Acousto-optic emergency communication device and equipment suitable for weak communication scene

Abstract

The invention provides an acousto-optic emergency communication device and equipment suitable for a weak communication scene, and the device and the equipment provide an acousto-optic communication full-modular hardware design, and have the characteristics of acousto-optic signal processing integrated design, acoustic communication, sensing and computing power separation design, high variability of a sensing module and the like. The hardware design of the invention effectively reduces the size required by the module and the computing power requirement on a single chip, and has the capabilities of rapid customization and multi-scene adaptation. The sound sensing module adopts a low-energy-consumption event driving sensing algorithm and an optical link quality prediction algorithm adaptive to the variable sensing module. The driving sensing algorithm is combined with a sensing signal through a sound signal sensing algorithm, flexible dormancy and rapid assessment of a sudden environment can be achieved, the method can be used in a low-computing-power platform, and energy consumption is effectively reduced. The prediction algorithm combines sound perception information and environment information, uses fuzzy logic to realize various input compatibility of various scenes, abstracts various environment information and sensor data, and has multi-scene applicability and high accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of emergency communications, and in particular relates to an acoustic and optical emergency communication device and equipment suitable for weak communication scenarios. Background Art

[0002] With the continuous advancement of communication technology, electromagnetic communication has become the core of modern communication technology, with a wide range of applications, covering wireless communication, data transmission, remote control and other fields. However, in certain environments, the effectiveness and applicability of electromagnetic communication face significant limitations, such as in dense fog, blizzards and other scenes.

[0003] Under harsh conditions such as underwater and in fog, the attenuation of electromagnetic waves is extremely significant, which limits the propagation distance of electromagnetic communication, reduces signal stability and leads to low transmission efficiency. Although acousto-optic communication shows good adaptability in these environments, the environment where electromagnetic communication is blocked is usually more complex, and different environmental factors have different effects on communication. For example, in a foggy environment, communication is mainly interfered by water mist; in a ground environment with strong electromagnetic confrontation, it is mainly affected by electromagnetic noise and obstacles. Therefore, the equipment is difficult to adapt to a variety of mission scenarios and lacks an integrated design that can cope with complex environmental changes.

[0004] The existing technical solutions mainly include: the first solution is based on high-power wireless equipment, which improves the receiving effect by increasing the transmission power. This method is relatively direct to implement, but it consumes a lot of energy and is not suitable for mobile platforms; the second solution is based on wired-assisted wireless communication, which bypasses the obstacles of wireless transmission through cables, but the applicability of this solution is poor, and it is difficult to deploy emergency rescue in various extreme environments; the third solution is to improve the diffraction ability of the signal by reducing the frequency of electromagnetic waves, but this method is not suitable for environments with strong electromagnetic pollution and strong electromagnetic attenuation. At present, emergency communications in harsh environments such as heavy fog, dense forests, and strong electromagnetic confrontation mainly rely on three technical solutions.

[0005] In recent years, communication technology research has gradually shifted to multi-mode communication, aiming to combine electromagnetic communication, acoustic communication and optical communication to build a composite communication system with environmental adaptability. However, since the communication environment of application scenarios is mostly harsh, the existing hardware equipment system design is complex and can only be used for a certain environment. Acoustic and optical transmission lacks reasonable control algorithms and customizable modular designs that can adapt to a variety of scenarios. At the same time, due to the differences between acoustic signals and optical signals, it is difficult to effectively build optical links in mobile and obstructed environments, which requires a better design of the optical link control algorithm.

[0006] In general, the shortcomings of existing technologies can be summarized as follows: the system design is bulky, lacks a good computing power allocation and selection scheme, and is difficult to be installed on a small platform with limited energy; the applicable environment is single, and the hardware and algorithm design that are suitable for multiple environments is not considered; the maintenance of multi-mode links is slow, and it is difficult to ensure the stability of the signal. Summary of the invention

[0007] In order to solve the above problems existing in the prior art, the present invention provides an acoustic and optical emergency communication device and equipment suitable for weak communication scenarios. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0008] In a first aspect, the present invention provides an acoustic and optical emergency communication device suitable for weak communication scenarios, comprising:

