Underwater wireless converged communication device and method

Abstract

The invention relates to the field of underwater communication, in particular to an underwater wireless converged communication device and method.The underwater wireless converged communication device comprises an orientation rotation mechanism, a pitching rotation mechanism and a communication system, and the communication system comprises a Lora link, a blue-green light emitting module, a blue-green light receiving module, a tracking control module, a light spot position detection module and a communication processing module; the LoRa link establishes initial connection by using the omni-directivity of the LoRa link, and coarse alignment in the pitching direction is realized based on an RSSI and SNR fusion algorithm; the self-adaptive adjustment of the power of the emitted light is realized through power monitoring; according to the invention, rapid link establishment and reliable transmission of double links can be realized, when the blue-green light performance is reduced, the LoRa link is automatically switched to, the problems of difficult link establishment and easy link interruption in underwater high-speed communication are effectively solved, and high bandwidth and high reliability are achieved.

Description

Technical Field

[0001] This invention relates to the field of underwater communication, and more particularly to an underwater wireless converged communication device and method. Background Technology

[0002] Blue-green optical communication is an ideal means of underwater communication, but it has its own weaknesses: it is a point-to-point communication method, and the two ends need to be aligned to establish a communication link. Based on this, "An automatic aiming, capturing and tracking device for underwater optical communication" (ZL201810407017.7) was proposed, which uses scanning capture to achieve beam alignment, but the lack of guidance information leads to a slow link establishment speed. "An underwater data transmission system" (ZL202010016171.9) proposed to use underwater acoustics to guide underwater communication nodes to a certain location to build an underwater communication link. Underwater acoustic communication is severely affected by multipath effects in shallow water, and has a large size and power consumption, which cannot realize long-term low-power application of sensor networks.

[0003] LoRa has a communication rate of 0.3 kbit / s to 50 kbit / s, which is relatively low. It can be used to transmit important information such as commands and location, but it cannot transmit large amounts of information from underwater sensors such as images and videos. Blue-green light has a high communication rate, but it faces difficulties in establishing links and is susceptible to optical link blockage in areas with many monitoring sensors near the seabed due to the dynamic environment. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater wireless converged communication device and method, which solves the problems of slow link establishment speed and poor reliability of blue-green light communication in the prior art, as well as the inability of a single communication system to simultaneously meet the requirements of high speed and high reliability.

[0005] To achieve the above objectives, the present invention provides an underwater wireless converged communication device, including an azimuth rotation mechanism, a pitch rotation mechanism, and a communication system. The pitch rotation mechanism is disposed on the azimuth rotation mechanism, and the communication system is disposed on the pitch rotation mechanism. The azimuth rotation mechanism can drive the pitch rotation mechanism to adjust the horizontal angle, and the pitch rotation mechanism can drive the communication system to adjust the pitch angle.

[0006] The communication system includes a LoRa link, a blue-green light emitting module, a blue-green light receiving module, a tracking control module, a spot position detection module, and a communication processing module. The LoRa link, the blue-green light emitting module, and the blue-green light receiving module are all connected to the pitch rotation mechanism. The communication processing module is connected to the LoRa link, the blue-green light emitting module, and the blue-green light receiving module. The spot position detection module is connected to the blue-green light receiving module. The tracking control module is connected to the spot position detection module and the LoRa link.

[0007] The blue-green light emitting module includes a emitting unit and a emitting power adjustment module, wherein the emitting power adjustment module is connected to the communication processing module; and the emitting unit is connected to the emitting power adjustment module.

[0008] The transmitting unit is used to convert the electrical signal to be transmitted into a blue-green band laser signal and transmit it.

[0009] The transmission power adjustment module is used to adjust the output power of the transmission unit.

[0010] The blue-green light receiving module includes a receiving unit, a beam splitter, and a CCD camera. The CCD camera is connected to the light spot position detection module. The beam splitter is connected to the optical path of the CCD camera, and the receiving unit is connected to the optical path of the beam splitter.

[0011] The receiving unit is used to receive the blue-green light signal transmitted by the other end;

[0012] The beam splitter is disposed in the output optical path of the receiving unit and is used to split the beam output by the receiving unit into two paths.

[0013] The CCD camera is positioned on the transmission light path of the beam splitter to capture light spot images, thereby providing the position information required for fine tracking to the light spot position detection module.

[0014] The blue-green light receiving module further includes a detector and a light signal receiving and detection module. The detector is connected to the optical path of the beam splitter, and the light signal receiving and detection module is connected to the detector.

[0015] The detector is disposed in the reflected light path of the beam splitter and is used to convert the received blue-green light communication signal into an electrical signal.

[0016] The optical signal receiving and detection module is used to receive and process the electrical signal output by the detector, and transmit the obtained blue-green laser power value to the emission power adjustment module to adjust the emission light power.

