Underwater heavy hydraulic robot optical fiber link construction method and system

Abstract

The invention discloses an underwater heavy hydraulic robot optical fiber link construction method and system, and the method comprises the steps: building a plurality of optical communication nodes on an underwater optical fiber link, and carrying out the optical signal communication with a robot; time division multiplexing is carried out on the transmitted optical signals, the transmitted optical signals construct signal groups according to a synchronous clock, and the signal groups are divided into the same interaction signal group and different interaction signal groups according to the synchronous clock and a time slot; electromagnetically controlling the rotation direction and angle of a photoelectric sensor of the optical communication node and / or the underwater robot, and controlling the rotation direction and angle of the photoelectric sensor according to light intensity signal feedback received by the photoelectric sensor; receiving optical signals transmitted by the optical communication node and the underwater robot, decoding and converting the transmitted optical signals to obtain digital signals, and performing signal recombination of the same interaction signal group according to a time division multiplexing synchronous clock and transmitted light intensity to obtain recombined digital signals; and executing a corresponding interaction instruction according to the recombined digital signal.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robot communication, and particularly to a method and system for constructing an optical fiber link of an underwater heavy hydraulic robot. Background Art

[0002] Currently, the traditional underwater robot communication methods include connecting the corresponding underwater robot through a cable, and a metal conductor or an optical fiber is configured in the cable as a communication medium to communicate with the underwater robot in a deep-sea environment. That is to say, the cable serves as both a communication medium and a force-bearing tool. However, the above cable communication method has the following technical problems: 1. The underwater robot is restricted in its activity area underwater due to the influence of the cable. 2. The cable connected to the underwater robot is easily entangled and interfered by underwater organisms and rocks, resulting in failures. 3. The cable in the deep-sea environment requires a large mass, high cost, and is difficult to maintain. In addition, the traditional underwater robot communication methods also include acoustic communication and electromagnetic communication. However, the traditional acoustic communication faces the technical problems of too small bandwidth, too large reflection surface or ocean background noise. And the traditional electromagnetic communication has the technical problem of serious attenuation under the influence of highly conductive salt water in the deep-sea environment. Therefore, the above traditional underwater robots all have various technical problems that are difficult to solve. Summary of the Invention

[0003] One of the invention objects of the present invention is to provide a method and system for constructing an optical fiber link of an underwater heavy hydraulic robot. The method and system use an undersea optical cable to construct an optical communication node with an array structure, wherein the optical communication node is configured with an optoelectronic sensor, an optical transmitter, and an optical decoder. The optical transmitter is used to emit blue-green laser with strong penetration power, and the corresponding underwater heavy hydraulic robot is also configured with a plurality of optoelectronic sensors, optical transmitters, and optical decoders. After receiving the optical signal, the optoelectronic sensor performs a decoding operation, so as to realize the interactive communication between the underwater robot and multiple optical communication nodes of the undersea optical cable in the deep-sea environment, reduce the action limitation of the robot caused by cable communication, and at the same time, the array-type optical communication node also avoids the influence caused by the attenuation of the traditional single optical communication node in the deep sea.

[0004] Another object of the present invention is to provide a method and system for constructing an optical fiber link of an underwater heavy hydraulic robot. The method and system are configured with electromagnetic control devices on each optical communication node, use the electromagnetic force to control the angle of the photoelectric sensor on the optical fiber cross-section of the optical communication node, and at the same time drive the electromagnetic controller to rotate the angle of the photoelectric sensor on the optical fiber end face according to the optical power obtained by the photoelectric sensor, and select the optical signal greater than a certain optical feedback threshold as the optical communication signal received by the underwater robot corresponding to the optical communication node; at the same time, corresponding electromagnetic control devices and photoelectric sensors are configured on the corresponding underwater robot. The underwater robot uses the electromagnetic control device to drive the photoelectric sensor to rotate the angle, for receiving the optical signal from the corresponding optical communication node, and selects the optical signal greater than a certain optical feedback threshold as the optical communication signal received by the corresponding underwater robot from the optical communication node, so that the present invention can effectively improve the optical communication effect under the condition of underwater non-contact.