[0009] A receiving module is used to receive and pre-process the acoustic and optical signals; transmit all acoustic signals in the pre-processed acoustic and optical signals to the acoustic perception module and transmit all acoustic and optical signals to the transmitting and control module; the acoustic and optical signals include optical signals and acoustic signals, the acoustic signals include first acoustic signals transmitted by other device nodes and second acoustic signals fed back by obstacles, the first acoustic signals include command acoustic signals and data acoustic signals containing transmission data;

[0010] The acoustic and optical sensing module is used to sense environmental information using multiple sensors; determine the echo signal fed back by the obstacle from all the acoustic signals transmitted by the receiving module, and calculate the state information of the obstacle based on the lightweight obstacle sensing algorithm and the echo signal; combine the environmental information and the state information, and calculate the optical communication availability data through the optical link sensing prediction calculation algorithm; and feed back the optical communication availability data to the transmitting and control module;

[0011] The transmitting and controlling module is used to control the movement itself and the start-up of the optical link according to the command acoustic signal; transmit the data acoustic signal, the optical signal and the status information to other device nodes, and feed back the optical communication availability data to the host computer.

[0012] In a second aspect, the present invention provides an audio-visual emergency communication device suitable for weak communication scenarios, which is provided with the audio-visual emergency communication device suitable for weak communication scenarios described in the first aspect.

[0013] Beneficial effects:

[0014] 1. The present invention adopts a multi-mode data processing integration and a separation design of synaesthesia computing power, that is, the sound and light receiving modules are integrated together, while the transmitting and control modules are separated, which can reduce the hardware computing power requirements, reduce costs, and improve the applicability of small-size platforms.

[0015] 2. The sound and light emergency communication system of the present invention adopts a fully modular design and realizes the separation of communication perception computing power, thereby improving the computing power utilization of the sound and light signal processing module and reducing the computing power redundancy of the perception module.

[0016] 3. The sound and light emergency communication system of the present invention can be adapted to various types of environments, and adopts a convenient hardware customization design. The hardware design part can quickly customize the sensor group for environmental perception, and the proposed optical communication quality calculation method can cooperate with hardware customization, effectively compatible with various environments, and greatly improve the applicability of the technology.

[0017] 4. The energy consumption cost of the sound and light emergency communication system of the present invention is reduced, the use time of nodes with limited energy supply is increased, the algorithm complexity is low, and the sound and light sensing module is in a dormant state when idle, which can effectively improve energy utilization.

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a hardware schematic diagram of an acoustic and optical emergency communication device suitable for weak communication scenarios provided by the present invention;

[0020] Figure 2 It is a schematic diagram of the fuzzy logic evaluation standard provided by the present invention. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

[0022] The existing multi-mode weak electromagnetic scene emergency communication design can only adapt to a single environment, and lacks the effective use of acoustic perception information in optical link transmission. The present invention designs a low-customization cost hardware modular acoustic and optical emergency communication system suitable for multiple scenarios, and also designs an optical link fusion perception and prediction algorithm that combines scene information with acoustic perception, thereby realizing an integrated acoustic and optical transmission design that can adapt to a variety of weak communication scenarios.

[0023] Specifically, environmental perception and stable transmission support are achieved through ultrasonic signal transmission and reception. Since acoustic signals can be easily transmitted and received in an omnidirectional manner and can be transmitted over long distances in most media, the present invention is designed to achieve stable command data transmission and low-bandwidth service support such as voice and node information through acoustic signal relay transmission. At the same time, link obstacle detection and optical link quality prediction are achieved through acoustic perception combined with surrounding environment data detected by the sensor module.

[0024] The hardware part of the present invention proposes a technical concept of integrating the acoustic and optical signal processing module and separating the communication perception module, and at the same time fusing the acoustic perception signal with the environmental perception signal. The sensor module can be customized according to the communication influencing factors in different scenarios to reduce hardware redundancy. The present invention can be subdivided into a receiving module, an acoustic perception module, and a transmitting and control module according to the working characteristics of the module and the hardware wiring.

[0025] The prior art uses acoustic-optical hybrid transmission with acoustic-optical hardware separation design. The acoustic-optical signal processing module proposed in the present invention integrates the optical signal and the acoustic signal to uniformly process them, realizes multi-mode parallel transmission, improves the chip computing power utilization, and effectively reduces the size of the device. At the same time, the acoustic detection signal is combined with a customizable sensor module to realize the combination of acoustic obstacle perception and environmental perception of the sensor group, achieving real-time optical link quality prediction and perception.

