An underwater heavy hydraulic robot optical fiber link construction method and system

Abstract

This invention discloses a method and system for constructing an optical fiber link for an underwater heavy-duty hydraulic robot, comprising: establishing multiple optical communication nodes on an underwater optical fiber link to communicate with the robot via optical signals; performing time-division multiplexing on the transmitted optical signals, constructing signal groups according to a synchronous clock, wherein the signal groups are divided into the same interactive signal group and different interactive signal groups according to the synchronous clock and time slot; electromagnetically controlling the rotation direction and angle of the photoelectric sensors of the optical communication nodes and / or the underwater robot, and controlling the rotation direction and angle of the photoelectric sensors based on the light intensity signals received by the photoelectric sensors; receiving the optical signals transmitted by the optical communication nodes and the underwater robot, decoding and converting the transmitted optical signals into digital signals, and recombining the signals of the same interactive signal group according to the time-division multiplexed synchronous clock and the transmitted light intensity to obtain the recombined digital signal; and executing corresponding interactive commands based on the recombined digital signal.

Description

Technical Field

[0001] This invention relates to the field of underwater robot communication technology, and in particular to a method and system for constructing fiber optic links for heavy-duty underwater hydraulic robots. Background Technology

[0002] Currently, traditional underwater robot communication methods include connecting the underwater robot via cables. These cables contain metal conductors or optical fibers as the communication medium for communication with the robot in deep-sea environments. In other words, the cable serves as both a communication medium and a load-bearing tool. However, this cable communication method suffers from the following technical problems: 1. The cable's influence restricts the robot's underwater movement. 2. The cables connecting the underwater robot are easily entangled and interfered with by underwater organisms and rocks, leading to malfunctions. 3. Cables used in deep-sea environments require significant weight, resulting in high costs and difficult maintenance. Other traditional underwater robot communication methods include acoustic and electromagnetic communication. However, traditional acoustic communication faces challenges such as limited bandwidth and excessive background noise from reflecting surfaces or the ocean. Traditional electromagnetic communication suffers from severe attenuation due to the highly conductive saltwater in deep-sea environments. Therefore, all of these traditional underwater robot communication methods present various intractable technical problems. Summary of the Invention

[0003] One objective of this invention is to provide a method and system for constructing fiber optic links for underwater heavy-duty hydraulic robots. The method and system utilize submarine optical cables to construct array-structured optical communication nodes. Each optical communication node is equipped with photoelectric sensors, an optical transmitter, and an optical decoder. The optical transmitter emits blue-green laser light with strong penetrating power. The corresponding underwater heavy-duty hydraulic robot is also equipped with multiple photoelectric sensors, optical transmitters, and optical decoders. The photoelectric sensors receive optical signals and perform decoding operations, thereby enabling interactive communication between the underwater robot and multiple optical communication nodes on the submarine optical cable in a deep-sea environment. This reduces the limitations of cable communication on the robot's movement, and the array-structured optical communication nodes also avoid the attenuation effects of traditional single optical communication nodes in the deep sea.

[0004] Another objective of this invention is to provide a method and system for constructing fiber optic links for underwater heavy-duty hydraulic robots. The method and system configure an electromagnetic control device on each optical communication node. The device uses electromagnetic control to adjust the angle of a photoelectric sensor on the fiber optic cross-section of the optical communication node. Simultaneously, based on the optical power acquired by the photoelectric sensor, an electromagnetic controller is driven to rotate the photoelectric sensor at the fiber end face. An optical signal greater than a certain optical feedback threshold is selected as the optical communication signal received by the corresponding optical communication node from the underwater robot. Furthermore, a corresponding electromagnetic control device and photoelectric sensor are configured on the underwater robot. The underwater robot uses the electromagnetic control device to drive the photoelectric sensor to rotate, thereby receiving the optical signal from the corresponding optical communication node. The method selects an optical signal greater than a certain optical feedback threshold as the optical communication signal received by the underwater robot from the corresponding optical communication node. This allows the invention to effectively improve optical communication performance under non-contact underwater conditions.

