Deep sea image transmission device, method and equipment based on underwater acoustic communication, medium and product

Abstract

The invention discloses a deep sea image transmission device and method based on underwater acoustic communication, equipment, a medium and a product, and relates to the technical field of underwater acoustic communication, the device comprises a water surface node and an underwater node, the water surface node calculates one-way propagation time delay based on a ranging signal, and the underwater node calculates the underwater communication time delay based on the ranging signal; according to the propagation time delay, determining a time interval for sending a compressed image and an interrupt signal sending time, and sending the time interval and the interrupt signal sending time as time parameter information and a shooting starting instruction to the underwater node at the same time; the underwater node shoots, compresses and uploads a deep sea image based on the time interval; the water surface node decompresses and stores the compressed image, and sends an interrupt signal to the underwater node when the underwater node meets an interrupt condition; when the interrupt signal is received, the underwater node stops working; and when the interrupt signal is not received, continuously working, and stopping working until the working time reaches the total working time, thereby completing transmission of the deep sea image. According to the method, a traditional handshake mechanism is abandoned, and higher data throughput is obtained.

Description

Technical Field

[0001] The present application relates to the field of underwater acoustic communication technology, and in particular to a deep-sea image transmission device, method, equipment, medium and product based on underwater acoustic communication. Background Art

[0002] As human exploration and development of the ocean continues to deepen, the demand for deep-sea observation, scientific research and operations is increasing day by day, and timely and reliable acquisition of deep-sea information is particularly important. As a sensor that can provide intuitive multimedia data, cameras are currently the mainstream equipment for underwater and even deep-sea observations due to their low price and easy integration. However, in deep-sea operating environments, the distance between underwater nodes and surface support mother ships can reach thousands of meters. How to communicate and timely transmit the seabed situation is the key to efficient deep-sea exploration and development.

[0003] At present, the mainstream underwater communication method is hydroacoustic communication, which is a low-cost and more flexible solution, especially in the working scenarios of deep-sea and surface communication. However, hydroacoustic communication also has the disadvantage of being difficult to balance speed and stability. Most of the existing technical means realize long-distance data transmission by setting up multiple nodes to forward data, but it greatly increases the cost of system construction and is not suitable for some relatively simple scenarios; or improves data transmission efficiency through algorithm optimization of the physical layer and network layer, but its practicality is often greatly limited due to complexity. In addition, these solutions often require a handshake mechanism to ensure successful data transmission, which makes it difficult to further improve the data throughput of the system.

[0004] Therefore, it is necessary to provide a deep-sea image transmission method based on underwater acoustic communication to solve the above problems. Summary of the invention

[0005] The purpose of this application is to provide a deep-sea image transmission device, method, equipment, medium and product based on underwater acoustic communication, which abandons the traditional handshake mechanism and obtains higher data throughput.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a deep-sea image transmission device based on underwater acoustic communication, the deep-sea image transmission device based on underwater acoustic communication comprising: a surface node and an underwater node, the surface node being a surface human-computer interaction terminal, the underwater node being an underwater information acquisition terminal, and the surface node and the underwater node being communicatively connected;

[0008] The surface node is used for:

[0009] Sending a ranging signal to the underwater node, and calculating a one-way propagation delay of the ranging signal according to the ranging signal;

[0010] According to the one-way propagation delay, the time interval for the underwater node to send the compressed image and the interrupt signal sending time of the surface node are determined; the time interval for the underwater node to send the compressed image is determined by the fixed working time, the set RTC clock drift error time and the interrupt signal waiting time of the surface node, and the fixed working time is determined based on the image capture time, image compression time, image upload time and the one-way propagation delay of the underwater node;

[0011] The total working time of the underwater node is set, and the time interval for the underwater node to send the compressed image, the time for the surface node to send the interrupt signal and the total working time of the underwater node are used as time parameter information and a start shooting instruction and sent to the underwater node at the same time;

[0012] The underwater node is used for:

[0013] After receiving the time parameter information and the start shooting instruction, based on the time interval of sending the compressed image by the underwater node, deep-sea image shooting is performed to obtain a plurality of deep-sea images;

[0014] Compressing each of the deep-sea images to obtain a plurality of compressed images, and uploading the plurality of compressed images to the surface node;

[0015] The surface node is also used for:

[0016] Decompress and save the received multiple compressed images, and send an interrupt signal to the underwater node when the underwater node meets the interrupt condition;

[0017] The underwater node is also used for:

[0018] When receiving an interrupt signal, stop working;

[0019] When no interrupt signal is received, the system continues to work until the working time reaches the total working time, then stops working and completes the transmission of the deep-sea image.