[0017] The Lora link includes an antenna, a Lora module, and a positioning and pointing calculation module. The positioning and pointing calculation module is connected to the tracking control module. The Lora module is connected to both the positioning and pointing calculation module and the communication processing module. The antenna is connected to the Lora module.

[0018] The antenna is used to transmit and receive radio frequency signals in an omnidirectional manner to establish a preliminary communication link;

[0019] The Lora module is used to process the antenna signal, realize data transmission with the peer device, and measure the transmission rate, received signal strength and signal-to-noise ratio in real time.

[0020] The positioning and pointing calculation module is used to calculate the communication quality parameters through a preset fusion algorithm and send the parameters to the tracking control module to guide the azimuth rotation mechanism and the pitch rotation mechanism to perform coarse alignment in the pitch direction.

[0021] On the other hand, the present invention also includes an underwater wireless converged communication method, comprising the following steps: establishing an initial communication connection with the peer device in an omnidirectional manner through the antenna of the LoRa link;

[0022] The LoRa module measures the transmission rate, received signal strength, and signal-to-noise ratio in real time. The positioning and pointing calculation module calculates communication quality parameters based on a preset fusion algorithm and sends these parameters to the tracking control module to control the pitch rotation mechanism to optimize communication quality.

[0023] The tracking control module controls the orientation rotation mechanism to rotate, so that the CCD camera captures the blue-green light of the opposite device;

[0024] Based on the spot position information provided by the spot position detection module, the tracking control module controls the azimuth rotation mechanism and the pitch rotation mechanism to make fine adjustments so that the receiving spot of the blue-green laser is incident on the designated position of the CCD camera.

[0025] Blue-green lasers can be incident on the detector to perform blue-green light communication;

[0026] The optical signal receiving and detection module transmits the obtained blue-green laser power value to the transmission power adjustment module to adjust the magnitude of the transmitted optical power so that it does not cause the receiving optical power of the opposite device to saturate due to excessive power.

[0027] During communication, blue-green light is used as the primary means of communication. When performance degrades or is interrupted, the communication processing module can switch the service to the LoRa link for transmission.

[0028] The method for calculating communication quality parameters by the positioning and pointing calculation module based on a preset fusion algorithm includes the following steps:

[0029] First, the relationship between received signal strength and transmission rate was measured: the received signal strength was increased, and the change in transmission rate was measured, increasing the transmission rate from 0.2 to 1;

[0030] Then, the relationship between signal-to-noise ratio and transmission rate was measured. The signal-to-noise ratio was increased, and the change in transmission rate was measured, increasing the transmission rate from 0.2 to 1.

[0031] y is highly fitted to the transmission rate, and the fitting function is y=a*f(RSSI)+b*f(SNR)+c, where RSSI is the received signal strength, SNR is the signal-to-noise ratio, y is the communication quality parameter (transmission rate), a and b are coefficients, and f is the fitting function.

[0032] The pitch direction is adjusted by the pitch rotation mechanism to maximize the y-value.

[0033] This invention provides an underwater wireless converged communication device and method that solves the alignment problem of blue-green laser communication and the dual-mode converged communication problem. It achieves azimuth and elevation consistency by integrating a LoRa antenna with a blue-green optical communication optical structure, improves the real-time performance analysis of communication performance by employing a fusion algorithm of received signal strength (RSSI) and signal-to-noise ratio (SNR), and achieves elevation direction positioning. It utilizes a blue-green CCD for precise tracking control and constructs a blue-green optical communication link. When the performance of blue-green optical communication degrades or is interrupted, the communication processing module can switch the service to the LoRa link for transmission. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0035] Figure 1 This is a schematic diagram of the underwater wireless converged communication device of the present invention.

[0036] Figure 2 This is a schematic diagram of the orientation rotation mechanism and the pitch rotation mechanism of the present invention.

[0037] Figure 3 This is a flowchart of the underwater wireless converged communication method of the present invention.

[0038] Figure 4 This is a flowchart of the link switching process of the underwater wireless converged communication method of the present invention.

[0039] In the diagram: 101-azimuth rotation mechanism, 102-pitch rotation mechanism, 103-tracking control module, 104-spot position detection module, 105-communication processing module, 106-transmitting unit, 107-transmitting power adjustment module, 108-receiving unit, 109-beam splitter, 110-CCD camera, 111-detector, 112-optical signal receiving and detection module, 113-antenna, 114-Lora module, 115-positioning and pointing calculation module, 116-communication system. Detailed Implementation

[0040] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0041] First embodiment:

[0042] Please see Figure 1 and Figure 2 ,in Figure 1 This is a structural schematic diagram of an underwater wireless converged communication device. Figure 2 This is a schematic diagram of the azimuth rotation mechanism and the pitch rotation mechanism.