[0005] Another object of the present invention is to provide a method and system for constructing an optical fiber link of an underwater heavy hydraulic robot. The method and system respectively configure time-division multiplexing modules and synchronous clocks on the corresponding optical communication nodes and underwater robots. The time-division multiplexing module is configured with a FIFO queue. The present invention uses the FIFO queue and synchronous clock to construct a signal group of the same instruction for different optical communication nodes, decodes the signal group of the same instruction for different optical communication nodes or underwater robots through the corresponding optical decoder according to the synchronous clock to obtain digital signals, and inputs the decoded digital signals into different FIFO queues as signal groups of different optical communication nodes according to the synchronous clock. The signal group can be from the optical communication node itself or the underwater robot itself, and reorganizes the signal group according to the light intensity to obtain the reorganized FIFO queue. The optical communication node or the underwater robot executes the corresponding instruction according to the decoded and reorganized optical signal; after the present invention uses the FIFO queue to reorganize the optical signals of different optical communication nodes, it can effectively improve the effectiveness and stability of the optical communication between the optical communication node and the underwater robot, and reduce the technical problem of poor communication stability caused by distance or special underwater light absorption environment.

[0006] In order to achieve at least one of the above-mentioned objects of the present invention, the present invention provides a method for constructing an optical fiber link of an underwater heavy hydraulic robot, the method comprising:

[0007] Establish a plurality of optical communication nodes on the underwater optical fiber link, wherein optical signals are transmitted on the plurality of optical communication nodes and the transmitted optical signals from the underwater robot are received, and the underwater robot receives the transmitted optical signals from the plurality of optical communication nodes;

[0008] Time-division multiplex the transmitted optical signal. The transmitted optical signal constructs a signal group according to a synchronous clock, and the signal group is divided into the same interaction signal group and different interaction signal groups according to the synchronous clock and time slots.

[0009] Electromagnetically control the rotation direction and angle of the optical and electrical sensor of the optical communication node and / or the underwater robot, and control the rotation direction and angle of the optical and electrical sensor according to the feedback of the optical intensity signal received by the optical and electrical sensor.

[0010] Receive the transmitted optical signals of the optical communication node and the underwater robot, decode and convert the transmitted optical signals to obtain digital signals, and reorganize the signals of the same interaction signal group according to the synchronous clock of time-division multiplexing and the transmitted optical intensity to obtain the reorganized digital signals; execute corresponding interaction instructions according to the reorganized digital signals.

[0011] According to one preferred embodiment of the present invention, the optical communication node is connected to an optical signal master node, and the optical signal master node is divided into different interaction instructions according to the type of operation instructions of the robot.

[0012] Obtain the spectral range of the transmitted optical signal. The optical signal master node divides the spectral range of the transmitted optical signal according to the different interaction instructions, so that each interaction instruction maps to a transmitted optical spectral range; and further configure at least one time slot for the transmitted light of each interaction instruction, configure a synchronous clock for each interaction instruction, and encode the synchronous clock into the interaction instruction. The optical signal master node sends the interaction instruction and the synchronous clock to each optical communication node, and each optical communication node emits a transmitted optical signal corresponding to the spectral range according to the interaction instruction and the synchronous clock for the underwater robot to receive the transmitted optical signals of different optical communication nodes.

[0013] According to another preferred embodiment of the present invention, multiple optical and electrical sensors of the underwater robot receive the transmitted optical signals of different optical communication nodes, and decode the transmitted optical signals of the optical communication nodes. After the transmitted optical signals are decoded and converted into digital signals, they are respectively input into the FIFO queue to obtain the signal group; among them, it is judged whether the corresponding digital signals belong to the same interaction instruction according to the synchronous clock information of the transmitted optical signal, and the digital signals of the same interaction instruction are input into different FIFO queues according to the synchronous clock sequence to construct the same interaction signal group, and the same interaction signal group is reorganized according to the optical intensity corresponding to each digital signal to obtain the reorganized signal group.

[0014] According to another preferred embodiment of the present invention, the method for constructing the recombinant signal group includes: obtaining the induced light intensity data received or transmitted by the optical communication node corresponding to each digital signal in the first FIFO queue, comparing the light intensity data of the corresponding digital signals under all the same synchronous clock sequences in different first FIFO queues in the same interaction signal group, obtaining the digital signal corresponding to the maximum light intensity under the same synchronous clock sequence in different first FIFO queues in the same interaction signal group as the digital signal of the corresponding recombinant signal, extracting the digital signals corresponding to the maximum light intensity under all the same synchronous clock sequences and sequentially inputting them into the second FIFO queue as the recombinant signal group, and sequentially executing the corresponding interaction instructions according to the recombinant signal group.

