Integrated underwater guide communication system and method

Abstract

The invention relates to an underwater guide communication system and an underwater guide communication method, in particular to an integrated underwater guide communication system and an integrated underwater guide communication method, and solves the technical problem that the cooperative application of underwater optical guide and communication technologies is restricted due to the fact that an existing underwater optical guide system and an existing underwater optical communication system are mutually independent, large in size and large in load. According to the integrated underwater guide communication system provided by the invention, on the basis of a high-frequency optical guide system consisting of the guide communication module and the guide communication light source, an optical communication function is compounded, so that integrated guide and communication function integration is realized, underwater optical communication without fixed connection can be realized, and the service life of the underwater guide communication system is prolonged. Under the condition that docking and locking of the underwater unmanned platform and the docking target are not completed, real-time tracking of the docking target by the underwater unmanned platform is achieved through the guiding function, data transmission is achieved at the same time, the integration level of the system is improved, the size, weight and power consumption of the system are reduced, and therefore the platform adaptability of the system is improved.

Description

Technical Field

[0001] The present invention relates to an underwater guidance communication system and method, and in particular to an integrated underwater guidance communication system and method. Background Art

[0002] As global ocean competition intensifies, the underwater equipment system is becoming increasingly diverse. However, in the vast ocean environment, the operating time and range of underwater unmanned equipment are greatly restricted by limited energy storage and data transmission capabilities.

[0003] Underwater visual guidance technology and underwater communication technology are the key to supporting the energy replenishment, data transmission and command issuance during the long-term autonomous operation of underwater unmanned platforms. Among them, underwater visual guidance docking technology can realize the precise docking of underwater unmanned platforms with targets such as recycling stations, and underwater communication technology can realize high-speed data transmission and command issuance between underwater unmanned platforms and targets such as recycling stations.

[0004] Due to the insufficient detection frequency of the traditional underwater visual guidance system, it cannot be used for underwater communication. The underwater communication system and the underwater visual guidance system are independent of each other. To realize both functions at the same time, the underwater unmanned platform and the docking target need to be equipped with an underwater visual guidance system and an underwater communication system respectively. This method will occupy a large amount of space on the underwater unmanned platform and bring a large amount of load to the underwater unmanned platform, which greatly restricts the coordinated application of underwater visual guidance and communication technology underwater. Summary of the Invention

[0005] The purpose of the present invention is to solve the technical problem that the existing underwater visual guidance system and underwater communication system are independent of each other, large in size and heavy in load, thereby restricting the coordinated application of underwater visual guidance and communication technology, and to provide an integrated underwater guidance and communication system and method.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] An integrated underwater guidance and communication system, which is special in that it includes a guidance and communication module and M communication light sources installed on an underwater unmanned platform, and a communication module and N guidance and communication light sources installed on a docking target, where M is an integer greater than or equal to 1, and N is an integer greater than or equal to 2;

[0008] The M communication light sources are electrically connected to the guidance communication module, and the M communication light sources are used to send communication and / or guidance start instructions and underwater unmanned platform communication signals; the pulse transmission frequency of the communication light source matches the detection frequency of the communication module;

[0009] N of the guidance communication light sources are electrically connected to the communication module, and the N of the guidance communication light sources are used to send communication and / or guidance start instructions, guidance docking signals, and docking target communication signals; the pulse transmission frequency of the guidance communication light source matches the detection frequency of the guidance communication module;

[0010] The guidance and communication module includes a quadrant detector or a high-speed camera, which is used to detect the communication / guidance start-up instructions, guidance docking signals and docking target communication signals sent by the guidance and communication light source, measure the relative position relationship between the underwater unmanned platform and the docking target according to the guidance and docking signals, and control the communication light source to send communication / guidance start-up instructions and underwater unmanned platform communication signals;

[0011] The communication module is used to detect the communication / guidance start-up instructions and underwater unmanned platform communication signals sent by the communication light source, and to control the guidance communication light source to send communication / guidance start-up instructions, guidance docking signals and docking target communication signals.

[0012] Furthermore, part or all of the N guidance communication light sources are used to send guidance docking signals, and part or all of them are used to send docking target underwater communication signals.

[0013] Furthermore, the pulse transmission frequency of the communication light source and the pulse transmission frequency of the guidance communication light source are the same or different;

[0014] The detection frequency of the communication module is the same as or different from the detection frequency of the guidance communication module.