[0043] This invention provides an underwater wireless converged communication device, including an azimuth rotation mechanism 101, a pitch rotation mechanism 102, and a communication system 116. The communication system 116 includes a LoRa link, a blue-green light transmitting module, a blue-green light receiving module, a tracking control module 103, a light spot position detection module 104, and a communication processing module 105. The blue-green light transmitting module includes a transmitting unit 106 and a transmitting power adjustment module 107. The blue-green light receiving module includes a receiving unit 108, a beam splitter 109, and a CCD camera 110. The blue-green light receiving module also... The system includes a detector 111 and an optical signal receiving and detection module 112. The LoRa link includes an antenna 113, a LoRa module 114, and a positioning and pointing calculation module 115. By adopting a collaborative working method of using the LoRa link for coarse guidance positioning and blue-green light for fine tracking link establishment, the system solves the problems of slow link establishment speed and susceptibility to environmental interference caused by the need for precise alignment in blue-green light communication. Through the dual-link adaptive switching and adaptive transmission power adjustment mechanism, the system solves the problem that a single communication system cannot simultaneously meet the requirements of high-speed, high-reliability transmission and continuous link stability.

[0044] In this specific embodiment, the pitch rotation mechanism 102 is mounted on the azimuth rotation mechanism 101, and the communication system 116 is mounted on the pitch rotation mechanism 102. The azimuth rotation mechanism 101 can drive the pitch rotation mechanism 102 to adjust the horizontal angle, and the pitch rotation mechanism 102 can drive the communication system 116 to adjust the pitch angle. The LoRa link, the blue-green light emitting module, and the blue-green light receiving module are all connected to the pitch rotation mechanism 102. The communication processing module 105 is connected to the LoRa link, the blue-green light emitting module, and the blue-green light receiving module. The spot position detection module 104 is connected to the blue-green light receiving module. The tracking control module 103 is connected to the spot position detection module 104 and the LoRa link.

[0045] In this embodiment, the tracking control module 103 is used to control coarse alignment of the pitch direction according to the communication quality parameters from the Lora link, and to control fine tracking of the azimuth and pitch directions according to the spot position information from the spot position detection module 104.

[0046] The spot position detection module 104 is used to process the spot information from the blue-green light receiving module and obtain the spot position data required for fine tracking;

[0047] The communication processing module 105 is used to process communication service data, manage adaptive switching between blue-green light and LoRa links, and adjust the transmit power of the peer end based on the received optical power value.

[0048] This invention first establishes a communication connection with the peer device via the LoRa link, measures communication quality parameters in real time and sends them to the tracking control module 103, and controls the pitch rotation mechanism 102 to adjust to the optimal pitch angle. The tracking control module 103 controls the azimuth rotation mechanism 101 to rotate horizontally, and simultaneously collects optical signals through the blue-green light receiving module. The light spot position detection module 104 processes and identifies the blue-green light spot at the peer. The light spot position detection module 104 transmits the light spot position data to the tracking control module 103, and establishes a stable blue-green light communication link by controlling the coordinated fine-tuning of the azimuth rotation mechanism 101 and the pitch rotation mechanism 102. The received optical power value is obtained through the blue-green light receiving module and sent to the communication processing module 105 to adjust the transmission power. The communication processing module 105 continuously monitors the performance of the blue-green light communication link. When the performance degrades, it automatically switches the service data to the LoRa link for transmission and automatically switches back when the blue-green light communication link recovers.

[0049] The transmit power adjustment module 107 is connected to the communication processing module 105; the transmit unit 106 is connected to the transmit power adjustment module 107.

[0050] The transmitting unit 106 is used to convert the electrical signal to be transmitted into a blue-green band laser signal and transmit it.

[0051] The transmission power adjustment module 107 is used to adjust the output power of the transmission unit 106.

[0052] In this embodiment, the transmitting unit 106 receives the electrical signal to be transmitted from the communication processing module 105, and transmits the laser signal to the other end device after forming a collimated beam through the optical collimation system.

[0053] Secondly, the CCD camera 110 is connected to the spot position detection module 104; the beam splitter 109 is connected to the optical path of the CCD camera 110, and the receiving unit 108 is connected to the optical path of the beam splitter 109.

[0054] The receiving unit 108 is used to receive the blue-green light signal transmitted by the other end;

[0055] The beam splitter 109 is disposed in the output optical path of the receiving unit 108 and is used to split the light beam output by the receiving unit 108 into two paths.

[0056] The CCD camera 110 is disposed on the transmission light path of the beam splitter 109 and is used to capture light spot images to provide the position information required for fine tracking to the light spot position detection module 104.