[0015] According to another preferred embodiment of the present invention, the time-division multiplexing method includes: pre-inserting an ATM cell header in the time slot, where the ATM cell header is configured with the device identifiers of different optical communication nodes for constructing the address identifier of the ATM cell header, the ATM cell header is further configured with an explicit synchronization byte, the explicit synchronization byte is obtained by conversion according to the synchronous clock records including the corresponding optical communication node and the physical layer of the optical signal master node, and the ATM cell header further includes cell control information, where the cell control information includes payload type, priority, and check data.

[0016] According to another preferred embodiment of the present invention, the method for electromagnetically controlling the rotation direction and angle of the photoelectric sensor includes: configuring an external magnetic field on the connection end face of the photoelectric sensor, configuring an electromagnet coil in the photoelectric sensor, placing the electromagnet coil in the external magnetic field, and generating currents with different directions and magnitudes in the electromagnet coil to cause the photoelectric sensor to deflect at an angle under the action of the external magnetic field. The torque formula of the electromagnet coil in the external magnetic field is defined as: τ = m × B = (N·I·A) × B, where τ represents the magnetic torque, m represents the torque of the electromagnet coil, B represents the magnetic induction intensity of the external magnetic field, N is the number of turns of the electromagnet coil, I is the current of the electromagnet coil, and A is the cross section of the electromagnet coil. The rotation direction and angle of the photoelectric sensor are controlled by controlling the direction and magnitude of the current I of the electromagnet coil or the magnetic induction intensity B of the external magnetic field.

[0017] According to another preferred embodiment of the present invention, the method for electromagnetically controlling the rotation angle of the photoelectric sensor includes: establishing a differential equation for the rotation angle of the photoelectric sensor: Where J represents the moment of inertia, c is the sum of the estimated mechanical resistance and water body damping, k is the equivalent torsional stiffness, m is the electromagnetic coil torque, and B is the magnetic induction intensity of the external magnetic field. According to the magnetic moment formula of the coil electromagnet m = N·I·A, calculate the electromagnetic coil current I or the required external magnetic field magnetic induction intensity B corresponding to the rotation angle, and calculate the electromagnetic coil current I or the required external magnetic field magnetic induction intensity B when the photoelectric sensor is in a steady state at the corresponding rotation angle.

[0018] According to another preferred embodiment of the present invention, the method for the electromagnet to control the rotation angle of the photoelectric sensor includes: when the photoelectric sensor is in an unsteady state and rotates by a first unit angle value θ1, record the rotation direction of the current first unit angle value θ1, obtain the light intensity data V1 of the photoelectric sensor corresponding to the current first unit angle value θ1, and obtain the light intensity data V0 of the photoelectric sensor when it has not rotated. If V1 > V0, then control the electromagnetic coil current I or the external magnetic field magnetic induction intensity B to rotate by a second unit angle value θ2 in the same rotation direction and the same angle value as the first unit angle value θ1, otherwise rotate by a third unit angle value θ3 in the rotation direction different from the first unit angle value θ1 and the same angle value, until the light intensity data Vn of the photoelectric sensor at the current nth unit angle value θ n is greater than the acceptable light intensity threshold V s , convert the light signal data greater than the acceptable light intensity threshold V s into a digital signal. If there is no light intensity data Vn of the photoelectric sensor greater than the acceptable light intensity threshold V s within the specified clock sequence, then the digital signal corresponding to the light signal is empty.

[0019] To achieve at least one of the above invention purposes, the present invention provides an underwater heavy hydraulic robot optical fiber link construction system, and the system executes the above-mentioned underwater heavy hydraulic robot optical fiber link construction method.

[0020] The present invention further provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the above-mentioned underwater heavy hydraulic robot optical fiber link construction method. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 FIG. shows a flow diagram of a method for constructing an optical fiber link of an underwater heavy hydraulic robot according to the present invention. DETAILED DESCRIPTION

[0022] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other implementation schemes, variant schemes, improvement schemes, equivalent schemes, and other technical schemes that do not deviate from the spirit and scope of the present invention.

[0023] It can be understood that the term "a" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of the element can be multiple. The term "a" cannot be understood as a limitation on the quantity.