[0015] Furthermore, the N guiding communication light sources include P primary guiding target light sources and Q secondary guiding target light sources and a communication transmitter, wherein P and Q are both integers greater than or equal to 1, and P+Q=N;

[0016] The P first-level guidance target light sources, the Q second-level guidance target light sources and the communication transmitter are all electrically connected to the communication module;

[0017] The P first-level guiding target light sources are arranged at the front end of the docking target, and the Q second-level guiding target light sources and the communication transmitter are arranged at the rear end of the docking target.

[0018] Furthermore, the communication module uses a high-speed photodetector;

[0019] The quadrant detector includes a four-quadrant detector or a planar array detector.

[0020] Furthermore, it also includes a guidance communication module II and L communication light sources II installed on any other underwater unmanned platform, where L is an integer greater than or equal to 1;

[0021] L communication light sources II are arranged in an array and electrically connected to the guidance communication module II;

[0022] The pulse transmission frequencies of the L communication light sources II match the detection frequency of the guidance communication module, and the detection frequency of the guidance communication module II matches the pulse transmission frequency of the communication light source;

[0023] The guidance communication module II, communication light source II and the guidance communication module and communication light source are used to realize communication between underwater unmanned platforms.

[0024] At the same time, the present invention also provides an integrated underwater guidance and communication method, which adopts the above-mentioned integrated underwater guidance and communication system, and its special feature is that it includes the following steps:

[0025] Step 1: The communication module on the docking target controls the guidance communication light source to send a communication / guidance start command, or the guidance communication module on the underwater unmanned platform controls the communication light source to send a communication / guidance start command; and the communication module and the guidance communication module set predetermined rules for guidance docking and communication;

[0026] Step 2: After receiving the communication / guidance start instruction, the guidance communication module or the communication module determines to perform guidance docking and / or communication;

[0027] If guidance docking is performed, go to step 3; if communication is performed, go to step 5; if guidance docking and communication are performed at the same time, go to step 6;

[0028] Step 3: If guided docking is to be performed, both the communication module and the guided communication module start the guided docking function; the communication module controls the guided communication light source to send a guided docking signal according to a predetermined rule, and the guided communication module receives the guided docking signal;

[0029] Step 4: The guidance communication module analyzes the guidance docking signal and measures the relative position and posture relationship between the underwater unmanned platform and the docking target based on the guidance docking signal. It then adjusts the position and posture of the underwater unmanned platform until the underwater unmanned platform approaches and aligns with the docking target, completing the guidance docking between the underwater unmanned platform and the docking target.

[0030] Step 5: If communication is to be performed, both the guidance communication module and the communication module start the communication function;

[0031] The guidance communication module controls the communication light source to send the underwater unmanned platform communication signal according to the predetermined rules. The communication module receives the underwater unmanned platform communication signal and analyzes it to complete the data transmission from the underwater unmanned platform to the docking target. The communication module controls the guidance communication light source to send the docking target communication signal. The guidance communication module receives the docking target communication signal and analyzes it to complete the data transmission from the docking target to the underwater unmanned platform.

[0032] Step 6: If the guidance docking and communication are performed at the same time, the guidance communication module and the communication module simultaneously start the guidance docking function and the communication function;

[0033] The communication module fuses the guidance docking signal and the docking target communication signal to obtain the guidance communication signal, and then controls the guidance communication light source to send the guidance communication signal according to a predetermined rule; the guidance communication module receives the guidance communication signal and analyzes it to obtain the guidance docking signal and the docking target communication signal, completing the data transmission from the docking target to the underwater unmanned platform; the guidance communication module analyzes the guidance docking signal and measures the relative position and posture relationship between the underwater unmanned platform and the docking target based on the guidance docking signal, and then adjusts the position and posture of the underwater unmanned platform until the underwater unmanned platform approaches and aligns with the docking target, completing the guidance docking between the underwater unmanned platform and the docking target;

[0034] The guidance communication module controls the communication light source to send the underwater unmanned platform communication signal according to predetermined rules. The communication module receives the underwater unmanned platform communication signal and completes the data transmission from the underwater unmanned platform to the docking target.

[0035] Furthermore, in step 5, the communication light source sends the underwater unmanned platform communication signal and the guidance communication light source sends the docking target communication signal according to a predetermined rule, simultaneously or in a time-sharing manner;

[0036] In step 6, the guiding communication light source sends the guiding communication signal according to a predetermined rule and the communication light source sends the underwater unmanned platform communication signal according to a predetermined rule, simultaneously or in a time-sharing manner.