[0020] Optionally, the water surface node is also used for:

[0021] Based on the time interval of the underwater node sending the compressed image, the duration of a working cycle of the underwater node is determined, and the duration of the working cycle of the underwater node is used as the time interval for error calibration of the RTC module;

[0022] When the working time of the underwater node reaches the RTC module error calibration time interval, the time of the local RTC module is read, and time synchronization is performed based on the time of the local RTC module;

[0023] The time of the local RTC module and the number of the deep-sea image that failed to be received are sent to the underwater node at the same time;

[0024] The underwater node is also used for:

[0025] Time synchronization is performed according to the time of the received local RTC module, and the deep-sea image with the corresponding number is uploaded to the surface node again according to the number of the deep-sea image that failed to be received.

[0026] In a second aspect, the present application provides a deep sea image transmission method based on underwater acoustic communication, the deep sea image transmission method based on underwater acoustic communication is based on the deep sea image transmission device based on underwater acoustic communication, and the deep sea image transmission method based on underwater acoustic communication includes:

[0027] The surface node sends a ranging signal to the underwater node, and calculates a one-way propagation delay of the ranging signal according to the ranging signal;

[0028] The surface node determines the time interval for the underwater node to send the compressed image and the interrupt signal sending time of the surface node according to the one-way propagation delay; the time interval for the underwater node to send the compressed image is determined by the fixed working time, the set RTC clock drift error time and the interrupt signal waiting time of the surface node, and the fixed working time is determined based on the image capture time, image compression time, image upload time and the one-way propagation delay of the underwater node;

[0029] The surface node sets the total working time of the underwater node, and sends the time interval for the underwater node to send the compressed image, the time for the surface node to send the interrupt signal, and the total working time of the underwater node as time parameter information and a start shooting instruction to the underwater node at the same time;

[0030] After receiving the time parameter information and the start shooting instruction, the underwater node shoots deep-sea images based on the time interval for sending compressed images by the underwater node to obtain multiple deep-sea images;

[0031] The underwater node compresses each of the deep-sea images to obtain a plurality of compressed images, and uploads the plurality of compressed images to the surface node;

[0032] The surface node decompresses and saves the received multiple compressed images, and sends an interrupt signal to the underwater node when the underwater node meets the interrupt condition;

[0033] When the underwater node receives an interruption signal, it stops working;

[0034] When the underwater node does not receive the interrupt signal, it continues to work until the working time reaches the total working time, stops working, and completes the transmission of the deep-sea image.

[0035] Optionally, the deep sea image transmission method based on underwater acoustic communication further includes:

[0036] The surface node determines the duration of a working cycle of the underwater node based on the time interval of the underwater node sending the compressed image, and uses the duration of the working cycle of the underwater node as the RTC module error calibration time interval;

[0037] When the working time of the underwater node reaches the RTC module error calibration time interval, the surface node reads the time of the local RTC module and performs time synchronization based on the time of the local RTC module;

[0038] The surface node sends the time of the local RTC module and the number of the deep-sea image that failed to be received to the underwater node at the same time;

[0039] The underwater node performs time synchronization according to the time received from the local RTC module, and uploads the deep-sea image with the corresponding number to the surface node again according to the number of the deep-sea image that failed to be received.

[0040] Optionally, calculating a one-way propagation delay of the ranging signal according to the ranging signal specifically includes:

[0041] When the underwater node is stationary, using the formula t' b =t2-t1 calculates the one-way propagation delay of the ranging signal; where t' b represents the one-way propagation delay when the underwater node is stationary, t1 is the time when the surface node sends the ranging signal to the underwater node, and t2 is the time when the underwater node receives the ranging signal;

[0042] When the underwater node moves within a preset range, the formula t' b = t2-t1 and t b =t' b ±Δt, calculate the one-way propagation delay of the ranging signal; where t b is the one-way propagation delay when the underwater node moves, and Δt is the change in the propagation delay of the ranging signal.

[0043] Optionally, when the underwater node meets the interruption condition, sending an interruption signal to the underwater node specifically includes:

[0044] The interruption condition is that the current power state of the underwater node is lower than a preset threshold or the saved compressed image cannot provide valid information;

[0045] At the time corresponding to the time interval of each underwater node sending the compressed image, the surface node prompts the operator that "an interrupt signal can be sent";

[0046] When the underwater node meets the interruption condition, the operator confirms to send an interruption signal, and the surface node sends an interruption signal to the underwater node.