[0024] Please refer to Figure 1 , the present invention provides a method and system for constructing an optical fiber link of an underwater heavy hydraulic robot, and the method mainly includes the following steps:

[0025] S01. Establish a plurality of optical communication nodes on the underwater optical fiber link, wherein an optical signal is transmitted on the plurality of optical communication nodes and the transmitted optical signal from the underwater robot is received, and the underwater robot receives the transmitted optical signals of the plurality of optical communication nodes;

[0026] S02. Perform time-division multiplexing on the transmitted optical signal, and the transmitted optical signal constructs a signal group according to a synchronous clock, and the signal group is divided into the same interaction signal group and different interaction signal groups according to the synchronous clock and time slots;

[0027] S03. Electromagnetically control the rotation direction and angle of the optical communication node and / or the photoelectric sensor of the underwater robot, and control the rotation direction and angle of the photoelectric sensor according to the feedback of the light intensity signal received by the photoelectric sensor;

[0028] S04. Receive the transmitted optical signals of the optical communication node and the underwater robot, decode and convert the transmitted optical signals to obtain digital signals, and perform signal recombination on the same interaction signal group according to the synchronous clock and transmitted light intensity of time-division multiplexing to obtain the recombined digital signals; execute corresponding interaction instructions according to the recombined digital signals.

[0029] Specifically, in the present invention, the optical communication node is configured as an array structure through, including but not limited to, undersea optical cables. The optical communication node is connected to the optical signal master node through the undersea optical cable. The optical signal master node is used to generate the transmitted optical signal for interacting with the underwater robot. The optical signal master node is connected to a plurality of the optical communication nodes. The optical signal master node generates the transmitted optical signal related to controlling the underwater robot and sends it to all the connected optical communication nodes. The optical communication node externally emits the corresponding transmitted optical signal. When the corresponding underwater robot approaches the optical communication node, it can collect the transmitted optical signal of at least one optical communication node. It should be noted that in the present invention, the optical communication node is configured with an optical transmitter, an optoelectronic sensor, and an optical decoder. At the same time, the underwater robot is also configured with an optical transmitter, an optoelectronic sensor, and an optical decoder. The optical transmitter is used to emit blue-green laser with a wavelength of 450nm - 550nm (nanometers). The blue-green laser can have good penetration in water and generally can reach an effective communication distance of nearly 100 meters. Among them, through the multi-node communication method, the present invention can effectively improve the task execution effect of the underwater robot under non-contact conditions and reduce the influence of the limited movement and entanglement interference of the underwater robot caused by the wired control method.

[0030] In the present invention, the optoelectronic sensor can acquire the transmitted optical signals of different optical communication nodes. The information carried by the transmitted optical signals of different optical communication nodes is the same under the same clock sequence. However, due to the different distances and angles between the optical communication node and the optoelectronic sensor of the underwater robot, there are technical problems such as the inability to detect the corresponding transmitted optical signal or a large detection error in the actual detection process. However, by performing periodic time division multiplexing on the optical communication results of multiple optical communication nodes, the present invention can greatly reduce the optical communication detection error of the underwater robot.

[0031] It is worth mentioning that in one preferred embodiment of the present invention, the optical communication node is configured with an electromagnetic control device. The electromagnetic control device is installed and connected to the optoelectronic sensor. The electromagnetic control device is used to control the rotation direction and angle of the optoelectronic sensor on the optical communication node, so that the optoelectronic sensor can receive the transmitted optical signal from the robot in different directions. In another preferred embodiment of the present invention, the underwater robot is also configured with an electromagnetic control device, which is used to control the rotation direction and angle of the optoelectronic sensor on the underwater robot to receive the transmitted optical signals from different optical communication nodes.

[0032] The electromagnetic control device mainly consists of an external magnetic field and an electromagnet coil. The external magnetic field can be an ambient magnetic field including but not limited to a permanent magnet or an electromagnet. The electromagnet coil is installed in the external magnetic field, and the electromagnet coil is connected to the photoelectric sensor through a certain mechanical structure. When there is a current with a certain direction and magnitude in the electromagnet coil, the electromagnet coil will be deflected under the action of the external magnetic field. When rotating a specific angle, the torque generated by the electromagnet coil is balanced with the resistance by controlling the magnitude of the current in the electromagnet coil, thereby controlling the rotation direction and angle of the photoelectric sensor. The resistance generally includes mechanical resistance including friction and water resistance. In a static environment, only mechanical resistance is considered. In a dynamic environment, water resistance needs to be considered. For the type of mechanical structure, those skilled in the art can refer to any rotating device to implement it. The present invention does not improve the mechanical structure, so the present invention will not elaborate on this in detail.