[0037] Furthermore, in step 1, the predetermined rule is specifically:

[0038] The lighting sequence, lighting duration and / or time interval between lighting two communication light sources of each communication light source, as well as the lighting sequence, lighting duration and / or time interval between lighting two guiding communication light sources of the guiding communication light sources.

[0039] Furthermore, in step 6, the specific method of fusing the guidance docking signal and the docking target communication signal is: embedding the docking target communication signal in the guidance docking signal;

[0040] Alternatively, a guidance docking signal is embedded in the docking target communication signal;

[0041] Alternatively, the lighting sequence, lighting duration and / or time interval between lighting two guiding communication light sources of each guiding communication light source include both the guiding docking signal and the docking target communication signal.

[0042] Compared with the prior art, the present invention has the following beneficial technical effects:

[0043] The present invention provides an integrated underwater guidance and communication system, in which the guidance and communication module adopts a quadrant detector or a high-speed camera, which can improve the detection frequency of the guidance and communication module; based on the high-frequency optical guidance system composed of the guidance and communication module and the guidance and communication light source, the composite optical communication function is used to realize the integrated integration of guidance and communication functions, and can realize underwater optical communication without fixed connection. When the underwater unmanned platform and the docking target have not completed docking and locking, the underwater unmanned platform can realize real-time tracking of the docking target through the guidance function, and realize data transmission at the same time, which is helpful to establish an underwater unmanned platform network cluster, realize information transmission and collaborative operation between the underwater unmanned platform and the docking target, and between the underwater unmanned platform, thereby improving the system's integration, reducing the system's volume, weight and power consumption, and thus improving the system's platform adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a structural diagram of the integrated underwater guidance and communication system in Example 1 of the present invention;

[0045] Figure 2 This is a structural diagram of the integrated underwater guidance and communication system in the second embodiment of the present invention;

[0046] Figure 3 This is a flowchart of steps 3 and 4 of the integrated underwater guidance and communication method in embodiment 2 of the present invention;

[0047] The following are the descriptions of the reference numerals:

[0048] 1-guidance and communication module, 2-communication module, 3-communication light source, 4-guidance and communication light source, 5-underwater unmanned platform, 6-docking target, 7-first-level guidance target light source, 8-second-level guidance target light source and communication transmitter. DETAILED DESCRIPTION

[0049] The following is a further detailed description of an integrated underwater navigation and communication system and method proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0050] An integrated underwater guidance and communication system includes a guidance and communication module 1 and M communication light sources 3 installed on an underwater unmanned platform 5, and a communication module 2 and N guidance and communication light sources 4 installed on a docking target 6, where M is an integer greater than or equal to 1, and N is an integer greater than or equal to 2. The M communication light sources 3 are electrically connected to the guidance and communication module 1, and the pulse transmission frequency of the communication light sources 3 matches the detection frequency of the communication module 2. The N guidance and communication light sources 4 are electrically connected to the communication module 2, and the pulse transmission frequency of the guidance and communication light sources 4 matches the detection frequency of the guidance and communication module 1.

[0051] The N guidance communication light sources 4 are used to send communication / guidance start-up instructions, guidance docking signals, and docking target communication signals. The guidance communication light source 4 serves as the target light source for guidance docking and the communication transmitter at the docking target end in underwater communication, and sends light pulses during the guidance and communication process. The N guidance communication light sources 4 can all serve as guidance docking target light sources and communication transmitters, and the two can be independent or multiplexed, wherein some or all of the guidance communication light sources 4 are used to send guidance docking signals, and some or all of them are used to send docking target underwater communication signals. Among them, no guidance communication light source 4 can serve as both a guidance docking target light source and a communication transmitter; some or all of the guidance communication light sources 4 can serve as both a guidance docking target light source and a communication transmitter.

[0052] When the guidance communication light source 4 functions as both a guidance docking target light source and a communication transmitter, the communication pulses of each guidance communication light source 4 also serve as guidance docking target light source pulses. During the simultaneous operation of the communication and guidance functions, each guidance docking target light source should be illuminated at least once within a single guidance cycle. When the guidance communication light source 4 functions solely as a guidance docking target light source or a communication transmitter, the two can be distinguished by encoding the on / off duration, on / off interval, and on / off sequence of each guidance communication light source 4, assigning them a coded communication start and end identification code.

