An acousto-optic emergency communication device and equipment suitable for weak communication scenarios

Abstract

The application provides an acoustic-optical emergency communication device and equipment suitable for weak communication scenes, which proposes an acoustic-optical communication full-modular hardware design, has acoustic-optical signal processing integrated design, acoustic sensing computing power separation design and high variability of sensing module and the like features. The hardware design effectively reduces the size of the module demand and the computing power requirement of the single chip, and has the ability of rapid customization and multi-scene adaptation. The acoustic sensing module of the application adopts a low-energy event-driven sensing algorithm and a prediction algorithm suitable for variable sensing module optical link quality. The drive sensing algorithm combines the acoustic signal sensing algorithm with the sensing signal, can flexibly sleep and rapidly evaluate the burst environment, can be used in a low-power platform, and effectively reduces energy consumption. The prediction algorithm combines acoustic sensing information and environmental information, uses fuzzy logic to realize the compatibility of various inputs in multiple scenes, abstracts various environmental information and sensor data, and has multi-scene applicability and high accuracy.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of emergency communication, and particularly relates to an acousto-optic emergency communication device suitable for weak communication scenes. BACKGROUND

[0002] With the continuous progress of communication technology, electromagnetic communication has become the core of modern communication technology, and its application range is wide, covering wireless communication, data transmission and remote control and other fields. However, in specific environments, the efficiency and applicability of electromagnetic communication are significantly limited. For example, in scenes such as thick fog and heavy snow.

[0003] Underwater and in severe conditions such as heavy 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, because the environment where electromagnetic communication is blocked is usually complex, and different environmental factors have different effects on communication - for example, in a heavy fog environment, communication is mainly disturbed by water mist; while in the ground environment of strong electromagnetic confrontation, it is mainly affected by electromagnetic noise and obstacles - therefore, the device is difficult to adapt to multiple task scenes, and lacks integrated design that can respond to complex environmental changes.

[0004] The existing technical solutions mainly include: the first solution is based on a high-power wireless device, which increases the transmission power to improve the reception effect. This method is relatively direct to implement, but the energy consumption is large, which is not suitable for mobile platforms; the second solution is based on wired auxiliary wireless communication, which bypasses the obstacle part of wireless transmission through a cable, but the applicability of this solution is poor, and there are difficulties in emergency rescue deployment in various extreme environments; the third solution is to reduce the frequency of electromagnetic waves to improve the diffraction ability of signals, but this method is not suitable for environments with strong electromagnetic pollution and strong electromagnetic attenuation. At present, emergency communication in severe environments such as heavy fog, dense forest and strong electromagnetic confrontation mainly relies 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, due to the mostly severe application scene communication environment, the current hardware device system design is complex and can only be targeted at a certain environment, and the acousto-optic transmission lacks reasonable control algorithms and customizable modular design that can adapt to multiple scenes. At the same time, due to the differences between acoustic signals and optical signals, it is difficult to build an effective optical link in mobile and blocked environments, which requires better design of optical link control algorithms.

[0006] In summary, the disadvantages of the prior art can be summarized as follows: the system design is cumbersome, lacks good computing power allocation and selection scheme, and is difficult to be carried on a small volume platform with limited energy; the applicable environment is single, and the hardware and algorithm design does not consider multiple environment adaptation; the multi-mode link maintenance is slow, and it is difficult to ensure the stability of the signal. SUMMARY

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

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

[0009] A receiving module for receiving and preprocessing acoustic-optical signals; transmitting all acoustic signals in the preprocessed acoustic-optical signals to an acoustic sensing module and transmitting all acoustic-optical signals to a transmitting and control module; the acoustic-optical signals include optical signals and acoustic signals, the acoustic signals include first acoustic signals transmitted by other device nodes and second acoustic signals feedback by obstacles, the first acoustic signals include command acoustic signals and data acoustic signals containing transmission data;

[0010] An acoustic-optical sensing module for sensing environmental information using multiple sensors; determining echo signals feedback by obstacles from all acoustic signals transmitted by the receiving module, and calculating state information of the obstacles based on a lightweight obstacle sensing algorithm and the echo signals; combining the environmental information and the state information, and calculating optical communication availability data through an optical link sensing prediction algorithm; feeding back the optical communication availability data to the transmitting and control module;

[0011] The transmitting and control module is used for controlling the movement of itself and the start of the optical link according to the command acoustic signals; transmitting the data acoustic signals, the optical signals and the state information to other device nodes, and feeding back the optical communication availability data to the upper computer.