[0033] The method for the electromagnetic control to rotate the photoelectric sensor includes: after energizing the electromagnet coil, generating currents with different directions and magnitudes in the electromagnet coil to cause the photoelectric sensor to deflect at an angle under the action of the external magnetic field. The torque formula of the electromagnet coil in the external magnetic field is defined as: τ = m × B = (N·I·A) × B, m = N·I·A, where τ represents the magnetic torque, m represents the torque of the electromagnet coil, B represents the magnetic induction intensity of the external magnetic field, N is the number of turns of the electromagnet coil, I is the current of the electromagnet coil, and A is the cross-section of the electromagnet coil. The rotation direction and angle of the photoelectric sensor are controlled by controlling the direction and magnitude of the current I of the electromagnet coil or the magnetic induction intensity B of the external magnetic field. Define the torque of the electromagnet coil in the external magnetic field as τ 电磁 , define the rotational resistance torque of the photoelectric sensor as τ 阻力 . τ 电磁 = τ 阻力 When, the driving torque and the resistance torque of the electromagnet coil in the external magnetic field are balanced. When the τ 电磁 > τ 阻力 , the driving force of the electromagnet coil in the external magnetic field is greater than the resistance, causing the photoelectric sensor to rotate. The rotation direction and angle of the photoelectric sensor are detected by a pre-configured angle measuring instrument. When the τ 电磁 < τ 阻力 When, if the resistance is an elastic restoring force, the electric sensor rotates in the opposite direction; when the resistance is friction, the electric sensor remains in a balanced state. Therefore, the present invention can configure the corresponding current I of the electromagnet coil according to the type of the resistance to perform the actions of the balanced state or the driving state of the electromagnet coil.

[0034] When the resistance torque is the elastic restoring force of the machine, the torque formula for the rotation of the photoelectric sensor can be expressed as mB = kθ, then where k represents the equivalent torsional stiffness, B is the external magnetic field strength, m is the magnetic moment of the electromagnetic coil, and the product of the magnetic moment and the magnetic field strength is the magnetic torque. Therefore, in another feasible and preferred embodiment of the present invention, the rotation of the photoelectric sensor can be controlled by changing the magnetic induction intensity B of the external magnetic field. And the external magnetic field can also use the electromagnetic coil as an alternative. When the current in the electromagnetic coil of the external magnetic field is different, the corresponding magnetic induction intensity B of the external electromagnetic field is different. The above alternative solutions can be directly implemented by those skilled in the art through the principle of electromagnetic induction, and the present invention will not elaborate on this in detail.

[0035] Since the photoelectric sensor will encounter the damping force of the water body itself when rotating underwater, the influence of this damping force on the rotation angle needs to be considered during dynamic rotation. Therefore, the present invention adopts the following technical means to solve: establish a differential equation for the rotation angle of the photoelectric sensor: where J represents the moment of inertia of the photoelectric sensor, c is the sum of the mechanical resistance and the estimated value of the water body damping, k is the equivalent torsional stiffness, m is the torque of the electromagnetic coil, B is the magnetic induction intensity of the external magnetic field. According to the magnetic moment formula of the coil electromagnetic body m = N·I·A, calculate the current I of the electromagnetic coil or the magnetic induction intensity B of the required external magnetic field corresponding to the rotation angle, and calculate the current I of the electromagnetic coil or the magnetic induction intensity B of the required external magnetic field when the photoelectric sensor is in a steady state at the corresponding rotation angle. Among them, the differential equation can be obtained from the detection current corresponding to the frequency of the electromagnetic coil as the differential current. In one preferred embodiment of the present invention, the PID control can be performed on the differential current, and the PID control parameters can be adjusted through optical feedback to output the control current. The PID control formula for the differential current is: where I c represents the differential current of the control output, K p represents the proportional gain, K i represents the integral gain, K d represents the differential gain, where e(t) represents the error signal, and e(t) = θ desired (t)-θ actual (t), where θ desired (t) represents the desired rotation angle, θ actual (t) represents the actual rotation angle, λ is the integration variable, is the derivative of the error. In another preferred embodiment of the present invention, the same rotation angle can be achieved by PID controlling the magnetic induction intensity B of the external magnetic field, and the present invention will not elaborate on this in detail.