[0047] Optionally, when the surface node sends an interrupt signal to the underwater node for the first time, the time when the surface node sends the interrupt signal is t after the underwater node starts sending the compressed image. work +t RTC time, where t work is the fixed working time, t RTC The set RTC clock drift error time;

[0048] When the surface node sends an interrupt signal to the underwater node for the Nth time (N is greater than 1), the time from the surface node to send the interrupt signal is: gap t break moment, where t gap is the time interval for underwater nodes to send compressed images, t break is the interrupt signal waiting time of the surface node.

[0049] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-mentioned deep-sea image transmission methods based on underwater acoustic communication.

[0050] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned deep-sea image transmission methods based on underwater acoustic communication.

[0051] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned deep-sea image transmission methods based on underwater acoustic communication.

[0052] According to the specific embodiments provided in this application, this application has the following technical effects:

[0053] The present application discloses a deep-sea image transmission device, method, equipment, medium and product based on underwater acoustic communication. The device calculates a one-way propagation delay and determines the time interval for underwater nodes to send compressed images and the time for surface nodes to send interrupt signals according to the one-way propagation delay. At the same time, the total working time of the underwater nodes is set, and the time interval for underwater nodes to send compressed images, the time for surface nodes to send interrupt signals and the total working time of the underwater nodes are used as time parameter information for time slot allocation. The underwater nodes are guided to shoot, compress and upload images, calibrate RTC module errors and send interrupt signals of surface nodes according to the time slot allocation results, thereby avoiding the long communication time caused by the traditional practice of ensuring successful data transmission through ACK signals. Instead, the synchronous clock is used to maximize the utilization of system resources through reasonable time slot allocation, thereby improving the data throughput of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 This is a schematic diagram of a deep-sea image transmission device based on underwater acoustic communication in one embodiment of the present application;

[0056] Figure 2 A schematic diagram of a process of a deep-sea image transmission method based on underwater acoustic communication provided in an embodiment of the present application;

[0057] Figure 3 Another schematic diagram of the process of a deep-sea image transmission method based on underwater acoustic communication provided in one embodiment of the present application;

[0058] Figure 4 A schematic diagram of time slot allocation for a deep-sea image transmission device based on underwater acoustic communication in one embodiment of the present application;

[0059] Figure 5 A schematic diagram showing a throughput comparison between the deep sea image transmission method based on underwater acoustic communication of the present application and the traditional deep sea image transmission method;

[0060] Figure 6 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0063] In an exemplary embodiment, Figure 1 As shown, a deep sea image transmission device based on underwater acoustic communication is provided, and the deep sea image transmission device based on underwater acoustic communication includes: a surface node and an underwater node, the surface node is a surface human-computer interaction terminal, the underwater node is an underwater information acquisition terminal, and the surface node and the underwater node are communicatively connected.

[0064] The surface node is used for:

[0065] A ranging signal is sent to the underwater node, and a one-way propagation delay of the ranging signal is calculated according to the ranging signal.

[0066] According to the one-way propagation delay, the time interval for the underwater node to send the compressed image and the interrupt signal sending time of the surface node are determined; the time interval for the underwater node to send the compressed image is determined by the fixed working time, the set RTC clock drift error time and the interrupt signal waiting time of the surface node, and the fixed working time is determined based on the image capturing time, image compression time, image upload time and the one-way propagation delay of the underwater node.

[0067] The total working time of the underwater node is set, and the time interval for the underwater node to send the compressed image, the interrupt signal sending time of the surface node and the total working time of the underwater node are sent to the underwater node as time parameter information and the start shooting instruction at the same time.

[0068] The underwater node is used for:

[0069] After receiving the time parameter information and the start shooting instruction, deep-sea image shooting is performed based on the time interval for the underwater node to send compressed images to obtain multiple deep-sea images.

[0070] Each of the deep-sea images is compressed to obtain a plurality of compressed images, and the plurality of compressed images are uploaded to the surface node.

[0071] The surface node is also used for:

[0072] The received multiple compressed images are decompressed and saved, and an interrupt signal is sent to the underwater node when the underwater node meets the interrupt condition.

[0073] The underwater node is also used for:

[0074] When an interrupt signal is received, the operation stops.

[0075] When no interrupt signal is received, the system continues to work until the working time reaches the total working time, then stops working and completes the transmission of the deep-sea image.