[0005] Another objective of this invention is to provide a method and system for constructing fiber optic links for underwater heavy-duty hydraulic robots. The method and system configure time-division multiplexing modules and synchronization clocks at corresponding optical communication nodes and underwater robots, respectively. The time-division multiplexing modules are configured with FIFO queues. This invention utilizes the FIFO queues and synchronization clocks to construct signal groups for the same instruction from different optical communication nodes. Based on the synchronization clock, the signal groups of the same instruction are decoded by corresponding optical decoders at different optical communication nodes or underwater robots to obtain digital signals. The decoded digital signals are then input into different FIFO queues according to the synchronization clock as signal groups for different optical communication nodes. These signal groups can originate from the optical communication nodes themselves or the underwater robot itself. The signal groups are then recombined according to light intensity to obtain recombined FIFO queues. The optical communication nodes or underwater robots execute corresponding instructions based on the decoded and recombined optical signals. This invention, by using FIFO queues to recombine optical signals from different optical communication nodes, can effectively improve the effectiveness and stability of optical communication between the optical communication nodes and the underwater robot, reducing technical problems of poor communication stability caused by distance or the special light absorption environment underwater.

[0006] To achieve at least one of the above-mentioned objectives, the present invention provides a method for constructing fiber optic links for an underwater heavy hydraulic robot, the method comprising:

[0007] Multiple optical communication nodes are established on an underwater optical fiber link, wherein optical signals are transmitted and received from an underwater robot at the multiple optical communication nodes, and the underwater robot receives the transmitted optical signals from the multiple optical communication nodes.

[0008] The transmitted optical signal is time-division multiplexed, and the transmitted optical signal is constructed into a signal group according to a synchronization clock, wherein the signal group is divided into the same interactive signal group and different interactive signal groups according to the synchronization clock and time slot;

[0009] The rotation direction and angle of the photoelectric sensor of the optical communication node and / or underwater robot are controlled by electromagnetic control, and the rotation direction and angle of the photoelectric sensor are controlled by feedback based on the light intensity signal received by the photoelectric sensor.

[0010] The system receives optical signals transmitted from the optical communication node and the underwater robot, decodes and converts the transmitted optical signals into digital signals, and reassembles the signals of the same interactive signal group according to the time-division multiplexed synchronization clock and the transmitted light intensity to obtain a reassembled digital signal; and executes the corresponding interactive command according to the reassembled digital signal.

[0011] According to a preferred embodiment of the present invention, the optical communication node is connected to the optical signal master control node, and the optical signal master control node is divided into different interactive instructions according to the operation instruction type of the robot;

[0012] The optical signal master node acquires the spectral range of the transmitted optical signal, divides the spectral range of the transmitted optical signal according to the different interaction commands, so that each interaction command maps to a transmitted optical spectral range; furthermore, it configures at least one time slot for the transmitted optical signal of each interaction command, configures a synchronization clock for each interaction command, and encodes the synchronization clock into the interaction command; the optical signal master node sends the interaction command and the synchronization clock to each optical communication node, and each optical communication node transmits the transmitted optical signal of the corresponding spectral range according to the interaction command and the synchronization clock, so that the underwater robot can receive the transmitted optical signals of different optical communication nodes.

[0013] According to another preferred embodiment of the present invention, the underwater robot receives transmitted optical signals from different optical communication nodes using multiple photoelectric sensors, and decodes the transmitted optical signals from the optical communication nodes. The decoded transmitted optical signals are converted into digital signals and then input into FIFO queues respectively to obtain the signal group. The corresponding digital signals are determined to belong to the same interactive instruction based on the synchronization clock information of the transmitted optical signals. The digital signals of the same interactive instruction are input into different FIFO queues according to the synchronization clock sequence to construct the same interactive signal group. The same interactive signal group is then recombined according to the light intensity corresponding to each digital signal to obtain the recombined signal group.

[0014] According to another preferred embodiment of the present invention, the method for constructing the recombined signal group includes: acquiring 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 the same synchronization clock sequence in different first FIFO queues in the same interactive signal group; acquiring the digital signal corresponding to the maximum light intensity under the same synchronization clock sequence in different first FIFO queues in the same interactive signal group as the digital signal of the corresponding recombined signal; extracting the digital signals corresponding to the maximum light intensity under the same synchronization clock sequence and inputting them sequentially into the second FIFO queue according to the synchronization clock sequence as the recombined signal group; and executing the corresponding interactive instructions sequentially according to the recombined signal group.

