope; 13. Visibility value of the rescue channel to be entered; 14. Survival index value (oxygen content, temperature) of the rescue channel to be entered; 15. Status of on-site communication equipment (refers to the details of the equipment that can continue to work, this function needs to be configured with the installed traffic safety equipment to be obtained); 16. The remaining working time of the emergency equipment; The above data can basically meet the basic needs of emergency rescue. Of course, if more on-site conditions are needed, they can be met by pre-setting more sensing devices. In summary, the above content is encoded using letters and numbers in four digits, and its encoding capacity is sufficient. This embodiment is to illustrate the method of using codes to describe various traffic events in the emergency data communication mode. Obviously, it is also very easy to set codes of different digits according to the content of the event or edit different code sets for the event, which are all within the scope described in this patent. Another point is that this patent wants to describe a device that detects events and responds to them by computers. The video surveillance widely used in tunnel monitoring is actually responded to by the on-duty personnel. It is essentially a manual management device. Most events in tunnel scenes can be managed without blind spots using computers based on current technical capabilities. It is very important to allow computers to recognize these events. This device is an attempt to encode events and allow computers or AI systems to manage events. More importantly, this device focuses on sending detailed rescue information to rescuers when major accidents occur in tunnels so that rescuers can implement rescue more effectively. All the collected data will be uploaded to the upper control device or cloud in real time so that the data can be easily obtained outside the tunnel.

[0052] Response code library, the response is a response to the sender. The response code can correspond to the sender, or only one standard code can be used to respond to all information. This can be determined according to the final use requirements. For example, if the transmission resources are very tight, the simplest message can be replied, such as: OK.

[0053] Embodiment 3: This embodiment provides a specific application case based on the device in Embodiment 1. When this device is applied to an underwater robot, this device and an acoustic transceiver (ultrasonic transceiver) are installed on the underwater robot, and a set of acoustic interaction equipment is installed on the shore or on the ship, and the acoustic transceiver is placed in the water. The shore-based equipment has a conversion module for wireless or wired to acoustic communication, which can convert the shore-based control instructions into simple control instruction codes according to the code library and convert the codes into acoustic signals and send them to the underwater device. The code library capacity included in this device is sufficient to accommodate all the instruction sets of the shore-based equipment for controlling the underwater robot. In practice, there are not many operating instructions from the shore-based equipment to the underwater robot. Many instructions issued by the shore-based equipment to the underwater robot and the instruction codes received from the underwater robot are mainly derived from the real-time state perception data and internal working state data replied by the underwater robot after executing the shore-based instructions; in practice, the underwater robot can also start some auxiliary devices or send back some real-time data according to the control requirements or load requirements, so the interaction between the underwater robot and the shore is two-way. Figure 2 Describes the encoding and decoding and response workflow of the code sent by the shore-based equipment to the underwater robot. Figure 3 The encoding and decoding and response workflow of the underwater robot sending codes to the shore-based equipment is described. The above two flowcharts represent the application process of two-way encoding and decoding between the shore-based equipment and the underwater robot. It describes the scenarios that require two-way interaction and interaction, such as underwater submersibles. Some special models of underwater robots need to send information to the shore-based equipment in the specific application process, and can also operate certain shore-based equipment or third-party devices according to the load requirements. In these scenarios that require interaction, encoding and decoding are performed on both or multiple parties of the interaction. The multiple parties here mean that this device can be applied to one-to-many, many-to-many, and many-to-one interaction scenarios and realize multiple control modes, such as cross control, sequential control, designated control, etc., especially when applied to underwater devices. This function is more practical. When using this device to initiate an operation on the shore, the underwater robot must reply whether the command is effectively received (confirm the command) and the current status. The payload of the underwater robot can send back this information in real time when some key data or data exceeds the standard is detected. After using this device, the data length between these interactions will be greatly reduced, and the transmission of these data can be completed at high speed in a very narrow transmission bandwidth. This is in line with the current civilian scenario's requirements for underwater devices to achieve a larger control distance and higher control quality under low cost and high efficiency conditions.