[0053] The M communication light sources 3 are used to send communication / guidance start instructions and underwater unmanned platform communication signals. The communication light source 3 acts as a signal sending light source on the unmanned platform side in underwater communication and sends communication pulses to the docking target 6.

[0054] Guidance communication module 1 is used to detect the communication / guidance initiation commands, guidance docking signals, and docking target communication signals transmitted by guidance communication light source 4. Based on the guidance docking signals, it measures the relative positional relationship between underwater unmanned platform 5 and docking target 6. It also controls communication light source 3 to transmit communication / guidance initiation commands and underwater unmanned platform communication signals. Guidance communication module 1 serves as both a measurement module for guidance docking and a communication receiver for the unmanned platform during underwater communications. It can simultaneously detect the light source code and measure the relative positional relationship between underwater unmanned platform 5 and docking target 6.

[0055] Communication module 2 detects communication / guidance initiation commands and underwater unmanned platform communication signals transmitted by communication light source 3. It also controls the transmission of communication / guidance initiation commands, guidance docking signals, and docking target communication signals by guidance communication light source 4. Serving as the communication receiver at the docking target during underwater communication, communication module 2 detects communication pulses emitted by communication light source 3 mounted on underwater unmanned platform 5. Communication module 2 utilizes a high-speed photodetector.

[0056] The pulse transmission frequency of the communication light source 3 is higher than that of the guidance communication light source 4. Accordingly, the detection frequency of the communication module 2 is higher than that of the guidance communication module 1, thereby achieving rapid data upload of the underwater unmanned platform 5. In other embodiments, the pulse transmission frequency of the communication light source 3 and the pulse transmission frequency of the guidance communication light source 4 can be the same. Under this premise, the detection frequency of the communication module 2 and the detection frequency of the guidance communication module 1 are also the same.

[0057] The guidance and communication module 1 utilizes a quadrant detector or a high-speed camera, including a four-quadrant detector or an array detector. When using a quadrant detector, the guidance and communication module 1 can measure the position of the light spot on the photosensitive surface or the incident angle of the light source through the principle of energy center recognition, thereby calculating the relative position relationship between the underwater unmanned platform 5 and the docking target 6. The quadrant detector converges the detected divergent light into a diffuse spot of a certain size, which is imaged on the detector target surface. The light spot captured by the detector is processed to obtain the corresponding angle information, thereby achieving a highly accurate angular deviation output.

[0058] When the guidance communication module 1 uses a high-speed camera, the light source image obtained by the high-speed camera can be located and identified through a data processing algorithm, and the position of the light spot on the image can be calculated, so as to use the visual algorithm to calculate the relative posture relationship between the unmanned platform 5 and the docking target 6.

[0059] To enable communication between underwater unmanned platforms, a guidance communication module II and L communication light sources II are installed on any other underwater unmanned platform, where L is an integer greater than or equal to 1. The communication light sources II are electrically connected to the guidance communication module II. By adjusting the pulse transmission frequency of the communication light sources II to match the detection frequency of the guidance communication module 1, underwater optical communication can be established between the two underwater unmanned platforms, thereby enabling information exchange between the two platforms.

[0060] The communication function and guidance function of the integrated underwater guidance and communication system provided in this embodiment can operate independently or simultaneously. When the two are running simultaneously, some or all of the cooperative light sources in the guidance and communication light source 4 can simultaneously serve as the guidance docking target light source and the communication light source. The guidance and communication module 1 embeds the docking target communication signal in the guidance docking signal to achieve the alternating transmission of the guidance docking signal and the docking target communication signal; the lighting order, lighting duration and / or time interval between lighting the two cooperative light sources in the guidance and communication module 1 can also include both the guidance docking signal and the docking target communication signal. During the synchronous operation of the communication and guidance functions, by controlling the sending light of the communication code 1, it is ensured that each guidance docking target light source is lit at least once within a single guidance cycle, thereby providing an effective guidance signal for the unmanned platform.

[0061] When the guidance function operates independently, the cooperative light source in the guidance communication light source 4, which serves as the guidance docking target light source, is illuminated. If the guidance communication module 1 uses a quadrant detector, the quadrant detector measures the incident azimuth of the guidance docking target light source. The incident azimuths of multiple guidance docking target light sources and the known geometric distribution information of the light sources are then used to calculate the relative positional relationship between the guidance communication module 1 and the guidance docking target light source on the docking target 5. The relative positional relationship between the unmanned platform 5 and the docking target 6 is then determined, thereby providing guidance for the underwater unmanned platform 5.