[0015] According to another preferred embodiment of the present invention, the time division multiplexing method includes: pre-inserting an ATM cell header into the time slot, wherein 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 also configured with explicit synchronization bytes, the explicit synchronization bytes are obtained by conversion based on the synchronization clock record including the physical layer of the corresponding optical communication node and the optical signal master control node, and the ATM cell header also includes cell control information, wherein 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 of 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, wherein 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, and controlling the direction and angle of rotation of the photoelectric sensor 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 damping, k is the equivalent torsional stiffness, m is the torque of the electromagnet coil, and B is the magnetic induction intensity of the external magnetic field. The required electromagnet coil current I or the required external magnetic field magnetic induction intensity B for the corresponding rotation angle is calculated according to the formula m=N·I·A of the electromagnetic moment of the coil electromagnet. The electromagnet coil current I or the required external magnetic field magnetic induction intensity B of the photoelectric sensor in the steady state of the corresponding rotation angle is also calculated.

[0018] According to another preferred embodiment of the present invention, the method for electromagnetically controlling 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, recording the rotation direction of the current first unit angle value θ1, obtaining the light intensity data V1 of the photoelectric sensor corresponding to the current first unit angle value θ1, and obtaining the light intensity data V0 of the photoelectric sensor when it is not rotating; if V1 > V0, then by controlling the current I of the electromagnet coil or the magnetic induction intensity B of the external magnetic field, rotating by a second unit angle value θ2 according to the same rotation direction and the same angle value as the first unit angle value θ1; otherwise, rotating by a third unit angle value θ3 according to a different rotation direction and the same angle value as the first unit angle value θ1, until the current rotation reaches the nth unit angle value θ. n The light intensity data Vn of the photoelectric sensor is greater than the acceptable light intensity threshold V. s It will be greater than the acceptable light intensity threshold V. s The optical signal data is converted into a digital signal. If the light intensity data Vn of the photoelectric sensor is not greater than the acceptable light intensity threshold V within a specified clock sequence... s If the optical signal is empty, then the corresponding digital signal is empty.

[0019] To achieve at least one of the above-mentioned objectives, the present invention provides an underwater heavy hydraulic robot fiber optic link construction system, wherein the system performs the above-mentioned underwater heavy hydraulic robot fiber optic link construction method.

[0020] The present invention further provides a computer-readable storage medium storing a computer program, which is executed by a processor to implement the above-described method for constructing an optical fiber link for an underwater heavy hydraulic robot. Attached Figure Description

[0021] Figure 1 The diagram shown is a flowchart illustrating a method for constructing an optical fiber link for an underwater heavy hydraulic robot according to the present invention. Detailed Implementation

[0022] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0023] It is 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 another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0024] Please combine Figure 1 This invention provides a method and system for constructing fiber optic links for underwater heavy hydraulic robots, wherein the method mainly includes the following steps:

[0025] S01. Establish multiple optical communication nodes on an underwater optical fiber link, wherein optical signals are transmitted and received from an underwater robot at the multiple optical communication nodes, and the underwater robot receives the transmitted optical signals from the multiple optical communication nodes;

[0026] S02. The transmitted optical signal is time-division multiplexed, wherein the transmitted optical signal is constructed into a signal group according to a synchronous clock, wherein the signal group is divided into the same interactive signal group and different interactive signal groups according to the synchronous clock and time slot;

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

[0028] S04. Receive the optical signals transmitted by the optical communication node and the underwater robot, decode and convert the transmitted optical signals into digital signals, and reassemble the signals of the same interactive signal group according to the time-division multiplexed synchronization clock and the transmitted light intensity to obtain the reassembled digital signal; execute the corresponding interactive command according to the reassembled digital signal.

[0029] Specifically, the optical communication nodes in this invention are configured into an array structure via, but not limited to, submarine optical cables. Each optical communication node is connected to a master optical signal control node via the submarine optical cables. The master optical signal control node generates transmitted optical signals for interaction with the underwater robot. The master optical signal control node connects to multiple optical communication nodes. It generates relevant transmitted optical signals for controlling the underwater robot and sends them to all connected optical communication nodes. Each optical communication node transmits its corresponding transmitted optical signal. When the corresponding underwater robot approaches the optical communication node, it can collect the transmitted optical signal from at least one optical communication node. It should be noted that the optical communication nodes in this invention are equipped with an optical transmitter, a photoelectric sensor, and an optical decoder. The underwater robot is also equipped with an optical transmitter, a photoelectric sensor, and an optical decoder. The optical transmitter emits 450nm-550nm (nanometer) blue-green laser light, which has good underwater penetration and can generally achieve an effective communication distance of nearly 100 meters. The present invention can effectively improve the task execution performance of underwater robots under non-contact conditions through multi-node communication, and reduce the impact of wired control on the underwater robot's activity restriction and entanglement interference.