[0012] In a second aspect, the present application provides an acoustic-optical emergency communication device suitable for weak communication scenarios, which is provided with the acoustic-optical emergency communication device suitable for weak communication scenarios of the first aspect.

[0013] Advantages:

[0014] 1. The present application adopts a multi-mode data processing integration and sensing algorithm separation design, that is, the acoustic-optical receiving module is integrated together, and the scheme of separating from the transmitting and control module can reduce the hardware algorithm requirement, reduce the cost, and improve the applicability of small size platform.

[0015] 2、The sound-light emergency communication system of the application adopts full modular design, and realizes separation of communication sensing computing power, improves the computing power utilization degree of the sound-light signal processing module, and reduces the computing power redundancy of the sensing module.

[0016] 3、The sound-light emergency communication system of the application can be adapted to multiple environments, adopts convenient hardware customization design, the hardware design part can quickly customize the sensor group of environmental sensing, and the light communication quality calculation method can cooperate with hardware customization, effectively compatible with multiple environments, and greatly improve the applicability of the technology.

[0017] 4、The sound-light emergency communication system of the application reduces energy consumption cost, improves the use time of limited energy supply nodes, has low algorithm complexity, and the sound-light sensing module is in a dormant state when idle, which can effectively improve the energy utilization rate.

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

[0019] Figure 1 is a hardware schematic diagram of a sound-light emergency communication device suitable for weak communication scenarios provided by the application;

[0020] Figure 2 is a fuzzy logic evaluation standard schematic diagram provided by the application. DETAILED DESCRIPTION

[0021] The application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0022] The existing multi-mode weak electromagnetic scene emergency communication design can only adapt to a single environment, and lacks effective utilization of sound sensing information in optical link transmission, the application designs a sound-light emergency communication system with low customization cost hardware modularization suitable for multiple scenes, and designs an optical link fusion sensing and prediction algorithm combined with scene information and sound sensing, so as to realize integrated sound-light transmission design suitable for multiple weak communication scenes.

[0023] Specifically, through ultrasonic signal transmission and reception, environmental sensing and stable transmission support are realized. Since the sound signal can be conveniently realized all-directional transmission and reception, and can be transmitted in a long distance in most media, the application designs to realize stable command data transmission and low bandwidth demand service support such as voice, node information, etc. through sound signal relay transmission. At the same time, through the surrounding environment data explored by the sound sensing combined with the sensing module, link obstacle detection and optical link quality prediction are realized.

[0024] The hardware part of the application proposes the technical concept of integrating the acousto-optic signal processing module and separating the communication sensing module, and simultaneously fusing the acoustic sensing signal and the environmental sensing signal. The sensor module can be customized according to the communication influencing factors in different scenarios, reducing hardware redundancy. The application can be divided into a receiving module, an acoustic sensing module and a transmitting and control module according to the working characteristics of the module and the hardware wiring.

[0025] In the prior art, the acousto-optic mixed transmission acousto-optic hardware is divided into design, the acousto-optic signal processing module integrated by the application unifies the processing of the optical signal and the acoustic signal, realizes multi-mode parallel transmission, improves the chip computing power utilization rate, and effectively reduces the device size. At the same time, the acoustic detection signal is combined with the customizable sensor module, the combination of the acoustic obstacle sensing and the environmental sensing of the sensor group is realized, and real-time optical link quality prediction and sensing are achieved.