[0076] Specifically, the system is designed for the scenario of deep-sea image acquisition and return transmission. The whole system includes a surface node and an underwater node, which are respectively denoted as node 1 and underwater node. Node 1 is responsible for sending instructions and receiving and saving data; the underwater node is responsible for acquiring deep-sea image data and transmitting it to node 1 through underwater acoustic communication. Figure 1 As shown, the surface node is the human-computer interaction end, generally a mother ship, equipped with a PC and an underwater acoustic communicator. The operator can control the transmission device through the PC, and the transmission device exchanges information with the underwater node through the underwater acoustic communicator; the underwater node is the information acquisition end, equipped with a camera, battery, light, underwater acoustic communicator, main control system, etc., generally an AUV or other deep-sea operation machine, used to obtain deep-sea image information, and save and upload it to the surface node. The two nodes are synchronized by a real-time clock (RTC) before deployment. The underwater node is generally in a low-power sleep state. When it needs to work, node 1 will send a signal to wake up the underwater node. After node 2 is awakened, it will first report the local device status, mainly the battery remaining. In this embodiment, node 2 is a deep-sea AUV node, equipped with camera and lighting equipment, and can move within a set range.

[0077] As an optional implementation manner, the water surface node is also used for:

[0078] Based on the time interval for the underwater node to send the compressed image, the duration of a working cycle of the underwater node is determined, and the duration of the working cycle of the underwater node is used as the error calibration time interval of the RTC module.

[0079] When the working time of the underwater node reaches the RTC module error calibration time interval, the time of the local RTC module is read, and time synchronization is performed based on the time of the local RTC module.

[0080] The time of the local RTC module and the number of the deep-sea image that failed to be received are sent to the underwater node at the same time.

[0081] The underwater node is also used for:

[0082] Time synchronization is performed according to the time of the received local RTC module, and the deep-sea image with the corresponding number is uploaded to the surface node again according to the number of the deep-sea image that failed to be received.

[0083] Beneficial effects of this application:

[0084] 1) The present application calculates the one-way propagation delay, and determines the time interval for underwater nodes to send compressed images and the time for surface nodes to send interrupt signals based on the one-way propagation delay; at the same time, the total working time of the underwater nodes is set, and the time interval for underwater nodes to send compressed images, the time for surface nodes to send interrupt signals and the total working time of the underwater nodes are used as time parameter information for time slot allocation, and the underwater nodes are guided to shoot, compress and upload images, calibrate RTC module errors and send interrupt signals of surface nodes according to the time slot allocation results, thereby avoiding the long communication time caused by the traditional practice of ensuring successful data transmission through ACK signals, and instead using the synchronous clock to maximize the utilization of system resources through reasonable time slot allocation, thereby improving the data throughput of the system.

[0085] 2) This application has set up a unique "interrupt signal" mechanism. If the surface staff finds an abnormality, they can interrupt the current work process at any time to facilitate the next step of processing.

[0086] Based on the same inventive concept, the embodiment of the present application also provides a deep-sea image transmission method based on underwater acoustic communication based on the above-mentioned deep-sea image transmission device based on underwater acoustic communication. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above-mentioned device, so the specific limitations in one or more embodiments of the deep-sea image transmission method based on underwater acoustic communication provided below can refer to the limitations of the deep-sea image transmission device based on underwater acoustic communication above, and will not be repeated here.

[0087] In an exemplary embodiment, Figure 2 and Figure 3 As shown, a deep sea image transmission method based on underwater acoustic communication is provided, including:

[0088] Step S1: The surface node sends a ranging signal to the underwater node, and calculates a one-way propagation delay of the ranging signal according to the ranging signal.

[0089] Step S2, the surface node determines the time interval for the underwater node to send the compressed image and the interrupt signal sending time of the surface node according to the one-way propagation delay; the time interval for the underwater node to send the compressed image is determined by the fixed working time, the set RTC clock drift error time and the interrupt signal waiting time of the surface node, and the fixed working time is determined based on the image capturing time, image compression time, image upload time and the one-way propagation delay of the underwater node.

[0090] Specifically, node 1 obtains the one-way propagation delay t b Then calculate the time interval t of each time node 2 sends the compressed image gap , t gap It includes the following three parts:

[0091] 1) Intrinsic working time t work : Image processing time including the known underwater node image capture time, image compression time, image upload time, etc. a , and the propagation delay of the underwater acoustic signal (i.e., one-way propagation delay) t b .

[0092] 2) Set the RTC clock drift error time t RTC :Different RTC modules have different precisions. If the RTC module used has low precision and the timing error is too large, a portion of time (i.e. the set RTC clock drift error time) needs to be reserved to prevent data collision. If the RTC precision is high and can be ignored within a certain working time, it can be directly set to zero. The specific setting can be based on the precision of the RTC module used. In this embodiment, the RTC module used has a precision of 5ppm (1ppm means that one clock will be offset for every one million clocks). Based on this, a suitable t RTC The specific time slot allocation is as follows: Figure 4 shown.