[0030] The photoelectric sensor described in this invention can acquire the emitted optical signals from different optical communication nodes. While the information carried by these emitted optical signals is identical under the same clock sequence, the different distances and angles between the optical communication nodes and the photoelectric sensor of the underwater robot lead to technical problems such as the inability to detect corresponding emitted optical signals or significant detection errors during actual detection. However, this invention significantly reduces the optical communication detection error of the underwater robot by periodically time-division multiplexing the optical communication results from multiple optical communication nodes.

[0031] It is worth mentioning that, in one preferred embodiment of the present invention, an electromagnetic control device is configured on the optical communication node, wherein the electromagnetic control device and the photoelectric sensor are connected and installed together. The electromagnetic control device is used to control the rotation direction and angle of the photoelectric sensor on the optical communication node, so that the photoelectric sensor can receive emitted light signals 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 for controlling the rotation direction and angle of the photoelectric sensor on the underwater robot, for receiving emitted light 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, but is not limited to, permanent magnets or electromagnets, serving as the ambient magnetic field. The electromagnet coil is installed within the external magnetic field and connected to the photoelectric sensor via a mechanical structure. When a current of a certain direction and magnitude exists in the electromagnet coil, it will deflect under the influence of the external magnetic field. At a specific rotation angle, the torque and resistance generated by the electromagnet coil are balanced by controlling the magnitude of the current, 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 must be considered. For the type of mechanical structure, those skilled in the art can refer to any rotating device. This invention does not modify the mechanical structure; therefore, it will not be described in detail here.

[0033] The method for electromagnetically controlling the rotation direction and angle of the photoelectric sensor includes: after energizing the electromagnet coil, generating currents of 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 m = N·I·A, τ represents the magnetic torque, m represents the torque of the electromagnet coil, B represents the magnetic flux density 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 in the electromagnet coil or the magnetic flux density B of the external magnetic field. The torque of the electromagnet coil under the external magnetic field is defined as τ. 电磁 The rotational resistance torque of the photoelectric sensor is defined as τ. 阻力 . τ 电磁 =τ 阻力 At that time, the driving torque and resisting torque of the electromagnet coil under the external magnetic field remain in balance. When τ 电磁 >τ 阻力 When the driving force of the electromagnet coil under the external magnetic field is greater than the resistance, the photoelectric sensor rotates. The rotation direction and angle of the photoelectric sensor are detected by a pre-configured angle measuring instrument. When τ 电磁 <τ 阻力 When the resistance is an elastic restoring force, the electrical sensor rotates in the opposite direction; when the resistance is a frictional force, the electrical sensor remains in a balanced state. Therefore, this invention can configure the corresponding electromagnet coil current I according to the type of resistance to perform the operation of the electromagnet coil in either a balanced or driven state.

[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, and m is the magnetic moment of the electromagnet coil. The product of the magnetic moment and the magnetic field strength is the magnetic torque. Therefore, in another feasible 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. The external magnetic field can also be replaced by an electromagnet coil; different currents in the electromagnet coil of the external magnetic field result in different magnetic induction intensities B of the corresponding external electromagnetic field. These alternative solutions are directly achievable by those skilled in the art based on the principle of electromagnetic induction, and will not be described in detail here.