[0026] In the first aspect, as shown in the figure, Figure 1 The application provides an acousto-optic emergency communication device suitable for weak communication scenarios, which is applied to each unmanned emergency device, and the acousto-optic emergency communication device suitable for weak communication scenarios comprises:

[0027] A receiving module is used for receiving and preprocessing acousto-optic signals; transmitting all acoustic signals in the preprocessed acousto-optic signals to an acoustic sensing module and transmitting all acousto-optic signals to a transmitting and control module; the acousto-optic signals include optical signals and acoustic signals, the acoustic signals include first acoustic signals transmitted by other device nodes and second acoustic signals feedback by obstacles, and the first acoustic signals include command acoustic signals and data acoustic signals containing transmission data;

[0028] Referring to Figure 1 , the receiving module comprises an optical receiving module and an acoustic receiving module; the acoustic receiving module is composed of a ring energy probe, a band-pass 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 signals emitted by other device nodes through the photodetector and converts them into electrical signals, processes the electrical signals through the preamplifier, the filter and the alignment system to obtain preprocessed optical signals, and transmits the processed optical signals to the transmitting and control module; the acoustic receiving module receives the acoustic signals sent by the upper computer and other device nodes through the ring energy probe, and processes the acoustic signals through the band-pass filter and the signal amplifier in turn to obtain preprocessed acoustic signals, and transmits the preprocessed acoustic signals to the acoustic sensing module and the transmitting and control module respectively.

[0029] The sound-light perception module is used for perceiving environmental information by using a plurality of sensors; determining echo signals of obstacle feedback in all sound signals transmitted by the receiving module, and calculating state information of the obstacle based on a lightweight obstacle perception algorithm and the echo signals; combining the environmental information and the state information, and calculating light communication availability data by using a light link perception prediction calculation algorithm; and feeding back the light communication availability data to the transmission and control module.

[0030] With reference to the foregoing Figure 1 , the sound perception module includes a perception calculation unit and a sensor group, the sensor group includes a plurality of types of sensors arranged according to environmental conditions, and is used for perceiving environmental information; the perception calculation unit is used for determining echo signals of obstacle feedback in all sound signals transmitted by the receiving module, and calculating state information of the obstacle based on a lightweight obstacle perception algorithm and the echo signals; combining the environmental information and the state information, and calculating light communication availability data by using a light link perception prediction calculation algorithm; and feeding back the light communication availability data to the transmission and control module.

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

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

[0033] The transmission and control module is used for controlling movement of itself and starting of the light link according to the command sound signals; transmitting the data sound signals, the light signals and the state information to other device nodes, and feeding back the light communication availability data to an upper computer.

[0034] The transmission and control module of the present application includes a sound transmission module, a communication signal processing module, a light communication control module and a light transmission module. The transmission and control module runs on a core board carrying an FPGA+arm, and the on-board arm controls opening or closing of the light transmission module.

[0035] It is worth mentioning that the core board of FPGA+arm, such as Xilinx Zynq series platform, processes signals in parallel tasks through FPGA, and the ARM core realizes multi-interface transmission and optical communication control. The on-board arm controls the opening and closing of the optical link.

[0036] The system of the application can be quickly built by existing market hardware, which can effectively reduce the implementation cost and shorten the development cycle. Unlike existing market designs, the system effectively reduces the hardware computing power requirement and size requirement by signal processing integration and sensing separation, and at the same time, the modularity of each part and the variability design of the sensing module make it have excellent customization upgrade ability and multiple scene adaptation ability. Compared with the current acoustic-optical separation design, the cost is effectively reduced by more than 40% (the value comes from the official chip price), the hardware size is reduced by more than 30% (the value is based on the official circuit design recommended size), and because the scene customization only needs to replace the sensor group, the customization cost and customization development cycle will be greatly shortened.