[0093] 3) Waiting time t for the interruption signal of the surface node break : This time period is used to wait for the interrupt signal that may be sent by node 1.

[0094] Step S3, the surface node sets the total working time of the underwater node, and sends the time interval for the underwater node to send compressed images, the interrupt signal sending time of the surface node and the total working time of the underwater node as time parameter information and the start shooting instruction to the underwater node at the same time.

[0095] Specifically, the total working time of node 2 is set to T, that is, node 2 stops shooting and uploading after T time, the interrupt signal sending time t3 of node 1 is set, and the time interval t of underwater node sending compressed images is set to gap The interrupt signal sending time t3 of the surface node and the total working time T of the underwater node are sent to node 2 together as time parameter information and the "start shooting command". Among them, the total working time T is generally determined by the staff according to the exploration needs of the deep sea area and the equipment status. After waking up node 2 before starting work each time, node 2 will also return information such as its own endurance status.

[0096] The transmission delay of each signal transmission can be obtained based on the pre-agreed data frame size, combined with the one-way propagation delay t b , we can set a reasonable time interval t for underwater nodes to send compressed images gap , the total working time T of the underwater node and the interrupt signal sending time t3 of the surface node. In this embodiment, the frame structure used for sending data between nodes is shown in the following table:

[0097] Table 1 Frame structure used to send data between nodes

[0098] Frame Header Data Information Frame end 4 bytes ≤3200 bytes 4 bytes

[0099] The frame header contains information such as the synchronization header, and the frame tail is generally a CRC checksum. Assuming that the memory size occupied by the image obtained by node 2 after compression by the BPG algorithm is X bytes, and the resolution of the decompressed JPG (joint photographic group) image is not less than 1920*1080, after multiple tests, it can be obtained that X≤3200, that is, only one frame is needed to send a complete BPG format compressed image, and the data size is X+8 bytes. When actually sent, it will be divided into multiple data frames for transmission. If it cannot be divided into an integer number of packets, 0 will be automatically added. Assuming that the data size of a data frame is Y bits, the number of data packets required to send a frame is: Assuming the data transmission rate is Z bits per second, the time required to send a data packet is Y / Z seconds; and taking 0.5% of the data frame length as the interval between packets, the interval length is Y / Z×0.5% seconds. Therefore, the transmission delay required to send a complete data frame is:

[0100]

[0101] Step S4, after receiving the time parameter information and the start shooting instruction, the underwater node shoots deep-sea images based on the time interval for sending compressed images by the underwater node to obtain multiple deep-sea images.

[0102] Specifically, T α is a working cycle. After node 2 receives the start shooting instruction, it takes t gap To start taking images at intervals and compressing and uploading them, each photo will be numbered and saved locally for at least 2 working cycles, and then automatically deleted. Considering that Node 2 needs to be on duty in the deep sea for a long time in some cases, in order to prevent excessive memory usage, it will be saved for 2 working cycles while ensuring the need for retransmission. If the underwater operation time is not long and there is no memory concern, it can be set not to be automatically deleted.

[0103] Node 2 sets the working time of each module according to the received time parameter information and then starts to execute the image acquisition work. The main control board and the power management module will enter a continuous working state, controlling the camera equipment and lighting equipment with high power consumption to work every t gap The time starts, and after acquiring the deep-sea image, the main control board compresses it into a deep-sea image in BPG (better portable graphics) format, and saves the compressed image in the corresponding local path according to the order of acquisition. α time, and then the underwater acoustic communication device starts working and uploads the compressed image to node 1 through underwater acoustic communication.

[0104] Step S5: the underwater node compresses each of the deep-sea images to obtain a plurality of compressed images, and uploads the plurality of compressed images to the surface node.

[0105] In step S6, the surface node decompresses and saves the received multiple compressed images, and sends an interrupt signal to the underwater node when the underwater node meets the interrupt condition. After node 1 obtains the compressed image and decompresses it, it saves the image in the local corresponding path in the same numbering method as the compressed image in step S4. In addition, node 1 will also determine whether the image is successfully received based on whether the received signal verification is successful or not, and record the image number of the failed reception. The staff can view the deep-sea image by number at any time to obtain deep-sea information.

[0106] Step S7: When the underwater node receives an interrupt signal, it stops working.

[0107] Step S8, when the underwater node does not receive an interrupt signal, it continues to work until the working time reaches the total working time, stops working, and completes the transmission of the deep-sea image.