[0035] Since the photoelectric sensor encounters damping force from the water itself when rotating underwater, the influence of this damping force on the rotation angle needs to be considered during dynamic rotation. Therefore, this invention employs the following technical means to solve this problem: establishing a differential equation for the rotation angle of the photoelectric sensor: Where J represents the rotational inertia of the photoelectric sensor, c is the sum of the estimated mechanical resistance and water damping, k is the equivalent torsional stiffness, m is the torque of the electromagnet coil, and B is the magnetic flux density of the external magnetic field. The required electromagnet coil current I or the required external magnetic flux density B for the corresponding rotation angle is calculated according to the formula m = N·I·A for the magnetic moment of the coil electromagnet. The electromagnet coil current I or the required external magnetic flux density B for the photoelectric sensor in steady state at the corresponding rotation angle is also calculated. The differential equation can be obtained by using the detected current at the corresponding frequency of the electromagnet coil as the differential current. In a preferred embodiment of the invention, the differential current can be obtained by performing PID control on the differential current and adjusting the output control current through optical feedback to adjust the PID control parameters. The PID control formula for the differential current is: Where I c K represents the differential current of the control output. p K represents the proportional gain. i K represents the integral gain. d Let denote 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, and λ is the integration variable. This is the error derivative. In another preferred embodiment of the present invention, the same rotation angle can be achieved by controlling the magnetic induction intensity B of the external magnetic field using PID control, which will not be described in detail here.

[0036] Furthermore, it is necessary to consider the feedback of light intensity data V acquired by the photoelectric sensor at different rotation angles, and to use the feedback light intensity data V to perform PID electromagnetic control on the rotation angle of the photoelectric sensor: when the photoelectric sensor is in an unsteady state and rotates by a first unit angle value θ1, the rotation direction of the current first unit angle value θ1 is recorded, and the light intensity data V1 of the photoelectric sensor corresponding to the current first unit angle value θ1 is obtained, as well as the light intensity data V0 of the photoelectric sensor when it is not rotated. If V1 > V0, then the electromagnet coil current I or the external magnetic field magnetic induction intensity B is controlled by PID to rotate by a second unit angle value θ2 according to the same rotation direction and the same angle value as the first unit angle value θ1; otherwise, the rotation is controlled by PID to rotate by a third unit angle value θ3 according to different rotation directions and the same angle value as the first unit angle value θ1, until the current rotation reaches the nth unit angle value θ. n The light intensity data Vn of the photoelectric sensor is greater than the acceptable light intensity threshold V. s It will be greater than the acceptable light intensity threshold V. s The optical signal data is converted into a digital signal; otherwise, the corresponding digital signal is empty.

[0037] It is worth mentioning that another core technical point of this invention lies in acquiring the optical signals transmitted by different optical communication nodes or the light transmitted by the underwater robot, digitizing them, and then queuing them into a FIFO queue. Signal groups are then constructed and reassembled based on the FIFO queue. Specifically, this invention uses time-division multiplexing to convert the 450nm-550nm blue-green laser light into transmitted optical signals with different bandwidth ranges, which are used to represent corresponding underwater robot operation commands via mapping tubes. The specific method includes the optical signal master control node classifying different interactive commands according to the type of robot operation command.

[0038] The optical signal master node acquires the spectral range of the transmitted optical signal. It divides the spectral range of the transmitted optical signal according to different interaction commands, such that each interaction command maps to a specific spectral range. For example, the aforementioned 450nm-550nm blue-green laser can be divided into 100 / m spectral ranges, where m is the total number of interaction command types. Furthermore, it configures at least one time slot for the transmitted light of each interaction command and a synchronization clock for each interaction command. It should be noted that the synchronization clock can be implemented using methods including, but not limited to, atomic clocks, and is encoded into the interaction command. The optical signal master node sends the interaction command and synchronization 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 with the corresponding spectral range according to the interaction command and synchronization clock, which is used by the underwater robot to receive the transmitted optical signals from different optical communication nodes.

[0039] In one preferred embodiment of the present invention, multiple photoelectric sensors of the underwater robot receive transmitted optical signals from different optical communication nodes and decode these signals. The decoded optical signals are converted into digital signals and input into FIFO queues to obtain the signal group. Since the signal group includes transmitted optical signals received by different photoelectric sensors of the underwater robot from different optical communication nodes, and the signal group is too complex, the present invention further determines whether the corresponding digital signals belong to the same interaction command based on the synchronization clock information of the transmitted optical signals. This synchronization clock information can be obtained from the ATM cell header carried in the digital signal time slot. If the synchronization clock information in the ATM cell header is the same, the digital signals can be determined to be the same interaction signal. The digital signals of the same interaction command are input into different FIFO queues according to the synchronization clock sequence to construct the same interaction signal group. The same interaction signal group is then recombined according to the light intensity corresponding to each digital signal to obtain the recombined signal group. In this invention, the digital signal with the highest light intensity is preferred as the recombined digital signal. It should be noted that in this invention, different photoelectric sensors on the underwater robot body are installed in different positions, allowing the different photoelectric sensors to receive transmitted optical signals from different optical communication nodes. Furthermore, when the optical communication node receives the transmitted optical signal from an adjacent or nearby optical communication node, it can analyze the signal, compare it with the synchronization clock, and then discard the signal, thereby effectively separating the corresponding signal source.