[0036] Furthermore, it is necessary to consider the light intensity data V obtained by the photoelectric sensor at different rotation angles for feedback, and perform PID electromagnetic control on the rotation angle of the photoelectric sensor through the feedback light intensity data V: when the photoelectric sensor is in an unsteady state and rotates by the first unit angle value θ1, record the rotation direction of the current first unit angle value θ1, obtain the light intensity data V1 of the photoelectric sensor corresponding to the current first unit angle value θ1, and obtain the light intensity data V0 of the photoelectric sensor when it is not rotated. If V1 > V0, then control the current I of the electromagnetic coil or the magnetic induction intensity B of the external magnetic field to rotate by the second unit angle value θ2 in the same rotation direction and the same angle value as the first unit angle value θ1 through PID control, otherwise, control the rotation by the third unit angle value θ3 in the rotation direction different from the first unit angle value θ1 and the same angle value through PID control until the light intensity data Vn of the photoelectric sensor at the current nth unit angle value θ n is greater than the acceptable light intensity threshold V s , convert the light signal data greater than the acceptable light intensity threshold V s into a digital signal, otherwise the digital signal corresponding to the light signal is empty.

[0037] It is worth mentioning that another core technical point in the present invention is to obtain the light signals emitted by different optical communication nodes or the light emitted by the underwater robot after being received and perform digital conversion, and then perform FIFO queuing, and construct and reorganize signal groups according to the FIFO queue. Among them, the present invention uses a time-division multiplexing method to combine the 450nm - 550nm blue-green laser with time slots to convert into emission light signals with different bandwidth ranges, which are used to map tube representations corresponding to underwater robot operation instructions. The specific method includes that the optical signal master node is divided into different interaction instructions according to the type of operation instructions of the robot;

[0038] Obtain the spectral range of the transmitted optical signal. The optical signal master node divides the spectral range of the transmitted optical signal according to the different interaction instructions, so that each interaction instruction maps to a transmitted optical spectral range. For example, the above blue-green laser with a wavelength range of 450nm - 550nm can be divided into 100 / m transmitted optical spectral ranges, where m is the total number of interaction instruction types; and further configure at least one time slot for the transmitted light of each interaction instruction, configure a synchronous clock for each interaction instruction. It should be noted that the synchronous clock can be synchronized by means including but not limited to atomic clocks, etc., and encode the synchronous clock into the interaction instruction. The optical signal master node sends the interaction instruction and the synchronous clock to each optical communication node. Each optical communication node can perform master-slave synchronization of the clock of the optical signal master node through a phase-locked loop (PLL). Each optical communication node transmits a transmitted optical signal corresponding to the spectral range according to the interaction instruction and the synchronous clock, which is used for the underwater robot to receive the transmitted optical signals of different optical communication nodes.

[0039] In one preferred embodiment of the present invention, multiple optoelectronic sensors of the underwater robot receive the transmitted optical signals of different optical communication nodes, and decode the transmitted optical signals of the optical communication nodes. After the transmitted optical signals are decoded and converted into digital signals, they are respectively input into the FIFO queue to obtain the signal group; at this time, the signal group includes the transmitted optical signals received by different optoelectronic sensors of the underwater robot from different optical communication nodes. The signal group is too complex. The present invention further determines whether the corresponding digital signals belong to the same interaction instruction according to the synchronous clock information of the transmitted optical signal, where the synchronous clock information can be obtained from the ATM cell header carried in the time slot of the digital signal. If the synchronous clock information in the ATM cell header is the same, it can be determined that the digital signals are the same interaction signal. The digital signals of the same interaction instruction are input into different FIFO queues according to the synchronous clock sequence to construct the same interaction signal group, and the same interaction signal group is recombined according to the light intensity corresponding to each digital signal to obtain the recombined signal group. In the present invention, the digital signal with the maximum light intensity is preferably used as the recombined digital signal. It should be noted that different optoelectronic sensors on the underwater robot body are installed at different positions, so that the transmitted optical signals of different optical communication nodes can be received by the different optoelectronic sensors. And when the optical communication node receives the transmitted optical signals of adjacent or nearby optical communication nodes, it can be parsed and the synchronous clocks can be compared and then removed, so that the corresponding signal sources can be effectively separated.

[0040] The method for constructing the recombination signal group includes: obtaining the induced light intensity data received or transmitted by the optical communication nodes corresponding to each digital signal in the first FIFO queue, comparing the light intensity data of the corresponding digital signals under all the same synchronous clock sequences in different first FIFO queues in the same interaction signal group, obtaining the digital signal corresponding to the maximum light intensity under the same synchronous clock sequence in different first FIFO queues in the same interaction signal group as the digital signal of the corresponding recombination signal, extracting the digital signals corresponding to the maximum light intensity under all the same synchronous clock sequences and sequentially inputting them into the second FIFO queue as the recombination signal group, and executing the corresponding interaction instruction according to the recombination signal group. In the above method, the maximum light intensity of the optical signals emitted by all the optical communication nodes sensed by the corresponding photoelectric sensors can be effectively extracted for signal recombination, thereby effectively reducing the communication problems caused by the direction of a single communication light source and the attenuation in water.