[0026] First, as Figure 1 As shown, the present invention provides an acoustic and optical emergency communication device suitable for weak communication scenarios, which is applied to each unmanned emergency device. The acoustic and optical emergency communication device suitable for weak communication scenarios includes:

[0027] A receiving module is used to receive and pre-process the acoustic and optical signals; transmit all acoustic signals in the pre-processed acoustic and optical signals to the acoustic perception module and transmit all acoustic and optical signals to the transmitting and control module; the acoustic and optical signals include optical signals and acoustic signals, the acoustic signals include first acoustic signals transmitted by other device nodes and second acoustic signals fed back by obstacles, the first acoustic signals include command acoustic signals and data acoustic signals containing transmission data;

[0028] refer to Figure 1 The receiving module includes an optical receiving module and an acoustic receiving module; the acoustic receiving module is composed of an ambient energy probe, a bandpass filter and a signal amplifier; the optical receiving module is composed of a photodetector, a preamplifier, a filter and an alignment system; the optical receiving module receives the optical signal emitted by other device nodes through the photodetector, and converts it into an electrical signal, processes the electrical signal through the preamplifier, the filter and the alignment system to obtain a preprocessed optical signal, and transmits the processed optical signal to the transmitting and controlling module; the acoustic receiving module receives the acoustic signal sent by the host computer and other device nodes through the ambient energy probe, and processes the acoustic signal in turn through the bandpass filter and the signal amplifier to obtain a preprocessed acoustic signal, and transmits the preprocessed acoustic signal to the acoustic perception module and the transmitting and controlling module respectively.

[0029] The acoustic and optical sensing module is used to sense environmental information using multiple sensors; determine the echo signal fed back by the obstacle from all the acoustic signals transmitted by the receiving module, and calculate the state information of the obstacle based on the lightweight obstacle sensing algorithm and the echo signal; combine the environmental information and the state information, and calculate the optical communication availability data through the optical link sensing prediction calculation algorithm; and feed back the optical communication availability data to the transmitting and control module;

[0030] Continue to refer Figure 1 The acoustic perception module includes a perception computing unit and a sensor group, wherein the sensor group includes multiple types of sensors set according to environmental conditions and is used to perceive environmental information; the perception computing unit is used to determine the echo signal fed back by the obstacle from all the acoustic signals transmitted by the receiving module, and calculate the state information of the obstacle based on the lightweight obstacle perception algorithm and the echo signal; combine the environmental information and the state information, and calculate the optical communication availability data through the optical link perception prediction calculation algorithm; and feed back the optical communication availability data to the transmission and control module.

[0031] It is worth noting that the perception computing unit has low computing power requirements, independently processes signal perception and link prediction data, and quantifies the results. The sensor group is responsible for providing a variety of environmental values ​​required for optical transmission channel prediction, and can be customized according to the deployment area. For example, when deployed in a foggy environment, the sensor group needs to provide parameters such as air humidity and ambient light intensity, while in dense media, data such as medium flow rate and dielectric constant are required. After the acoustic receiving module transmits the acoustic signal to the perception computing unit, the perception computing unit will calculate the mobile signals such as the frequency offset of the acoustic signal, and combine the sensed environmental information to submit the predicted optical communication availability data to the optical communication control module.

[0032] In order to adapt to the proposed hardware modularization and variability design, and considering the strong dependence of the optical link on the visual transmission link and precise alignment, the software algorithm of the perception computing unit of the present invention can be divided into the following two parts: a lightweight obstacle perception algorithm and an optical link perception prediction calculation algorithm.

[0033] The transmitting and controlling module is used to control the movement itself and the start-up of the optical link according to the command acoustic signal; transmit the data acoustic signal, the optical signal and the status information to other device nodes, and feed back the optical communication availability data to the host computer.

[0034] The transmitting and controlling module of the present invention comprises an acoustic transmitting module, a communication signal processing module, an optical communication control module and an optical transmitting module. The transmitting and controlling module runs on a core board equipped with FPGA+arm, and the onboard arm controls the opening or closing of the optical transmitting module.