[0062] When the communication function operates independently, the cooperative light source in the guidance communication light source 4, acting as a communication transmitter, transmits communication light pulse signals by turning them on and off. The guidance communication module 1, acting as a communication receiver for the underwater unmanned platform 5, collects these light pulse signals to achieve communication reception and complete data downlink. Simultaneously, the communication light source 3 on the unmanned platform acts as a communication transmitter to transmit communication light pulse signals. The guidance communication module 2 on the docking target acts as a communication receiver to achieve communication reception and complete data uplink. In water bodies with strong scattering, to suppress the impact of scattered light on communication, a time-sharing transmission and reception scheme can be adopted, with data uplink and downlink processes time-shared.

[0063] This embodiment also provides an integrated underwater guidance and communication method, which uses the above-mentioned integrated underwater guidance and communication system and includes the following steps:

[0064] Step 1: The docking target 6 controls the guidance communication light source 4 to send a communication / guidance start command, or the underwater unmanned platform 5 controls the communication light source 3 to send a communication / guidance start command; and sets the predetermined rules for guidance docking and communication. The predetermined rules are specifically:

[0065] The lighting order, lighting duration and / or the time interval between lighting two communication light sources 3 or two guiding communication light sources 4 of each communication light source 3 or guiding communication light source 4.

[0066] By means of predetermined pulse transmission rules, coded identification of each guiding communication light source 4 or communication light source 3 can be achieved, as well as coded transmission of communication data.

[0067] Step 2: After receiving the communication / guidance start instruction, the guidance communication module 1 or the communication module 2 determines to perform guidance docking and / or communication;

[0068] If guidance docking is performed, execute step 3; if communication is performed, execute step 5; if guidance docking and communication are performed at the same time, execute step 6.

[0069] Step 3: If guided docking is performed, both the communication module 2 and the guided communication module 1 start the guided docking function; the communication module 2 controls the guided communication light source 4 to send a guided docking signal according to a predetermined rule, and the guided communication module 1 receives the guided docking signal.

[0070] Step 4: The guidance communication module 1 analyzes the guidance docking signal and measures the relative position relationship between the underwater unmanned platform 5 and the docking target 6 based on the guidance docking signal, and then adjusts the position and posture of the underwater unmanned platform 5 until the underwater unmanned platform 5 approaches and aligns with the docking target 6, completing the guidance docking between the underwater unmanned platform 5 and the docking target 6.

[0071] Step 5: If communication is to be performed, both communication module 1 and communication module 2 are guided to start the communication function;

[0072] The guidance communication module 1 controls the communication light source 3 to send the underwater unmanned platform communication signal according to predetermined rules. The communication module 2 receives the underwater unmanned platform communication signal and analyzes it to complete the data transmission from the underwater unmanned platform 5 to the docking target 6. The communication module 2 controls the guidance communication light source 4 to send the docking target communication signal. The guidance communication module 1 receives the docking target communication signal and analyzes it to complete the data transmission from the docking target 6 to the underwater unmanned platform 5.

[0073] Step 6: If the guidance docking and communication are performed at the same time, the guidance communication module 1 and the communication module 2 simultaneously start the guidance docking function and the communication function;

[0074] The communication module 2 fuses the guidance docking signal and the docking target communication signal to obtain the guidance communication signal, and then controls the guidance communication light source 4 to send the guidance communication signal according to a predetermined rule; the guidance communication module 1 receives the guidance communication signal and analyzes it to obtain the guidance docking signal and the docking target communication signal, completing the data transmission from the docking target 6 to the underwater unmanned platform 5; the guidance communication module 1 analyzes the guidance docking signal and measures the relative position relationship between the underwater unmanned platform 5 and the docking target 6 based on the guidance docking signal, and then adjusts the position and posture of the underwater unmanned platform 5 until the underwater unmanned platform 5 approaches and aligns with the docking target 6, completing the guidance docking between the underwater unmanned platform 5 and the docking target 6;

[0075] The guidance communication module 1 controls the communication light source 3 to send the underwater unmanned platform communication signal according to a predetermined rule, and the communication module 2 receives the underwater unmanned platform communication signal to complete the data transmission of the underwater unmanned platform 5 to the docking target 6.