[0040] The method for constructing the recombined signal group includes: acquiring 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 corresponding digital signals under the same synchronization clock sequence in different first FIFO queues within the same interactive signal group; acquiring the digital signal corresponding to the maximum light intensity under the same synchronization clock sequence in different first FIFO queues within the same interactive signal group as the digital signal of the corresponding recombined signal; extracting the digital signals corresponding to the maximum light intensity under all the same synchronization clock sequences and inputting them sequentially into the second FIFO queue according to the synchronization clock sequence to form the recombined signal group; and executing the corresponding interactive command based on the recombined signal group. In the above method, the maximum light intensity value of the emitted light signals of all optical communication nodes sensed by the corresponding photoelectric sensor can be effectively extracted for signal recombination, thereby effectively reducing communication problems caused by the direction of a single communication light source and attenuation in water.

[0041] In one preferred embodiment of the present invention, the time division multiplexing method includes: pre-inserting an ATM cell header into the time slot, wherein the ATM cell header is configured with device identifiers of different optical communication nodes, such as the MAC address of the device corresponding to the different optical communication nodes or the SN code (product serial number) of the corresponding device, for constructing the address identifier of the ATM cell header; the ATM cell header is also configured with explicit synchronization bytes, which are obtained by conversion based on the synchronization clock record of the physical layer of the corresponding optical communication node and the optical signal master control node; the ATM cell header also includes cell control information, wherein the cell control information includes payload type, priority and check data.

[0042] The processes described in the flowcharts above, as disclosed in the embodiments of this invention, can be implemented as computer software programs. The embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), the methods of this application are not limited to the aforementioned functions. It should be noted that the computer-readable medium described above in this 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 thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wire segments, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless segments, wire segments, optical fibers, RF, etc., or any suitable combination thereof.

[0043] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using 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 merely examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the stated principles, the implementation of the present invention may have any variations or modifications.

Claims

1. A method for constructing fiber optic links for an underwater heavy-duty hydraulic robot, characterized in that, The method includes: Multiple optical communication nodes are established on an underwater optical fiber link, wherein optical signals are transmitted and received from an underwater robot at the multiple optical communication nodes, and the underwater robot receives the transmitted optical signals from the multiple optical communication nodes. The transmitted optical signals, including those of underwater robots and optical communication nodes, are time-division multiplexed. The transmitted optical signals are constructed into signal groups according to a synchronization clock, wherein the signal groups are divided into the same interactive signal group and different interactive signal groups according to the synchronization clock and time slot. The rotation direction and angle of the photoelectric sensor of the optical communication node and / or underwater robot are controlled by electromagnetic control, and the rotation direction and angle of the photoelectric sensor are controlled by feedback based on the light intensity signal received by the photoelectric sensor. The underwater robot receives the optical signal transmitted by the optical communication node, and the optical communication node receives the optical signal transmitted by the underwater robot. The transmitted optical signal is decoded and converted into a digital signal. The same interactive signal group is recombined according to the time-division multiplexed synchronization clock and the transmitted light intensity to obtain a recombined signal group. The corresponding interactive command is executed according to the recombined signal group.

2. The method for constructing an optical fiber link for an underwater heavy-duty hydraulic robot according to claim 1, characterized in that, The optical communication node is connected to the optical signal master control node, and the optical signal master control node classifies the robot's operation command type into different interactive commands; The optical signal master node acquires the spectral range of the transmitted optical signal, divides the spectral range of the transmitted optical signal according to the different interaction commands, so that each interaction command maps to a transmitted optical spectral range; furthermore, it configures at least one time slot for the transmitted optical signal of each interaction command, configures a synchronization clock for each interaction command, and encodes the synchronization clock into the interaction command; the optical signal master node sends the interaction command and the synchronization clock to each optical communication node, and each optical communication node transmits the transmitted optical signal of the corresponding spectral range according to the interaction command and the synchronization clock, so that the underwater robot can receive the transmitted optical signals of different optical communication nodes.