[0035] It is worth mentioning that the core board of FPGA+ARM, such as Xilinx Zynq series platform, uses FPGA to perform signal processing for parallel tasks, and ARM core to realize multi-interface transmission and optical communication control. The onboard ARM controls the opening and closing of the optical link.

[0036] The system of the present invention can be quickly built with existing market hardware, which can effectively reduce the implementation cost and shorten the development cycle. Different from the existing designs in the market, it not only effectively reduces the hardware computing power requirements and size requirements through signal processing integration and synaesthesia separation, but also modularizes each part and designs the variability of the perception module, so that it has excellent customization and upgrade capabilities and multiple scene adaptation capabilities. Compared with the current sound and light separation design, the cost is effectively reduced by more than 40% (the value comes from the official selling price of the chip), and the hardware size is reduced by more than 30% (the value is based on the recommended size of the official circuit design of the chip), and because the scene customization only requires the replacement of the sensor group, the customization cost and customization development cycle will be greatly shortened.

[0037] In a specific implementation of the present invention, the perception calculation unit is used to determine the echo signal fed back by the obstacle from all the acoustic signals transmitted by the receiving module, and calculate the state information of the obstacle based on the lightweight obstacle perception algorithm and the echo signal, including:

[0038] a. Correlation processing is performed on all pre-processed acoustic signals and the acoustic excitation signals transmitted by the receiving module to obtain correlation;

[0039] First, in order to reduce the impact of communication signals on perception signals and avoid misjudgment of acoustic perception, the algorithm searches for echo signals by calculating the cross-correlation between the transmitted signal and the reflected echo, thereby improving the accuracy of signal recognition in a multi-signal environment. The correlation is expressed by the formula:

[0040]

[0041] Where R(τ) represents the correlation, M(t) is the acoustic excitation signal, s(t) is the echo signal, τ is the time shift variable, and t is time.

[0042] b. Select the echo signal fed back by the obstacle from the pre-processed acoustic signal according to the correlation;

[0043] c. calculating the actual distance of the obstacle from the transmitting point by using the time difference between the echo signal and the acoustic excitation signal;

[0044] After the suspected obstacle target is determined, the distance of the obstacle is calculated. The actual distance between the obstacle and the launch point is expressed by the formula:

[0045]

[0046] Where L is the actual distance between the obstacle and the transmitting point, V is the propagation speed of the sound wave in the environment, and Δt is the time difference between the echo signal and the acoustic excitation signal;

[0047] d. Calculate the relative speed of the obstacle using the Doppler frequency shift; the Doppler frequency shift is the frequency difference between the frequency of the echo signal and the frequency of the acoustic excitation signal; the relative speed of the obstacle is expressed by the formula:

[0048]

[0049] In the formula, υ is the relative speed of the obstacle, c is the propagation speed of the sound wave in the medium. Since the medium affects the propagation speed, it should be further calculated and adjusted in combination with the environmental values ​​transmitted by the sensor group. f0 is the initial frequency of the acoustic excitation signal, and Δf is the Doppler frequency shift.

[0050] e. Calculate the location information of the obstacle using the receiving angle of the received echo signal and the actual distance between the obstacle and the transmitting point;

[0051] f. Determine the relative speed of the obstacle and the position information as the state information of the obstacle.

[0052] The proposed acoustic lightweight obstacle perception algorithm covers obstacle detection on the visual link and relative motion perception of adjacent nodes. An event-driven perception algorithm is proposed to realize data calculations such as node posture (node ​​speed, relative angle between nodes) and link obstacle detection with low energy consumption and computing power requirements. Through threshold design, the perception calculation process is activated only when obstacles appear around or nodes move, and the system will remain in low power consumption mode when the environment and node posture change slightly. Different from existing algorithms, this algorithm has low complexity and low computing power requirements. The specific implementation is as follows:

[0053] The activation threshold setting of the proposed event-driven perception algorithm integrates multiple detection values, which can be divided into two parts: sensor module detection value and visual link stability value.

[0054] Large changes in sensor detection values ​​represent sudden changes in the environment. Changes in the surrounding sound and light intensity or medium flow rate can represent explosions, active interference, etc. The algorithm is based on time series detection, that is, storing the previous state value and calculating the difference between the current state. This algorithm has extremely low complexity, low computing power and storage requirements, and good practicality.