[0076] In step 5, the communication light source 3 transmits the underwater unmanned platform communication signal and the guidance communication light source 4 transmits the docking target communication signal according to a predetermined rule, either simultaneously or in a time-sharing manner. In step 6, the guidance communication light source 4 transmits the guidance communication signal and the communication light source 3 transmits the underwater unmanned platform communication signal according to a predetermined rule, either simultaneously or in a time-sharing manner.

[0077] When water scattering is severe, the communication function can be carried out using time-sharing transmission and reception. When the underwater unmanned platform 5 transmits, the docking target 6 only receives without transmitting; when the docking target 6 transmits, the underwater unmanned platform 5 only receives without transmitting, thereby suppressing the interference of scattered light.

[0078] Example 2

[0079] This embodiment describes an integrated underwater guidance communication system and guidance communication method in which the docking target 6 is a recovery cage. Except for the structure of the guidance communication light source 4 and the method for guiding docking, the remaining structures, principles and working methods are the same as those in Example 1.

[0080] In this embodiment, the N guiding communication light sources 4 include P primary guiding target light sources 7 and Q secondary guiding target light sources and communication transmitters 8, where P and Q are integers greater than or equal to 1, and P + Q = N. The primary guiding target light sources 7 are mounted at the front end of the recycling cage, and the secondary guiding target light sources and communication transmitters 8 are mounted at the bottom end of the recycling cage. The primary guiding target light sources 7 and the secondary guiding target light sources and communication transmitters 8 are all electrically connected to the communication module 2.

[0081] This embodiment also provides an integrated underwater guidance and communication method, which uses the above-mentioned integrated underwater guidance and communication system and includes the following steps:

[0082] Step 1: The docking target 6 controls the guidance communication light source 4 to send a communication / guidance start instruction, or the underwater unmanned platform 5 controls the communication light source 3 to send a communication / guidance start instruction; and sets predetermined rules for guidance docking and communication.

[0083] Step 2: After receiving the communication / guidance start instruction, the guidance communication module 1 or the communication module 2 determines to perform guidance docking and / or communication;

[0084] If guidance docking is performed, execute step 3; if communication is performed, execute step 5; if guidance docking and communication are performed at the same time, execute step 6.

[0085] Step 3: If guided docking is performed, Figure 3 As shown, the communication module 2 starts the guidance docking function, controls the first-level guidance target light source 7 and the second-level guidance target light source and the communication transmitter 8 to send the guidance docking signal according to the predetermined rules; at the same time, the guidance communication module 1 starts the guidance docking function and receives the guidance docking signal.

[0086] Step 4: The guidance communication module 1 analyzes the guidance docking signal and measures the relative position relationship between the underwater unmanned platform 5 and the recovery cage according to the guidance docking signal, and then adjusts the position and posture of the underwater unmanned platform 5 until the underwater unmanned platform 5 approaches and aligns with the recovery cage; after the underwater unmanned platform 5 reaches the front end of the recovery cage and enters the blind spot of the first-level guidance target light source 7, the guidance communication module 1 receives the guidance docking signal sent by the second-level guidance target light source and the communication transmitter 8, and with its assistance enters the recovery cage and locks it, completing the guidance docking between the underwater unmanned platform 5 and the recovery cage.

[0087] Step 5: If communication is to be performed, both communication module 1 and communication module 2 are guided to start the communication function;

[0088] The guidance communication module 1 controls the communication light source 3 to send the underwater unmanned platform communication signal according to predetermined rules. The communication module 2 receives the underwater unmanned platform communication signal and analyzes it to complete the data transmission from the underwater unmanned platform 5 to the docking target 6. The communication module 2 controls the secondary guidance target light source and the communication transmitter 8 to send the docking target communication signal. The guidance communication module 1 receives the docking target communication signal and analyzes it to complete the data transmission from the docking target 6 to the underwater unmanned platform 5.

[0089] Step 6: If the guidance docking and communication are performed at the same time, the guidance communication module 1 and the communication module 2 simultaneously start the guidance docking function and the communication function;

[0090] The communication module 2 fuses the guidance docking signal and the docking target communication signal to obtain the guidance communication signal, and then controls the first-level guidance target light source 7 to send the guidance docking signal according to a predetermined rule, and controls the guidance communication light source 4 to send the guidance communication signal according to a predetermined rule;

[0091] The guidance communication module 1 first receives the guidance docking signal, analyzes it, measures the relative position relationship between the underwater unmanned platform 5 and the recovery cage according to the guidance docking signal, and then adjusts the position and posture of the underwater unmanned platform 5 until the underwater unmanned platform 5 approaches and aligns with the recovery cage; after the underwater unmanned platform 5 reaches the front end of the recovery cage and enters the blind spot of the first-level guidance target light source 7, the guidance communication module 1 receives the guidance communication signal.