[0054] In practice, it is only necessary to replace the wireless communication module of the device with an underwater acoustic communication transceiver. In underwater robot applications, since the device size and weight of the device are very small, it is suitable for being embedded in an underwater robot or other underwater device and serving as its communication module. In this embodiment, the application scenarios of the device in underwater robots will be listed. It should be noted that the device is a compression and decompression device with low transmission volume and high information content at the beginning / end, and is mainly used in interactive systems that can preset scenes. Therefore, this embodiment only introduces a device based on code compression to achieve large information transmission in harsh environments (or extremely low-rate environments). This patent does not include underwater acoustic communication transmission and anti-interference technology. Of course, the use of code to achieve signal or data transmission can also be said to be a kind of encryption of transmission, because without a code library, no third party can decipher the instruction set of the device.

[0055] In this embodiment, the device is applied in the underwater robot produced by the applicant company to realize the interaction between the underwater robot and the shore-based operator. The specific operation is: replace the wireless module of the device with a transceiver for hydroacoustic communication (the carrier frequency of the hydroacoustic transceiver used in the device is 3KHz, FSK modulation communication, under the simplest configuration conditions, the minimum stable transmission rate of 20 bytes per second at a distance of 10 kilometers), the control target is to realize the effective interaction of the shore-based underwater robot or submersible within a range of 10 kilometers underwater, and remote manual driving and manual obstacle avoidance can be realized during the underwater diving of the submersible (automatic driving and autonomous obstacle avoidance are not within the scope of this patent description. If a higher-configuration hydroacoustic communication component is used, a stable transmission rate of 60 bytes per second can be stably achieved). Since there are not many technical conditions available for remote control of underwater wireless submersibles in inland freshwater environments, this embodiment chooses to use low-rate and high-reliability FSK underwater acoustic communication in combination with this device to achieve wireless interaction with shore-based equipment. Coding rules and decoding rules are configured in this device and shore-based equipment, and encoding and decoding can be achieved in both directions as needed. This is also a high-rate compression communication method.

[0056] The actions that need to be realized in remote interaction are analyzed as follows: the content that the submersible needs to report to the shore-based equipment is: current position, energy status, motion status, obstacle distance in six directions (front, back, left, right, up and down), current water depth, submersible attitude (direction, balance tilt angle, etc.), load status, etc.

[0057] After the submersible starts running, the main interactive content includes the instructions of the shore-based equipment: start, stop, move forward, move backward, ascend, dive, balance, tilt forward, tilt backward, set depth, set altitude, return, go to specified coordinates, turn on load, turn off load, emergency ascent, emergency dive, send out anti-collision signals, etc.

[0058] The data that the submersible sends back to the shore-based equipment mainly include: confirmation of the command being executed and the status, the current speed in six directions (the submersible is a three-dimensional motion device, so there are six directions), the current water depth, the current fixed altitude position, the current fixed depth position, the current movement change trend, the energy value, the ambient temperature value, the obstacles and distances in six directions, and whether the load has been working;

[0059] Relatively more categories are required in the interaction between the shore base and the submersible, but the depth of each category is not large, so the code capacity and code depth according to the four-bit code can still fully meet the practical requirements. This embodiment uses two letters plus two digits to encode all instructions, and also reserves enough blank codes for each type of control terminal to develop new functions in the future.

[0060] From the above description, it can be seen that the shore-based equipment using the code method can get an effective response within one second after sending a control command to the remote underwater submersible, and the shore-based equipment will also receive the problems that the submersible may encounter during the underwater movement in the first time. In this application environment, this device can well solve the real-time and effectiveness of control when the underwater communication environment is poor.