[0037] In a specific embodiment of the application, the perception computing unit is configured to determine echo signals of obstacle feedback from all acoustic signals transmitted by the receiving module, and calculate state information of the obstacle based on a lightweight obstacle perception algorithm and the echo signals, including:

[0038] a. correlating all preprocessed acoustic signals with the acoustic excitation signal transmitted by the receiving module to obtain a correlation degree;

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

[0040]

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

[0042] b. selecting the echo signal of obstacle feedback from the preprocessed acoustic signals according to the correlation degree;

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

[0044] After calculating the distance of the obstacle from the transmission point, the actual distance of the obstacle from the transmission point is represented by the formula:

[0045]

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

[0047] d. The relative speed of the obstacle is calculated using the Doppler shift, which 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 represented by the formula:

[0048]

[0049] where v is the relative speed of the obstacle, c is the propagation speed of the sound wave in the medium, which should be further calculated and adjusted in combination with the environmental values transmitted by the sensor group due to the influence of the medium on the propagation speed. f0 is the initial frequency of the acoustic excitation signal, and Af is the Doppler shift.

[0050] e. The position information of the obstacle is calculated using the receiving angle of the received echo signal and the actual distance of the obstacle from the transmitting point.

[0051] f. The relative speed of the obstacle and the position information are determined 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 with neighboring nodes. An event-driven perception algorithm is proposed to achieve low energy consumption and low computational power requirements for node posture (node speed, relative angle between nodes) and link obstacle detection data calculation. Through threshold design, the perception calculation process is activated only when obstacles or node movement appear around, while in the case of minimal changes in the environment and node posture, the system will maintain a low power consumption mode. Unlike existing algorithms, this algorithm has low complexity and low computational power requirements. The specific implementation is as follows:

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

[0054] Large changes in sensor detection values represent sudden changes in the environment, such as changes in sound, light intensity, or medium flow rate, which can represent situations such as explosions or active interference. The algorithm is based on time series detection, which stores the difference between the previous state value and the current state calculation. This algorithm has extremely low complexity and low requirements for computational power and storage, and is highly practical.

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

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

[0057] After determining the position and distance of the obstacle, long-distance or weak reflection targets are further excluded based on the sensitivity of the device and the maximum effective distance of the target. If the angle of the obstacle is close to the transmission angle, and the relative motion direction of the node is close to the direction of the obstacle, it is judged that the visible link is blocked, and the transmission is blocked. The situation is transmitted to the optical communication control module. That is, the sensor module quantizes the environmental data, the relative motion data of the adjacent node and the blocking situation of the visible link.

[0058] The embodiment adopts a low-computing-power-demand event-driven perception algorithm to realize low-energy-consumption calculation of device posture and obstacle perception data.

[0059] In a specific embodiment of the present application, the perception calculation 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; the link evaluation value is fed back to the transmission and control module, including:

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

[0061] b. The environmental information and the information are used as input information;

[0062] c. The input information is fuzzified by using the fuzzy logic algorithm to obtain a fuzzification result;

[0063] d. According to the fuzzification result, a corresponding rule is selected in the rule base, and a reasoning result is obtained based on the selected rule;

[0064] e. The reasoning result is de-fuzzified to obtain a predicted link evaluation value, and the link evaluation value is used as optical communication availability data.

[0065] The optical communication control algorithm, i.e. the optical link prediction algorithm, is proposed to combine the visible link information and node motion information of sound perception, realize the optical link quality simulation calculation of various sensor modules, and judge whether the link has optical transmission conditions. The algorithm is based on fuzzy theory, and a variable input optical link prediction model is constructed to realize comprehensive calculation of the influencing factors of the optical link in different scenes.

[0066] In harsh external environments, the stability of optical links can be affected by various uncertain factors, including but not limited to weather conditions (such as rain, fog, snow), temperature fluctuations, atmospheric turbulence, and equipment aging, etc. 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 environment, the salinity density of water flow needs to be measured, while in heavy fog weather, humidity and air pressure parameters need to be concerned. Fuzzy logic algorithm is a computational technique based on fuzzy set theory, which is specifically designed to solve problems with uncertainty, fuzziness or imprecision. This algorithm simulates human thinking patterns to transform complex problems into a form that can handle fuzzy information, and is particularly suitable for complex systems with nonlinearity, multidimensionality and uncertainty.