[0092] The guidance communication module 1 parses the guidance communication signal to obtain the guidance docking signal and the docking target communication signal, completing the data transmission from the docking target 6 to the underwater unmanned platform 5. The guidance communication module 1 parses the guidance docking signal and, with its assistance, enters and locks the recovery cage, completing the guided docking between the underwater unmanned platform 5 and the recovery cage.

[0093] The guidance communication module 1 controls the communication light source 3 to send the underwater unmanned platform communication signal according to a predetermined rule, and the communication module 2 receives the underwater communication signal of the underwater unmanned platform to complete the data transmission of the underwater unmanned platform 5 to the docking target 6.

Claims

1. An integrated underwater guidance and communication system, characterized by: The invention comprises a guidance communication module (1) and M communication light sources (3) installed on an underwater unmanned platform (5), and a communication module (2) and N guidance communication light sources (4) installed on a docking target (6), wherein M is an integer greater than or equal to 1, and N is an integer greater than or equal to 2; The M communication light sources (3) are electrically connected to the guidance communication module (1); the M communication light sources (3) are used to send communication and / or guidance start instructions and underwater unmanned platform communication signals; the pulse transmission frequency of the communication light sources (3) matches the detection frequency of the communication module (2); N of the guidance communication light sources (4) are electrically connected to the communication module (2); the N of the guidance communication light sources (4) are used to send communication / guidance start instructions, guidance docking signals, and docking target communication signals; the pulse transmission frequency of the guidance communication light sources (4) matches the detection frequency of the guidance communication module (1); The guidance communication module (1) includes a quadrant detector or a high-speed camera, which is used to detect the communication / guidance start-up instruction, guidance docking signal and docking target communication signal sent by the guidance communication light source (4), measure the relative position relationship between the underwater unmanned platform (5) and the docking target (6) according to the guidance docking signal, and control the communication light source (3) to send the communication / guidance start-up instruction and the underwater unmanned platform communication signal; The communication module (2) is used to detect the communication / guidance start-up instructions and underwater unmanned platform communication signals sent by the communication light source (3), and to control the guidance communication light source (4) to send the communication / guidance start-up instructions, guidance docking signals and docking target communication signals.

2. The integrated underwater guidance and communication system according to claim 1, characterized in that: Some or all of the N guidance communication light sources (4) are used to send guidance docking signals, and some or all of them are used to send docking target underwater communication signals.

3. The integrated underwater guidance and communication system according to claim 2, characterized in that: The pulse transmission frequency of the communication light source (3) and the pulse transmission frequency of the guidance communication light source (4) are the same or different; The detection frequency of the communication module (2) is the same as or different from the detection frequency of the guidance communication module (1).

4. The integrated underwater guidance and communication system according to claim 3, characterized in that: The N guiding communication light sources (4) include P primary guiding target light sources (7) and Q secondary guiding target light sources and a communication transmitter (8), wherein P and Q are both integers greater than or equal to 1, and P+Q=N; The P first-level guiding target light sources (7) and the Q second-level guiding target light sources and the communication transmitter (8) are all electrically connected to the communication module (2); P of the first-level guiding target light sources (7) are arranged at the front end of the docking target (6), and Q of the second-level guiding target light sources and the communication transmitter (8) are arranged at the rear end of the docking target (6).

5. The integrated underwater guidance and communication system according to any one of claims 1 to 4, characterized in that: The communication module (2) adopts a high-speed photoelectric detector; The quadrant detector includes a four-quadrant detector or a planar array detector.

6. The integrated underwater guidance and communication system according to claim 5, characterized in that: Also included is a guidance communication module II and L communication light sources II installed on any other underwater unmanned platform, where L is an integer greater than or equal to 1; L communication light sources II are arranged in an array and electrically connected to the guidance communication module II; The pulse transmission frequencies of the L communication light sources II match the detection frequency of the guidance communication module (1), and the detection frequency of the guidance communication module II matches the pulse transmission frequency of the communication light source (3); The guidance communication module II, the communication light source II, the guidance communication module (1), and the communication light source (3) are used to realize communication between underwater unmanned platforms.