[0108] As an optional implementation, the deep sea image transmission method based on underwater acoustic communication further includes:

[0109] Step S9, the surface node determines the duration of a working cycle of the underwater node based on the time interval of the underwater node sending the compressed image, and uses the duration of a working cycle of the underwater node as the RTC module error calibration time interval; that is, after starting to work, every T α Calibrate the clock modules of two nodes once, where the RTC module error calibration time interval is T α is the time interval t gap An integer multiple of .

[0110] Step S10, when the working time of the underwater node reaches the RTC module error calibration time interval, the surface node reads the time of the local RTC module and performs time synchronization based on the time of the local RTC module.

[0111] Step S11, the surface node sends the time of the local RTC module and the number of the deep-sea image that failed to be received to the underwater node at the same time.

[0112] Step S12, the underwater node performs time synchronization according to the received time of the local RTC module, and uploads the deep-sea image with the corresponding number to the surface node again according to the number of the deep-sea image that failed to be received.

[0113] Specifically, node 1 can continuously receive data and record the photo numbers that failed to be received. When the total working time of node 2 reaches T, it will automatically stop working. α When the time is reached, node 1 will read the time of the local RTC module and send the time information together with the number of the photo that failed to be received to node 2. After node 2 synchronizes the local RTC clock, it will upload the locally saved photos to node 1 again according to the number, and then resume the previous working mode of taking images, saving and compressing and uploading.

[0114] As an optional implementation manner, in step S1, calculating the one-way propagation delay of the ranging signal according to the ranging signal specifically includes:

[0115] Step S101: when the underwater node is stationary, use the formula t' b =t2-t1 calculates the one-way propagation delay of the ranging signal; where t' b It represents the one-way propagation delay when the underwater node is stationary, t1 is the time when the surface node sends the ranging signal to the underwater node, and t2 is the time when the underwater node receives the ranging signal.

[0116] Step S102: when the underwater node moves within a preset range, the formula t' is used. b = t2-t1 and t b =t' b ±Δt, calculate the one-way propagation delay of the ranging signal; where t b is the one-way propagation delay when the underwater node moves, and Δt is the change in the propagation delay of the ranging signal.

[0117] Specifically, the underwater node records the time t2 when the ranging signal is received, and immediately sends the time information t2 to node 1. Since the working parameters of the underwater camera mounted on the underwater node (such as the exposure and pixel parameters of the captured image) are fixed, the size of the data frame obtained after the captured image is compressed remains unchanged. Therefore, by sending a ranging signal with a data volume consistent with the data frame size, a relatively accurate one-way propagation delay can be estimated.

[0118] In addition, if the underwater node moves within a certain range, as the distance between the two nodes changes, the change in the propagation delay of the underwater acoustic signal is Δt, then the actual propagation delay is t b .

[0119] As an optional implementation, in step S6, when the underwater node meets the interruption condition, sending an interruption signal to the underwater node specifically includes:

[0120] The interruption condition is that the current power state of the underwater node is lower than the preset threshold or the saved compressed image cannot provide effective information. When the system is running normally, the interruption condition may include: after the staff has viewed the deep-sea images, they analyze that the area here does not have more exploration value, etc.; or the system cannot work normally due to battery life and other reasons, such as node 1 does not continue to receive images normally.

[0121] Step S61, the surface node prompts the operator that "an interrupt signal can be sent" at the time corresponding to the time interval for each underwater node to send a compressed image.

[0122] Step S62: When the underwater node meets the interruption condition, the operator confirms to send an interruption signal, and the surface node sends an interruption signal to the underwater node. gap The operator is prompted to send an interrupt signal; when the underwater node does not meet the interrupt condition and the operator does not perform any operation, the interrupt signal will not be sent by default.

[0123] If the staff chooses to send an interrupt signal, Node 2 will stop the image acquisition work and enter the standby state after receiving the interrupt signal. Then the staff can send instructions such as retransmitting certain numbered images for Node 2 to execute. If there is no other operation, after a set period of time, Node 2 will completely end the image acquisition work and return to the sleep state.

[0124] When the surface node sends an interrupt signal to the underwater node for the first time, the time when the surface node sends the interrupt signal is t after the underwater node starts sending the compressed image. work +t RTC moment, that is, the time t3 when the interrupt signal is first sent; where t work is the fixed working time, t RTC It is the set RTC clock drift error time.

[0125] When the surface node sends an interrupt signal to the underwater node for the Nth time (N is greater than 1), the time from the surface node to send the interrupt signal is: gap t break moment, where t gapis the time interval for underwater nodes to send compressed images, t break is the interrupt signal waiting time of the surface node.

[0126] Among them, the distance between each segment t gap End with t left break Time, that is, t3+k×t gap At time , k is a natural number, and node 1 prompts "interrupt signal can be sent".