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

[0068] Take the underwater environment as an example of dense medium and electromagnetic strong attenuation scenario. For underwater optical links affected by water temperature, salinity, flow rate, turbidity and other concentrated factors, combined with the calculated values of acoustic link obstacle prediction and blockage, the corresponding fuzzy sets can be constructed. Using triangular fuzzy functions, the corresponding link evaluation value graphs can be drawn, as shown in Figure 2 .

[0069] Further establish the rule base, that is, specify the link evaluation value for each parameter, such as the rule base established by the underwater flow velocity, water turbidity and acoustic detection of link blockage, as shown in Table 1.

[0070] Table 1: Fuzzy logic rule table for underwater acoustic obstacle perception and sensor group feedback values

[0071]

[0072]

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

[0074] The centroid method is used to realize the deblurring operation, and a specific link evaluation value LE is obtained.

[0075]

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

[0077] The link blocking factor of the sound perception feedback is taken as the maximum weight, the water flow rate data obtained by the sensor group is given a higher weight than the water turbidity data, and the optical link quality prediction evaluation is established.

[0078] In a specific embodiment of the application, the optical communication control module is configured to receive optical communication availability data and state information from the perception computing unit, and transmit the optical communication availability data and the state information to the communication signal processing module.

[0079] The communication signal processing module is configured to receive preprocessed optical signals sent by the optical receiving module, second acoustic signals sent by the acoustic receiving module, and the optical communication availability data, adjust the device node posture according to the command acoustic signal in the second acoustic signal, adjust the optical communication availability data and the state information to adapt to the communication interface, and feed back to the upper computer through the communication interface, and transmit the data acoustic signal in the second acoustic signal to the acoustic emission module.

[0080] The optical communication availability data is transmitted to the upper computer through a plurality of heterogeneous interfaces or multi-hop wireless links, and the visualization of the optical transmission service quality evaluation is realized.

[0081] The acoustic emission module is configured to emit data acoustic signals to other device nodes, and the other device nodes include the upper computer and the emergency unmanned device.

[0082] The optical communication control module is configured to generate a control signal according to the user operation signal, and feed back the control signal to the optical emission module.

[0083] The optical emission module is configured to control itself to be turned on or turned off according to the control signal fed back from the communication signal processing module.

[0084] In practical applications, for example, Figure 1The emergency communication system is mounted on an emergency unmanned device and is divided into a receiving module, an acoustic sensing module and a transmitting and control module. The acoustic and optical signals are received by the receiving module, and the acoustic signals are divided into two paths and submitted to a sensing calculation unit and a communication signal processing module. The environmental information and the acoustic signals are calculated in the sensing calculation unit, and the output optical communication data, environmental obstruction signals and node movement signals are linked to an upper computer through a heterogeneous interface.

[0085] The application provides an acoustic and optical emergency communication device suitable for a weak communication scene, which has a full-modular hardware design of acoustic and optical communication, integrated acoustic and optical signal processing design, acoustic sensing algorithm and power separation design and high variability of sensing modules.

[0086] In the second aspect, the application provides an acoustic and optical emergency communication device suitable for a weak communication scene, which is provided with the acoustic and optical emergency communication device suitable for a weak communication scene.

[0087] The application provides an acoustic and optical emergency communication device suitable for a weak communication scene, which has a full-modular hardware design of acoustic and optical communication, integrated acoustic and optical signal processing design, acoustic sensing algorithm and power separation design and high variability of sensing modules.

[0088] It is to be noted that the terms "first", "second", and the like in the description do not necessarily connote any actual physical or chronological order, quantity, or importance. Rather, they are merely used to distinguish one element from another. In the description, "a plurality" means two or more, unless expressly specified otherwise.