3. The method for constructing an optical fiber link for an underwater heavy-duty hydraulic robot according to claim 1, characterized in that, The underwater robot's multiple photoelectric sensors receive transmitted optical signals from different optical communication nodes and decode these signals. The decoded optical signals are converted into digital signals and input into FIFO queues to obtain signal groups. The corresponding digital signals are then determined based on the synchronization clock information of the transmitted optical signals to determine if they belong to the same interaction command. Digital signals of the same interaction command are input into different FIFO queues according to the synchronization clock sequence to construct the same interaction signal group. The same interaction signal group is then recombined according to the light intensity corresponding to each digital signal to obtain the recombined signal group.

4. The method for constructing an optical fiber link for an underwater heavy-duty hydraulic robot according to claim 3, characterized in that, The method for constructing the recombined signal group includes: acquiring 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 the same synchronization clock sequence in different first FIFO queues in the same interactive signal group; acquiring the digital signal corresponding to the maximum light intensity under the same synchronization clock sequence in different first FIFO queues in the same interactive signal group as the digital signal of the corresponding recombined signal; extracting the digital signals corresponding to the maximum light intensity under the same synchronization clock sequence and inputting them sequentially into the second FIFO queue according to the synchronization clock sequence as the recombined signal group; and executing the corresponding interactive instructions sequentially according to the recombined signal group.

5. The method for constructing an optical fiber link for an underwater heavy-duty hydraulic robot according to claim 1, characterized in that, The time-division multiplexing method includes: pre-inserting an ATM cell header into a time slot, wherein 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 also configured with explicit synchronization bytes, which are obtained by conversion based on the synchronization clock records of the physical layers of the corresponding optical communication nodes and optical signal master control nodes; the ATM cell header also includes cell control information, wherein the cell control information includes payload type, priority, and check data.

6. The method for constructing an optical fiber link for an underwater heavy-duty 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; arranging an electromagnet coil in the photoelectric sensor; placing the electromagnet coil in the external magnetic field; and generating currents of 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: 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. The method for constructing an optical fiber link for an underwater heavy-duty hydraulic robot according to claim 6, characterized in that, The method for electromagnetically controlling the rotation angle of the photoelectric sensor includes: establishing the differential equation for the rotation angle of the photoelectric sensor: Where J represents the moment of inertia, Let t represent the rotation angle, c represent the time interval, k represent the sum of the estimated mechanical resistance and water damping, k represent the equivalent torsional stiffness, m represent the electromagnetic coil torque, and B represent the external magnetic field magnetic induction intensity. Based on the formula m=N·I·A for the magnetic moment of the coil electromagnet, calculate the electromagnetic coil current I or the required external magnetic field magnetic induction intensity B for the corresponding rotation angle, and calculate the electromagnetic coil current I or the required external magnetic field magnetic induction intensity B of the photoelectric sensor in the steady state at the corresponding rotation angle.

8. The method for constructing an optical fiber link for an underwater heavy-duty hydraulic robot according to claim 1, characterized in that, The method for electromagnetically controlling 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, recording the rotation direction of the current first unit angle value θ1, obtaining the light intensity data V1 of the photoelectric sensor corresponding to the current first unit angle value θ1, and obtaining the light intensity data V0 of the photoelectric sensor when it is not rotating; if V1 > V0, then by controlling the current I of the electromagnet coil or the magnetic induction intensity B of the external magnetic field, rotating by a second unit angle value θ2 according to the same rotation direction and the same angle value as the first unit angle value θ1; otherwise, rotating by a third unit angle value θ3 according to a different rotation direction and the same angle value as the first unit angle value θ1, until the current rotation reaches the nth unit angle value θ. n The light intensity data Vn of the photoelectric sensor is greater than the acceptable light intensity threshold V. s It will be greater than the acceptable light intensity threshold V. s The optical signal data is converted into a digital signal. If the light intensity data Vn of the photoelectric sensor is not greater than the acceptable light intensity threshold V within a specified clock sequence... s If the optical signal is empty, then the corresponding digital signal is empty.

9. A fiber optic link construction system for an underwater heavy-duty hydraulic robot, characterized in that, The system executes a fiber optic link construction method for an underwater heavy hydraulic robot as described in any one of claims 1-8.

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

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