[0055] The calculation of the visual link stability value includes obstacle perception and node position changes.

[0056] When the energy of the sound wave echo exceeds a certain value of the ambient noise (such as a conservative value of 9 decibels), it should be determined that there is an obstacle, but long-distance or weakly reflective targets should be excluded to reduce misjudgment.

[0057] After determining the location and distance of the obstacle, based on the device sensitivity and the farthest effective distance of the target, further exclude long-distance or weakly reflective targets. If the obstacle angle is close to the transmission angle, and the relative movement direction of the node is close to the obstacle, it is determined that there is an obstruction in the visual link, and the obstruction situation is transmitted to the optical communication control module. That is, the sensor module quantifies the environmental data, the relative movement data of the adjacent nodes, and the visual link obstruction situation.

[0058] This implementation adopts an event-driven perception algorithm with low computing power requirements to achieve low-energy consumption calculation of device posture and obstacle perception data.

[0059] In a specific implementation of the present invention, the perception computing unit is used to combine the environmental information and the state information, and calculate the link evaluation value of the optical link through the optical link perception prediction calculation algorithm; and feeding back the link evaluation value to the transmission and control module includes:

[0060] a, constructing a rule base of a fuzzy logic algorithm according to the environmental information;

[0061] b, taking the environmental information and the information as input information;

[0062] c. Fuzzifying the input information using a fuzzy logic algorithm to obtain a fuzzified result;

[0063] d. Selecting a corresponding rule from the rule base according to the fuzzification result, and performing fuzzy reasoning based on the selected rule to obtain a reasoning result;

[0064] e. Defuzzifying the inference result to obtain a predicted link evaluation value, and using the link evaluation value as optical communication availability data.

[0065] The optical communication control algorithm proposed in this invention, namely the optical link prediction algorithm, aims to combine the visual link information and node motion information perceived by sound to realize the optical link quality simulation calculation that can adapt to a variety of sensor modules and judge whether the link has the conditions for optical transmission. Based on fuzzy theory, the algorithm constructs a variable input optical link prediction model to realize the comprehensive calculation of the factors affecting the optical link in different scenarios.

[0066] In harsh external environments, the stability of optical links will be affected by a variety of uncertain factors, including but not limited to weather conditions (such as rain, fog, snow), temperature fluctuations, atmospheric turbulence, and equipment aging. There may be complex nonlinear relationships between these factors, and it is difficult to accurately quantify them. In addition, the types of sensing data required in different application scenarios are different. For example, in underwater transmission environments, it is necessary to measure the salinity density of water flow, while in foggy weather, it is necessary to pay attention to parameters such as humidity and air pressure. Fuzzy logic algorithm is a computing technology based on fuzzy set theory, which is specifically used to solve problems characterized by uncertainty, ambiguity or imprecision. The algorithm simulates human thinking patterns and converts complex problems into a form that can process fuzzy information. It is particularly suitable for complex systems with nonlinearity, multi-dimensionality and uncertainty.

[0067] The implementation process of fuzzy logic algorithm includes four main steps: input fuzzification, rule base construction, fuzzy reasoning and defuzzification. The input fuzzification stage allows elements to "partially belong" to a set to different degrees by establishing fuzzy sets, and defines the membership of elements through membership functions. For example, in the fuzzy set of "high temperature", a temperature of 30°C may have a membership of 0.8, while a temperature of 40°C may have a membership of 1.0.

[0068] The underwater environment is used as a dense medium and the electromagnetic strong attenuation scenario is explained as an example. In view of the influence of concentrated factors such as water temperature, salinity, flow rate, turbidity, etc. on the underwater optical link, combined with the calculated values ​​of obstacle prediction and blocking of the acoustic link, the corresponding fuzzy set can be constructed. Using the triangular fuzzy function, the corresponding link link evaluation value corresponding graph can be drawn, such as Figure 2 shown.

[0069] A rule base is further established, that is, a specified link evaluation value is made for the influence of each parameter, such as an example of a rule base established for water flow velocity, water turbidity and link shielding of acoustic detection, as shown in Table 1.