[0061] For example: the startup command of the submersible is divided into hot startup and cold startup. Hot startup means turning on the power of the submersible and waiting for the sensors on board to operate normally before executing other commands. Cold startup means forced startup (starting the submersible directly without waiting for the submersible's sensing device to reset, usually used in emergency situations): the startup command is: AA01 (hot startup), at which time the submersible will reply that the startup is complete, such as BB01. The cold startup can be set to AA11, at which time the submersible will reply BB11, and then the shore-based equipment can issue specific control commands. If calculated at the minimum rate of 20 bytes per second, it takes 4 bytes to issue a startup command, and the status code sent back by the submersible also takes four bytes. If the control system operating speed is not considered, then even if the communication handshake time is added, it will not take more than one second to complete the interaction and control. Therefore, this method can achieve high-rate compression transmission of data for devices with limited interactive information when transmission is more difficult.

[0062] To sum up, the present invention can pre-process the perception data or information at the application site in relatively harsh environments such as tunnels or underwater to obtain the simplest information or code, so that the simplest information or code can be quickly sent to an external receiving unit, ensuring the communication function in harsh environments.

[0063] The above embodiments only express the implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An emergency data transmission device for use in harsh environments, characterized in that: include: An interface unit, used to connect with equipment and / or sensing devices at the application site; A communication unit, provided with a wired communication module and / or a wireless communication module, for achieving effective communication; The processing unit is used to pre-process the field sensing data or information acquired by the interface unit to obtain the simplest information or code, and then use the communication module to transmit the simplest information or code to the external receiving unit.

2. The emergency data transmission device for use in harsh environments according to claim 1, characterized in that: The preprocessing is to compress and / or encode and / or package the on-site perception data or information to define and summarize the content that is urgently needed to be transmitted in the harsh environment.

3. The emergency data transmission device for use in harsh environments according to claim 1, characterized in that: It also includes an address code unit, in which a unique address code is set. The address code is put into the simplest information or code when the processing unit pre-processes the on-site perception data or information.

4. The emergency data transmission device for use in harsh environments according to claim 3, characterized in that: The wireless communication module has the ability of single-link or multi-link wireless data transmission and single-node chain transmission, cross-node chain transmission or covering chain transmission; when the wired communication module is interrupted and the wireless communication of some nodes is also interrupted, the wireless communication module automatically attempts to perform cross-node transmission and confirms the coordinates of the interrupted node in the data.

5. The emergency data transmission device for use in harsh environments according to claim 1, characterized in that: It also includes a protocol library unit, which allows users to implant different types of communication protocols as needed. After embedding the relevant communication protocols, it realizes the gateway function and serves as a redundant transmission channel for the equipment to compensate for and improve the disaster recovery capability of the running equipment.

6. The emergency data transmission device for use in harsh environments according to claim 2, characterized in that: The housing of the emergency data transmission device, the antenna of the wireless communication module and the wires are packaged in a high-temperature resistant and waterproof housing with a protection capability of not less than IP67; the built-in battery of the emergency data transmission device can run at full load for not less than 60 minutes.

7. The emergency data transmission device for use in harsh environments according to claim 6, characterized in that: The emergency data transmission devices are arranged in bidirectional rows along the tunnel direction and installed on the left and right side guardrails of the road, with installation intervals such that the radio waves of the wireless communication module configured for any one of the emergency data transmission devices cover at least two similar emergency data transmission devices within an effective distance, so as to form a chain network and realize cross-section communication; the installation position of the emergency data transmission device is set on the tunnel wall, and is installed at a height of 0.3 meters to 1 meter from the road surface; the antenna of the wireless communication module is installed on the tunnel wall at a distance of 1.50 meters to 2.2 meters from the tunnel road.

8. The emergency data transmission device for use in harsh environments according to claim 1, characterized in that: The wireless communication module uses a VHF band or a UHF low frequency band as a signal transmission carrier frequency band.

9. The emergency data transmission device for use in harsh environments according to claim 1, characterized in that: The wireless communication module is an underwater acoustic communication transceiver.

10. The method for emergency data transmission device applied to harsh environment according to claim 1, characterized in that: In harsh environments, the processing unit pre-processes the field perception data or information obtained by the interface unit to obtain the simplest information or code, and then uses the redundant communication method of the communication module to transmit the simplest information or code to the external receiving unit.

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