[0089] Although the present application has been described in connection with various embodiments thereof, it will be understood that other modifications will be apparent to those of ordinary skill in the art and can be made without departing from the spirit and scope of the application, which are indicated by the following claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality.

[0090] The above description is further to specific preferred embodiments of the present application and is not to be construed in any way as limiting the present application. It is to be understood by those skilled in the art that a number of further modifications and / or improvements can be made hereto without departing from the scope of the present application.

Claims

1. An acousto-optic emergency communication device suitable for weak communication scenarios, characterized in that, The application relates to a device node for optical communication, which comprises the following parts: a receiving module for receiving and preprocessing acoustic-optical signals; all acoustic signals in the preprocessed acoustic-optical signals are transmitted to an acoustic perception module, and all acoustic-optical signals are transmitted to a transmitting and controlling module; the acoustic-optical signals comprise optical signals and acoustic signals, the acoustic signals comprise first acoustic signals transmitted by other device nodes and second acoustic signals reflected by obstacles, the first acoustic signals comprise command acoustic signals and data acoustic signals containing transmission data; an acoustic-optical perception module for perceiving environmental information by using multiple sensors; echo signals reflected by obstacles are determined from all acoustic signals transmitted by the receiving module, and state information of the obstacles is calculated based on obstacle perception and the echo signals; wherein the state information comprises relative speed and position information of the obstacles; the environmental information and the state information are combined, and optical communication availability data are calculated; wherein the optical communication availability data are link evaluation values; the optical communication availability data are fed back to the transmitting and controlling module; the transmitting and controlling module is used for receiving the preprocessed optical signals from the receiving module, the first acoustic signals and the optical communication availability data, controlling the posture of the device node where the module is located and controlling the start of an optical link according to the command acoustic signals; the data acoustic signals, the optical signals and the state information are transmitted to other device nodes, the optical communication availability data and the state information are adjusted to adapt to a communication interface, and are fed back to an upper computer through the communication interface; wherein the start of the optical link comprises receiving a user operation signal from the upper computer, generating a control signal according to the user operation signal, starting the optical link by the control signal, and thus transmitting optical signals to other device nodes.

2. The acoustic-optic emergency communication device for weak communication scenarios according to claim 1, characterized in that, The receiving module comprises an optical receiving module and an acoustic receiving module; the acoustic receiving module is composed of a ring energy probe, a band-pass filter and a signal amplifier; the optical receiving module is composed of a photodetector, a preamplifier, a filter and an alignment system; wherein the optical receiving module receives optical signals transmitted by other device nodes through the photodetector, converts the optical signals into electric signals, processes the electric signals through the preamplifier, the filter and the alignment system to obtain preprocessed optical signals, and transmits the preprocessed optical signals to the transmitting and controlling module; the acoustic receiving module receives acoustic signals sent by the upper computer and other device nodes through the ring energy probe, processes the acoustic signals through the band-pass filter and the signal amplifier in sequence to obtain preprocessed acoustic signals, and transmits the preprocessed acoustic signals to the acoustic perception module and the transmitting and controlling module respectively.

3. The acoustic-optic emergency communication device for weak communication scenarios according to claim 2, characterized in that, The sound perception module comprises a perception calculation unit and a sensor group, the sensor group comprises a plurality of types of sensors set according to environmental conditions, for perceiving environmental information; the perception calculation unit is used for determining echo signals reflected by obstacles from all sound signals transmitted by the receiving module, and calculating state information of the obstacles based on obstacle perception and the echo signals; combining the environmental information and the state information, and calculating light communication availability data; feeding back the light communication availability data to the transmitting and control module.