[0127] In addition, Node 2 will continue to monitor the status of the local power module. When the battery power is about to reach 10% or below, Node 2 will automatically change its working state and gap The local power reserve status will be reported to Node 1. If no other instructions are received from Node 1, Node 2 will continue to acquire images and compress and upload them.

[0128] When working T α After the time, node 2 will suspend the image acquisition work. At the same time, node 1 will set the time of the local RTC module and the previous T α The number of the image that failed to be received within the time is sent to node 2. After receiving the signal, node 2 first calibrates the local RTC module time, and then re-uploads the locally saved image to node 1 according to the number, and then resumes the previous work mode of saving and compressing the image for uploading. After receiving these retransmitted images, node 1 saves them to the corresponding path according to the previous number. In this embodiment, due to the simple scene and the good hardware and software resource support of the system, in most cases, the images can be successfully received after one retransmission; otherwise, the working cycle T can be adjusted according to the actual situation. α Or the number of retransmissions.

[0129] When the total working time reaches T, node 2 will automatically stop working and return to sleep mode. Node 1 can send a signal again to wake up node 2 to execute the corresponding command.

[0130] Figure 5 The throughput effect of the present application method and the existing method with a traditional handshake mechanism in this embodiment is compared. The modulation method used in underwater acoustic communication is QPSK, the carrier center frequency is 5.5kHz, the bandwidth is 1.5kHz, the coding method is LDPC, the sampling rate is 96kHz, and the equalization method is RLS-DFE. Figure 5 It can be seen that the throughput of the two methods is similar at low signal-to-noise ratio, but as the signal-to-noise ratio increases, the method proposed in this application has significantly higher throughput than the method with the traditional handshake mechanism.

[0131] In an exemplary embodiment, a computer device is provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a deep-sea image transmission method based on underwater acoustic communication.

[0132] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, a deep-sea image transmission method based on underwater acoustic communication is implemented.

[0133] In an exemplary embodiment, a computer program product is provided, including a computer program, which implements a deep-sea image transmission method based on underwater acoustic communication when executed by a processor.

[0134] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a deep-sea image transmission method based on underwater acoustic communication is implemented.

[0135] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0136] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0137] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0138] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0139] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A deep sea image transmission device based on underwater acoustic communication, characterized in that: The deep-sea image transmission device based on underwater acoustic communication comprises: a surface node and an underwater node, wherein the surface node is a surface human-computer interaction terminal, and the underwater node is an underwater information acquisition terminal, and the surface node and the underwater node are connected in communication; The surface node is used for: Sending a ranging signal to the underwater node, and calculating a one-way propagation delay of the ranging signal according to the ranging signal; According to the one-way propagation delay, the time interval for the underwater node to send the compressed image and the interrupt signal sending time of the surface node are determined; the time interval for the underwater node to send the compressed image is determined by the fixed working time, the set RTC clock drift error time and the interrupt signal waiting time of the surface node, and the fixed working time is determined based on the image capture time, image compression time, image upload time and the one-way propagation delay of the underwater node; The total working time of the underwater node is set, and the time interval for the underwater node to send the compressed image, the time for the surface node to send the interrupt signal and the total working time of the underwater node are used as time parameter information and a start shooting instruction and sent to the underwater node at the same time; The underwater node is used for: After receiving the time parameter information and the start shooting instruction, based on the time interval of sending the compressed image by the underwater node, deep-sea image shooting is performed to obtain a plurality of deep-sea images; Compressing each of the deep-sea images to obtain a plurality of compressed images, and uploading the plurality of compressed images to the surface node; The surface node is also used for: Decompress and save the received multiple compressed images, and send an interrupt signal to the underwater node when the underwater node meets the interrupt condition; The underwater node is also used for: When receiving an interrupt signal, stop working; When no interrupt signal is received, the system continues to work until the working time reaches the total working time, then stops working and completes the transmission of the deep-sea image.

2. The deep sea image transmission device based on underwater acoustic communication according to claim 1 is characterized in that: The surface node is also used for: Based on the time interval of the underwater node sending the compressed image, the duration of a working cycle of the underwater node is determined, and the duration of the working cycle of the underwater node is used as the time interval for error calibration of the RTC module; When the working time of the underwater node reaches the RTC module error calibration time interval, the time of the local RTC module is read, and time synchronization is performed based on the time of the local RTC module; The time of the local RTC module and the number of the deep-sea image that failed to be received are sent to the underwater node at the same time; The underwater node is also used for: Time synchronization is performed according to the time of the received local RTC module, and the deep-sea image with the corresponding number is uploaded to the surface node again according to the number of the deep-sea image that failed to be received.