[0041] In one preferred embodiment of the present invention, the time division multiplexing method includes: inserting an ATM cell header into the time slot in advance, where the ATM cell header is configured with the device identifiers of different optical communication nodes, such as the MAC addresses of the devices corresponding to the different optical communication nodes or the SN codes (product serial numbers) of the corresponding devices, for constructing the address identifier of the ATM cell header. The ATM cell header is also configured with an explicit synchronization byte, which is obtained by converting according to the synchronous clock records including the corresponding optical communication nodes and the physical layer of the optical signal master node. The ATM cell header also includes cell control information, where the cell control information includes payload type, priority, and check data.

[0042] Embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. Embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), the functions described above are not limited in the methods of the present application. It should be noted that the computer-readable medium in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wire segments, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program codes. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or combined with an instruction execution system, apparatus, or device. The program codes contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless segments, wire segments, optical cables, RF, etc., or any suitable combination of the above.

[0043] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than that noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0044] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Without departing from the said principles, the embodiments of the present invention may have any variations or modifications.

Claims

1. A method for constructing an optical fiber link of an underwater heavy-duty hydraulic robot, characterized in that The method includes: Establishing a plurality of optical communication nodes on an underwater optical fiber link, where optical signals are transmitted on the plurality of optical communication nodes and the transmitted optical signals from an underwater robot are received, and the underwater robot receives the transmitted optical signals from the plurality of optical communication nodes; Performing time-division multiplexing on the transmitted optical signals, constructing signal groups for the transmitted optical signals according to a synchronous clock, and dividing the signal groups into the same interaction signal group and different interaction signal groups according to the synchronous clock and time slots; Electromagnetically controlling the rotation direction and angle of the optical and electrical sensors of the optical communication nodes and / or the underwater robot, and controlling the rotation direction and angle of the optical and electrical sensors according to the feedback of the optical intensity signals received by the optical and electrical sensors; Receiving the transmitted optical signals from the optical communication nodes and the underwater robot, decoding and converting the transmitted optical signals to obtain digital signals, and reorganizing the signals of the same interaction signal group according to the synchronous clock of time-division multiplexing and the transmitted optical intensity to obtain a reorganized signal group; executing corresponding interaction instructions according to the reorganized signal group.

2. The method for constructing an optical fiber link of an underwater heavy-duty hydraulic robot according to claim 1, characterized in that The optical communication nodes are connected to an optical signal master node, and the optical signal master node is divided into different interaction instructions according to the type of operation instructions of the robot; Obtaining the spectral range of the transmitted optical signals, dividing the spectral range of the transmitted optical signals by the optical signal master node according to the different interaction instructions, so that each interaction instruction maps to a transmitted optical spectral range; further configuring at least one time slot for the transmitted optical signals of each interaction instruction, configuring a synchronous clock for each interaction instruction, and encoding the synchronous clock into the interaction instruction, and the optical signal master node sending the interaction instruction and the synchronous clock to each optical communication node, and each optical communication node externally transmitting transmitted optical signals of the corresponding spectral range according to the interaction instruction and the synchronous clock for the underwater robot to receive the transmitted optical signals from different optical communication nodes.

3. A method for constructing an optical fiber link of an underwater heavy-duty hydraulic robot according to claim 1, characterized in that A plurality of optical and electrical sensors of the underwater robot receive the transmitted optical signals from different optical communication nodes, decoding the transmitted optical signals of the optical communication nodes, and after the transmitted optical signals are decoded and converted into digital signals, respectively inputting them into a FIFO queue to obtain the signal group; wherein judging whether the corresponding digital signals belong to the same interaction instruction according to the synchronous clock information of the transmitted optical signals, inputting the digital signals of the same interaction instruction into different FIFO queues according to the synchronous clock sequence to construct the same interaction signal group, and reorganizing the same interaction signal group according to the optical intensity corresponding to each digital signal to obtain the reorganized signal group.