[0070] Table 1: Numerical fuzzy logic rules for underwater acoustic obstacle perception and sensor group feedback

[0071]

[0072]

[0073] For the values ​​of various link environment influencing factors obtained by the sensor group, the predicted link evaluation value is set according to the triangular fuzzy logic function. Table 1 divides the channel quality into 7 evaluations. The corresponding values ​​corresponding to different parameter weights are calculated to obtain evaluation feedback, effectively integrating multiple influencing factors.

[0074] The defuzzification operation is implemented by the centroid method to obtain a specific link evaluation value LE. The link evaluation value is expressed by the formula:

[0075]

[0076] Where LEi is the link evaluation value, μ(LE) is the membership function of link evaluation, and i is the node sequence.

[0077] The link obstruction factor fed back by acoustic perception is taken as the maximum weight, and the water flow rate obtained by the sensor group is given a higher weight than the water turbidity data obtained to establish an optical link quality prediction evaluation. Compared with existing algorithms, the number of evaluation elements can be increased or decreased, the compatibility is good, the complexity is low, and the computing energy consumption and chip computing power requirements are small.

[0078] In a specific embodiment of the present invention, the optical communication control module is used to receive the optical communication availability data and status information from the perception computing unit, and transmit the optical communication availability data and status information to the communication signal processing module;

[0079] The communication signal processing module is used to receive the pre-processed optical signal sent from the optical receiving module, the second acoustic signal sent from the acoustic receiving module, and the optical communication availability data; adjust the posture of the device node where it is located according to the command acoustic signal in the second acoustic signal; adjust the optical communication availability data and the status information to adapt to the communication interface, and feed back to the host computer through the communication interface and transmit the data acoustic signal in the second acoustic signal to the acoustic transmitting module; receive the user operation signal from the host computer, and transmit it to the optical communication control module according to the user operation signal;

[0080] The optical communication availability data is transmitted to the host computer through a variety of heterogeneous interfaces or multi-hop wireless links to realize the visualization of optical transmission service quality evaluation.

[0081] The acoustic emission module is used to transmit data acoustic signals to other device nodes; the other device nodes include a host computer and emergency unmanned equipment;

[0082] The optical communication control module is used to generate a control signal according to the user operation signal and feed the control signal back to the optical transmission module;

[0083] The optical transmission module is used to control itself to turn on or off according to the control signal fed back from the communication signal processing module.

[0084] In practical applications, such as Figure 1As shown. This emergency communication system can be installed on emergency unmanned equipment and is divided into a receiving module, an acoustic perception module, and a transmitting and control module. The receiving module collects acoustic and optical signals, divides the acoustic signals into two paths, and delivers them to the perception computing unit and the communication signal processing module. Environmental information is centrally calculated in the perception computing unit through the sensor group and the acoustic signal, and the output optical communication available data, environmental obstruction signals, and node movement signals are connected to the host computer through a heterogeneous interface.

[0085] The present invention provides an acoustic and optical emergency communication device suitable for weak communication scenarios. The system proposes a fully modular hardware design for acoustic and optical communication, and has the characteristics of integrated design for acoustic and optical signal processing, separation design of acoustic and synesthesia computing power, and high variability of sensor modules. The hardware design of the present invention effectively reduces the required module size and the computing power requirements for a single chip, and has the ability to be quickly customized and adapted to multiple scenarios. The acoustic perception module of the present invention adopts a driving perception algorithm for low-energy events and a prediction algorithm for the optical link quality adapted to a variable sensing module. The driving perception algorithm is combined with the sensor signal through the acoustic signal perception algorithm, which can flexibly sleep and quickly evaluate the emergency environment. It can be used on a low-computing power platform and effectively reduce energy consumption. The prediction algorithm combines acoustic perception information and environmental information, uses fuzzy logic to achieve diverse input compatibility for multiple scenarios, abstracts a variety of environmental information and sensor data, and has multi-scenario applicability and high accuracy.

[0086] In a second aspect, the present invention provides an audio-visual emergency communication device suitable for weak communication scenarios, on which the audio-visual emergency communication device suitable for weak communication scenarios described in the first aspect is arranged.