4. The acoustic-optic emergency communication device for weak communication scenarios according to claim 3, characterized in that, The perception calculation unit is used for determining echo signals reflected by obstacles from all sound signals transmitted by the receiving module, and calculating state information of the obstacles based on obstacle perception and the echo signals, and comprises: correlating all preprocessed sound signals with sound excitation signals transmitted by the receiving module to obtain correlation degrees; selecting echo signals reflected by obstacles from the preprocessed sound signals according to the correlation degrees; calculating actual distances of the obstacles from a transmitting point by using time differences between the echo signals and the sound excitation signals; calculating relative speeds of the obstacles by using Doppler frequency shifts, the Doppler frequency shifts being frequency differences between frequencies of the echo signals and frequencies of the sound excitation signals; calculating position information of the obstacles by using receiving angles of the receiving module and the actual distances of the obstacles from the transmitting point; determining the relative speeds of the obstacles and the position information as the state information of the obstacles.

5. The acoustic-optic emergency communication device for weak communication scenarios as claimed in claim 4 wherein, The correlation degrees are expressed by a formula as follows: ； wherein represents a correlation, is an acoustic excitation signal, is an echo signal, wherein represents a correlation, is an acoustic excitation signal, is an echo signal, is a time shift variable, is time; The actual distances of the obstacles from the transmitting point are expressed by a formula as follows: ； wherein is the actual distance of the obstacle from the emission point, is the propagation speed of the acoustic wave in the environment, is the time difference between the echo signal and the acoustic excitation signal; The relative speeds of the obstacles are expressed by a formula as follows: ； wherein is the relative speed of the obstacle, is the propagation speed of the acoustic wave in the medium, adjusted according to the environmental information delivered by the set of sensors, is the initial frequency of the acoustic excitation signal, is the Doppler shift.

6. The acoustic-optic emergency communication device for weak communication scenarios as claimed in claim 3 wherein, The perception calculation unit is used for combining the environmental information and the state information, and calculating a link evaluation value of a light link; feeding back the link evaluation value to the transmitting and control module comprises: constructing a rule base of a fuzzy logic algorithm according to the environmental information; taking the environmental information and the state information as input information; fuzzifying the input information by using the fuzzy logic algorithm to obtain a fuzzification result; selecting corresponding rules in the rule base according to the fuzzification result, and performing fuzzy reasoning based on the selected rules to obtain a reasoning result; defuzzifying the reasoning result to obtain a predicted link evaluation value, and taking the link evaluation value as light communication availability data.

7. The acoustic-optic emergency communication device for weak communication scenarios according to claim 6, characterized in that, For a node i, the link evaluation value is expressed by a formula as follows: ； wherein is a link evaluation value, is a membership function of the link evaluation, is a node sequence.

8. The acoustic-optic emergency communication device for weak communication scenarios as claimed in claim 3 wherein, The transmitting and control module comprises a sound transmitting module, a communication signal processing module, a light communication control module and a light transmitting module; The light communication control module is used for receiving light communication availability data and state information from the perception calculation unit, and transmitting the light communication availability data and the state information to the communication signal processing module. The communication signal processing module is configured to receive the preprocessed optical signal sent by the optical receiving module, the first acoustic signal sent by the acoustic receiving module, and the optical communication availability data; adjust the device node posture according to the command acoustic signal in the first acoustic signal; adjust the optical communication availability data and the state information to adapt to the communication interface, and feed back to the upper computer through the communication interface and transmit the data acoustic signal in the first acoustic signal to the acoustic emitting module; receive the user operation signal from the upper computer, and transmit the user operation signal to the optical communication control module according to the user operation signal; The acoustic emitting module is configured to emit the data acoustic signal to other device nodes; the other device nodes include the upper computer and the emergency unmanned device. The optical communication control module is configured to generate a control signal according to the user operation signal, and feed back the control signal to the optical emitting module. The optical emitting module is configured to control the opening or closing of the optical emitting module according to the control signal fed back from the communication signal processing module.

9. The acoustic-optic emergency communication device for weak communication scenarios according to claim 8, characterized in that, The transmitting and control module runs on a core board carrying FPGA+arm, and the onboard arm controls the opening or closing of the optical emitting module.

10. A sound-light emergency communication device suitable for weak communication scenarios, characterized in that, The acoustic-optical emergency communication device suitable for a weak communication scene is provided in any one of claims 1 to 9.

Images