4. A method for constructing an optical fiber link of an underwater heavy hydraulic robot according to claim 3, characterized in that, The method for constructing the recombination signal group includes: obtaining the induced light intensity data received or transmitted by the optical communication node corresponding to each digital signal in the first FIFO queue, comparing the light intensity data of the corresponding digital signals under all the same synchronous clock sequences in different first FIFO queues in the same interaction signal group, obtaining the digital signal corresponding to the maximum light intensity under the same synchronous clock sequence in different first FIFO queues in the same interaction signal group as the digital signal of the corresponding recombination signal, extracting the digital signals corresponding to the maximum light intensity under all the same synchronous clock sequences and sequentially inputting them into the second FIFO queue as the recombination signal group, and sequentially executing the corresponding interaction instructions according to the recombination signal group.

5. A method for constructing an optical fiber link of an underwater heavy-duty hydraulic robot according to claim 1, characterized in that, The time-division multiplexing method includes: inserting an ATM cell header into a time slot in advance, where the ATM cell header is configured with device identifiers of different optical communication nodes for constructing the address identifier of the ATM cell header, the ATM cell header is further configured with an explicit synchronization byte, the explicit synchronization byte is obtained by conversion according to the synchronous clock records including the corresponding optical communication node and the physical layer of the optical signal master node, and the ATM cell header further includes cell control information, where the cell control information includes payload type, priority, and check data.

6. A method for constructing an optical fiber link of an underwater heavy hydraulic robot according to claim 1, characterized in that, The method for electromagnetically controlling the rotation direction and angle of the photoelectric sensor includes: configuring an external magnetic field on the connection end face of the photoelectric sensor, configuring an electromagnet coil in the photoelectric sensor, placing the electromagnet coil in the external magnetic field, and generating currents with different directions and magnitudes in the electromagnet coil to cause the photoelectric sensor to deflect at an angle under the action of the external magnetic field. The torque formula of the electromagnet coil in the external magnetic field is defined as: τ = m × B = (N·I·A) × B, where τ represents the magnetic torque, m represents the torque of the electromagnet coil, B represents the magnetic induction intensity of the external magnetic field, N is the number of turns of the electromagnet coil, I is the current of the electromagnet coil, and A is the cross-section of the electromagnet coil. The rotation direction and angle of the photoelectric sensor are controlled by controlling the direction and magnitude of the current I of the electromagnet coil or the magnetic induction intensity B of the external magnetic field.

7. A method for constructing an optical fiber link of an underwater heavy hydraulic robot according to claim 6, characterized in that, The method for electromagnetically controlling the rotation angle of the photoelectric sensor includes: establishing a differential equation for the rotation angle of the photoelectric sensor: where J represents the moment of inertia, c is the sum of the mechanical resistance and the estimated value of the water body damping, k is the equivalent torsional stiffness, m is the electromagnetic coil torque, B is the magnetic induction intensity of the external magnetic field. Calculate the electromagnetic coil current I or the required external magnetic field magnetic induction intensity B corresponding to the rotation angle according to the magnetic moment formula m = N·I·A of the coil electromagnet, and calculate the electromagnetic coil current I or the required external magnetic field magnetic induction intensity B when the photoelectric sensor is in a steady state at the corresponding rotation angle.

8. A method for constructing an optical fiber link of an underwater heavy-duty hydraulic robot according to claim 1, characterized in that, The method for electromagnetic control of the rotation angle of the photoelectric sensor includes: when the photoelectric sensor is in an unsteady state and rotates by a first unit angle value θ1, record the rotation direction of the current first unit angle value θ1, obtain the light intensity data V1 of the photoelectric sensor corresponding to the current first unit angle value θ1, and obtain the light intensity data V0 of the photoelectric sensor when it has not rotated. If V1 > V0, then control the current I of the electromagnet coil or the magnetic induction intensity B of the external magnetic field to rotate by a second unit angle value θ2 in the same rotation direction and the same angle value as the first unit angle value θ1; otherwise, rotate by a third unit angle value θ3 in the rotation direction different from the first unit angle value θ1 and the same angle value, until the light intensity data Vn of the photoelectric sensor corresponding to the current nth unit angle value θ n is greater than the acceptable light intensity threshold V s , convert the light signal data greater than the acceptable light intensity threshold V s into digital signals. If there is no light intensity data Vn of the photoelectric sensor greater than the acceptable light intensity threshold V s within the specified clock sequence, then the digital signal corresponding to this light signal is empty.

9. An underwater heavy-duty hydraulic robot fiber optic link construction system, characterized in that, The system executes a method for constructing an optical fiber link of an underwater heavy hydraulic robot according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement a method for constructing an optical fiber link of an underwater heavy hydraulic robot according to any one of claims 1-8.

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