[0087] The present invention provides an acoustic and optical emergency communication device suitable for weak communication scenarios. The emergency unmanned equipment is provided with an acoustic and optical emergency communication device suitable for weak communication scenarios. The system proposes a fully modular hardware design for acoustic and optical communication, and has the characteristics of integrated design for acoustic and optical signal processing, separation design of acoustic and synesthesia computing power, and high variability of sensor modules. The hardware design of the present invention effectively reduces the required module size and the computing power requirements for a single chip, and has the ability to be quickly customized and adapted to multiple scenarios. The acoustic perception module of the present invention adopts a driving perception algorithm for low-energy events and a prediction algorithm for the optical link quality of an adapted variable sensor module. The driving perception algorithm is combined with the sensor signal through the acoustic signal perception algorithm, and can flexibly sleep and quickly evaluate the emergency environment. It can be used on a low computing power platform and effectively reduce energy consumption. The prediction algorithm combines acoustic perception information and environmental information, uses fuzzy logic to achieve diverse input compatibility for multiple scenarios, abstracts a variety of environmental information and sensor data, and has multi-scenario applicability and high accuracy.

[0088] It is worth noting that the terms "first" and "second" in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0089] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality of components or steps.

[0090] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. An acoustic and optical emergency communication device suitable for weak communication scenarios, characterized in that: include: A receiving module, used for receiving and preprocessing the sound and light signals; Transmit all acoustic signals in the preprocessed acoustic and optical signals to the acoustic perception module and transmit all acoustic and optical signals to the transmission and control module; the acoustic and optical signals include optical signals and acoustic signals, the acoustic signals include first acoustic signals transmitted by other device nodes and second acoustic signals fed back by obstacles, the first acoustic signals include command acoustic signals and data acoustic signals containing transmission data; The acoustic and optical sensing module is used to sense environmental information using multiple sensors; Determine the echo signal fed back by the obstacle from all the acoustic signals transmitted by the receiving module, and calculate the state information of the obstacle based on the lightweight obstacle perception algorithm and the echo signal; combine the environmental information and the state information, and calculate the optical communication availability data through the optical link perception prediction calculation algorithm; and feed back the optical communication availability data to the transmitting and control module; The transmitting and controlling module is used to control the movement itself and the start-up of the optical link according to the command acoustic signal; transmit the data acoustic signal, the optical signal and the status information to other device nodes, and feed back the optical communication availability data to the host computer.

2. The sound and light emergency communication device suitable for weak communication scenarios according to claim 1 is characterized in that: The receiving module includes a light receiving module and an acoustic receiving module; the acoustic receiving module is composed of an energy ring probe, a bandpass filter and a signal amplifier; the light receiving module is composed of a photodetector, a preamplifier, a filter and an alignment system; Among them, the optical receiving module receives the optical signal emitted by other device nodes through the photodetector, and converts it into an electrical signal, processes the electrical signal through the preamplifier, filter and alignment system to obtain a preprocessed optical signal, and transmits the processed optical signal to the transmitting and control module; the acoustic receiving module receives the acoustic signal sent by the host computer and other device nodes through the environmental energy probe, and processes the acoustic signal in turn through the bandpass filter and the signal amplifier to obtain a preprocessed acoustic signal, and transmits the preprocessed acoustic signal to the acoustic perception module and the transmitting and control module respectively.

3. The sound and light emergency communication device suitable for weak communication scenarios according to claim 2 is characterized in that: The acoustic perception module includes a perception computing unit and a sensor group, wherein the sensor group includes multiple types of sensors set according to environmental conditions and is used to perceive environmental information; the perception computing unit is used to determine the echo signal fed back by the obstacle among all the acoustic signals transmitted by the receiving module, and calculate the state information of the obstacle based on the lightweight obstacle perception algorithm and the echo signal; combine the environmental information and the state information, and calculate the optical communication availability data through the optical link perception prediction calculation algorithm; and feed back the optical communication availability data to the transmission and control module.