3. A deep sea image transmission method based on underwater acoustic communication, characterized in that: The deep-sea image transmission method based on underwater acoustic communication is based on the deep-sea image transmission device based on underwater acoustic communication according to any one of claims 1 to 2, and the deep-sea image transmission method based on underwater acoustic communication comprises: The surface node sends a ranging signal to the underwater node, and calculates a one-way propagation delay of the ranging signal according to the ranging signal; The surface node determines the time interval for the underwater node to send the compressed image and the interrupt signal sending time of the surface node according to the one-way propagation delay; the time interval for the underwater node to send the compressed image is determined by the fixed working time, the set RTC clock drift error time and the interrupt signal waiting time of the surface node, and the fixed working time is determined based on the image capture time, image compression time, image upload time and the one-way propagation delay of the underwater node; The surface node sets the total working time of the underwater node, and sends the time interval for the underwater node to send the compressed image, the time for the surface node to send the interrupt signal, and the total working time of the underwater node as time parameter information and a start shooting instruction to the underwater node at the same time; After receiving the time parameter information and the start shooting instruction, the underwater node shoots deep-sea images based on the time interval for sending compressed images by the underwater node to obtain multiple deep-sea images; The underwater node compresses each of the deep-sea images to obtain a plurality of compressed images, and uploads the plurality of compressed images to the surface node; The surface node decompresses and saves the received multiple compressed images, and sends an interrupt signal to the underwater node when the underwater node meets the interrupt condition; When the underwater node receives an interruption signal, it stops working; When the underwater node does not receive the interrupt signal, it continues to work until the working time reaches the total working time, stops working, and completes the transmission of the deep-sea image.

4. The deep sea image transmission method based on underwater acoustic communication according to claim 3 is characterized in that: The deep sea image transmission method based on underwater acoustic communication also includes: The surface node determines the duration of a working cycle of the underwater node based on the time interval of the underwater node sending the compressed image, and uses the duration of the working cycle of the underwater node as the RTC module error calibration time interval; When the working time of the underwater node reaches the RTC module error calibration time interval, the surface node reads the time of the local RTC module and performs time synchronization based on the time of the local RTC module; The surface node sends the time of the local RTC module and the number of the deep-sea image that failed to be received to the underwater node at the same time; The underwater node performs time synchronization according to the time received from the local RTC module, and uploads the deep-sea image with the corresponding number to the surface node again according to the number of the deep-sea image that failed to be received.

5. The deep sea image transmission method based on underwater acoustic communication according to claim 3 is characterized in that: Calculating a one-way propagation delay of the ranging signal according to the ranging signal specifically includes: When the underwater node is stationary, using the formula t' b =t2-t1 calculates the one-way propagation delay of the ranging signal; where t' b represents the one-way propagation delay when the underwater node is stationary, t1 is the time when the surface node sends the ranging signal to the underwater node, and t2 is the time when the underwater node receives the ranging signal; When the underwater node moves within a preset range, the formula t' b = t2-t1 and t b =t' b ±Δt, calculate the one-way propagation delay of the ranging signal; where t b is the one-way propagation delay when the underwater node moves, and Δt is the change in the propagation delay of the ranging signal.

6. The deep sea image transmission method based on underwater acoustic communication according to claim 3 is characterized in that: When the underwater node meets the interruption condition, an interruption signal is sent to the underwater node, specifically including: The interruption condition is that the current power state of the underwater node is lower than a preset threshold or the saved compressed image cannot provide valid information; The surface node prompts the operator "an interrupt signal may be sent" at the time corresponding to the time interval of each underwater node sending the compressed image; When the underwater node meets the interruption condition, the operator confirms to send an interruption signal, and the surface node sends an interruption signal to the underwater node.

7. The deep sea image transmission method based on underwater acoustic communication according to claim 6 is characterized in that: When the surface node sends an interrupt signal to the underwater node for the first time, the time when the surface node sends the interrupt signal is t after the underwater node starts sending the compressed image. work +t RTC time, where t work is the fixed working time, t RTC The set RTC clock drift error time; When the surface node sends an interrupt signal to the underwater node for the Nth time (N is greater than 1), the time from the surface node to send the interrupt signal is: gap t break moment, where t gap is the time interval for underwater nodes to send compressed images, t break is the interrupt signal waiting time of the surface node.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the deep-sea image transmission method based on underwater acoustic communication as described in any one of claims 3 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the deep-sea image transmission method based on underwater acoustic communication described in any one of claims 3 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the deep-sea image transmission method based on underwater acoustic communication described in any one of claims 3 to 7 is implemented.

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