7. An integrated underwater guidance and communication method, using the integrated underwater guidance and communication system according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: The communication module (2) on the docking target (6) controls the guidance communication light source (4) to send a communication / guidance start instruction, or the guidance communication module (1) on the underwater unmanned platform (5) controls the communication light source (3) to send a communication / guidance start instruction; and the communication module (2) and the guidance communication module (1) set predetermined rules for guidance docking and communication; Step 2: After receiving the communication / guidance start instruction, the guidance communication module (1) or the communication module (2) determines whether to perform guidance docking and / or communication; If guidance docking is performed, go to step 3; if communication is performed, go to step 5; if guidance docking and communication are performed at the same time, go to step 6; Step 3: If guided docking is performed, the communication module (2) and the guided communication module (1) both start the guided docking function; the communication module (2) controls the guided communication light source (4) to send a guided docking signal according to a predetermined rule, and the guided communication module (1) receives the guided docking signal; Step 4: The guidance communication module (1) analyzes the guidance docking signal and measures the relative position relationship between the underwater unmanned platform (5) and the docking target (6) according to the guidance docking signal, and then adjusts the position and posture of the underwater unmanned platform (5) until the underwater unmanned platform (5) approaches and aligns with the docking target (6), thereby completing the guidance docking between the underwater unmanned platform (5) and the docking target (6); Step 5: If communication is to be performed, the guidance communication module (1) and the communication module (2) both start the communication function; the guidance communication module (1) controls the communication light source (3) to send the underwater unmanned platform communication signal according to a predetermined rule, the communication module (2) receives the underwater unmanned platform communication signal and analyzes it, completing the data transmission from the underwater unmanned platform (5) to the docking target (6); the communication module (2) controls the guidance communication light source (4) to send the docking target communication signal, the guidance communication module (1) receives the docking target communication signal and analyzes it, completing the data transmission from the docking target (6) to the underwater unmanned platform (5); Step 6: If the guidance docking and communication are performed simultaneously, the guidance communication module (1) and the communication module (2) both start the guidance docking function and the communication function simultaneously; The communication module (2) fuses the guidance docking signal and the docking target communication signal to obtain the guidance communication signal, and then controls the guidance communication light source (4) to send the guidance communication signal according to a predetermined rule; the guidance communication module (1) receives the guidance communication signal and analyzes it to obtain the guidance docking signal and the docking target communication signal, completing the data transmission of the docking target (6) to the underwater unmanned platform (5); the guidance communication module (1) analyzes the guidance docking signal and measures the relative position relationship between the underwater unmanned platform (5) and the docking target (6) according to the guidance docking signal, and then adjusts the position and posture of the underwater unmanned platform (5) until the underwater unmanned platform (5) approaches and aligns with the docking target (6), completing the guidance docking between the underwater unmanned platform (5) and the docking target (6); The guidance communication module (1) controls the communication light source (3) to send the underwater unmanned platform communication signal according to a predetermined rule, and the communication module (2) receives the underwater unmanned platform communication signal to complete the data transmission from the underwater unmanned platform (5) to the docking target (6).

8. The integrated underwater guidance and communication method according to claim 7, characterized in that: In step 5, the communication light source (3) sends the underwater unmanned platform communication signal and the guidance communication light source (4) sends the docking target communication signal according to a predetermined rule, simultaneously or in a time-sharing manner; In step 6, the guiding communication light source (4) sends the guiding communication signal according to a predetermined rule and the communication light source (3) sends the underwater unmanned platform communication signal according to a predetermined rule, simultaneously or in a time-sharing manner.

9. The integrated underwater guidance and communication method according to claim 7 or 8, characterized in that: In step 1, the predetermined rules are specifically: The lighting sequence, lighting duration and / or time interval between lighting two communication light sources (3) of each communication light source (3), and the lighting sequence, lighting duration and / or time interval between lighting two guidance communication light sources (4) of the guidance communication light source (4).

10. The integrated underwater guidance and communication method according to claim 9, characterized in that: In step 6, the specific method of fusing the guidance docking signal and the docking target communication signal is: embedding the docking target communication signal in the guidance docking signal; Alternatively, a guidance docking signal is embedded in the docking target communication signal; Alternatively, the lighting sequence, lighting duration and / or the time interval between lighting two guiding communication light sources (4) of each guiding communication light source (4) simultaneously include the guiding docking signal and the docking target communication signal.

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