4. The sound and light emergency communication device suitable for weak communication scenarios according to claim 3 is characterized in that: The perception and calculation unit is used to determine the echo signal fed back by the obstacle from all the acoustic signals transmitted by the receiving module, and calculate the state information of the obstacle based on the lightweight obstacle perception algorithm and the echo signal, including: All pre-processed acoustic signals are correlated with the acoustic excitation signals transmitted by the receiving module to obtain correlation; Selecting the echo signal fed back by the obstacle from the pre-processed acoustic signal according to the correlation; Calculate the actual distance between the obstacle and the transmitting point by using the time difference between the echo signal and the acoustic excitation signal; The relative speed of the obstacle is calculated using the Doppler frequency shift, wherein the Doppler frequency shift is the frequency difference between the frequency of the echo signal and the frequency of the acoustic excitation signal; The location information of the obstacle is calculated using the receiving angle of the received echo signal and the actual distance between the obstacle and the transmitting point; The relative speed of the obstacle and the position information are determined as the state information of the obstacle.

5. The sound and light emergency communication device suitable for weak communication scenarios according to claim 4 is characterized in that: The correlation is expressed by the formula: Where R(τ) represents the correlation, M(t) is the acoustic excitation signal, s(t) is the echo signal, Where R(τ) represents the correlation, M(t) is the acoustic excitation signal, s(t) is the echo signal, τ is the time shift variable, and t is time; The actual distance between the obstacle and the launch point is expressed by the formula: Where L is the actual distance between the obstacle and the emission point, V is the propagation speed of the sound wave in the environment, and Δt is the time difference between the echo signal and the acoustic excitation signal; The relative speed of the obstacle is expressed by the formula: Where υ is the relative speed of the obstacle, c is the propagation speed of the sound wave in the medium, which is adjusted according to the environmental information transmitted by the combined sensor group, f0 is the initial frequency of the acoustic excitation signal, and Δf is the Doppler frequency shift.

6. The sound and light emergency communication device suitable for weak communication scenarios according to claim 3 is characterized in that: A perception calculation unit, used to combine the environmental information and the state information and calculate a link evaluation value of the optical link through an optical link perception prediction calculation algorithm; Feeding back the link evaluation value to the transmitting and controlling module includes: Constructing a rule base of a fuzzy logic algorithm according to the environmental information; Taking the environment information and the state information as input information; Fuzzifying the input information using a fuzzy logic algorithm to obtain a fuzzified result; Selecting a corresponding rule in the rule base according to the fuzzification result, and performing fuzzy reasoning based on the selected rule to obtain a reasoning result; The inference result is defuzzified to obtain a predicted link evaluation value, and the link evaluation value is used as optical communication availability data.

7. The sound and light emergency communication device suitable for weak communication scenarios according to claim 6, characterized in that: For node i, the link evaluation value is expressed as follows: Where LEi is the link evaluation value, μ(LE) is the membership function of link evaluation, and i is the node sequence.

8. The sound and light emergency communication device suitable for weak communication scenarios according to claim 3 is characterized in that: The emission and control module includes an acoustic emission module, a communication signal processing module, an optical communication control module and an optical emission module; The optical communication control module is used to receive the optical communication availability data and status information from the perception computing unit, and transmit the optical communication availability data and status information to the communication signal processing module; The communication signal processing module is used to receive the pre-processed optical signal sent from the optical receiving module, the second acoustic signal sent from the acoustic receiving module, and the optical communication availability data; adjust the posture of the device node where it is located according to the command acoustic signal in the second acoustic signal; adjust the optical communication availability data and the status information to adapt to the communication interface, and feed back to the host computer through the communication interface and transmit the data acoustic signal in the second acoustic signal to the acoustic transmitting module; receive the user operation signal from the host computer, and transmit it to the optical communication control module according to the user operation signal; The acoustic emission module is used to transmit data acoustic signals to other device nodes; the other device nodes include a host computer and emergency unmanned equipment; The optical communication control module is used to generate a control signal according to the user operation signal and feed the control signal back to the optical transmission module; The optical transmission module is used to control itself to turn on or off according to the control signal fed back from the communication signal processing module.

9. The sound and light emergency communication device suitable for weak communication scenarios according to claim 8, characterized in that: The emission and control module runs on a core board equipped with FPGA+arm, and the onboard arm controls the opening or closing of the optical emission module.

10. An acoustic and optical emergency communication device suitable for weak communication scenarios, characterized in that: An acoustic and optical emergency communication device suitable for weak communication scenarios as described in any one of claims 1 to 9 is provided.

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