[0057] Meanwhile, the blue-green light receiving module also includes a detector 111 and a light signal receiving and detection module 112. The detector 111 is connected to the optical path of the beam splitter 109; the light signal receiving and detection module 112 is connected to the detector 111.

[0058] The detector 111 is disposed in the reflected light path of the beam splitter 109 and is used to convert the received blue-green light communication signal into an electrical signal.

[0059] The optical signal receiving and detection module 112 is used to receive and process the electrical signal output by the detector 111, and transmit the obtained blue-green laser power value to the emission power adjustment module 107 to adjust the emission light power.

[0060] In this embodiment, the receiving unit 108 collects the blue-green light signal emitted from the other end through an optical receiving lens, and after optical calibration, forms a parallel beam that is output to the beam splitter 109. The beam splitter 109 divides the incident beam into two paths according to a preset beam splitting ratio: the transmitted beam enters the CCD camera 110, and the reflected beam enters the detector 111. The CCD camera 110 receives the transmitted beam and forms a light spot image on its target surface, and transmits the image signal to the light spot position detection module 104. The light spot position detection module 104 extracts the image signal in real time using an image processing algorithm. The center coordinates of the light spot are obtained, and the position deviation is sent to the tracking control module 103 to provide feedback signals for fine tracking; the detector 111 converts the reflected beam into a corresponding electrical signal for blue-green light communication; the optical signal receiving and detection module 112 sends the obtained blue-green laser power value to the transmission power adjustment module 107 to adjust the transmission power so that it does not cause saturation of the received optical power of the opposite device due to excessive power; when the performance of the blue-green light communication link degrades or is interrupted, the communication processing module 105 can switch the service to the LoRa link for transmission.

[0061] In addition, the positioning and pointing calculation module 115 is connected to the tracking control module 103; the Lora module 114 is connected to the positioning and pointing calculation module 115 and the communication processing module 105; and the antenna 113 is connected to the Lora module 114.

[0062] The antenna 113 is used to transmit and receive radio frequency signals in an omnidirectional manner to establish a preliminary communication link;

[0063] The Lora module 114 is used to process the signal of the antenna 113, realize data transmission with the peer device, and measure the transmission rate, the strength of the received signal and the signal-to-noise ratio in real time.

[0064] The positioning and pointing calculation module 115 is used to calculate the communication quality parameter (y value) through a preset fusion algorithm and send the parameter to the tracking control module 103 to guide the azimuth rotation mechanism 101 and the pitch rotation mechanism 102 to perform coarse alignment in the pitch direction.

[0065] In this embodiment, the antenna 113 is installed perpendicular to the pitch plane of the pitch rotation mechanism 102; the antenna 113 first establishes a communication connection with the other end in an omnidirectional manner; the LoRa module 114 measures the received signal strength (RSSI) and signal-to-noise ratio (SNR) in real time during communication; the positioning and pointing calculation module 115 processes the received signal strength (RSSI) and signal-to-noise ratio (SNR) based on a preset fusion algorithm, and calculates the communication quality parameters through the fitting function y=a*f(RSSI)+b*f(SNR)+c, where the The fitting function is established by pre-measuring the correspondence between RSSI and transmission rate (PDR), and SNR and PDR; the positioning and pointing calculation module 115 transmits the calculated communication quality parameters to the tracking control module 103 in real time; the tracking control module 103 controls the pitch rotation mechanism 102 to adjust the pitch angle according to the parameters, and continuously optimizes the communication quality parameters to reach the maximum value, thus completing the coarse alignment of the pitch direction; after the blue-green light communication link is established, the Lora link is converted into a backup communication channel, continuously monitoring the communication parameters to provide a basis for link switching.

[0066] When using the underwater wireless fusion communication device of this embodiment, a connection is established with the peer device via the antenna 113 of the LoRa link in an omnidirectional communication manner; the LoRa module 114 measures RSSI and SNR in real time, and the positioning and pointing calculation module 115 calculates communication quality parameters based on a preset fusion algorithm and sends them to the tracking control module 103, which controls the pitch rotation mechanism 102 to adjust to the optimal pitch angle to complete coarse alignment; subsequently, the tracking control module 103 controls the azimuth rotation mechanism 101 to rotate horizontally, while the receiving unit 108 of the blue-green light receiving module collects the signals transmitted by the peer device. After the blue-green light signal is split by the optical mirror, the CCD camera 110 captures the light spot image and transmits it to the light spot position detection module 104. The light spot position detection module 104 extracts the light spot position data through image processing and feeds it back to the tracking control module 103. The control azimuth and pitch rotation mechanism 102 coordinate fine-tuning to complete precise tracking and establish a stable blue-green light communication link. The communication processing module 105 continuously monitors the performance of the blue-green light communication link. When the performance is lower than a preset threshold, it automatically switches the service data to the LoRa link for transmission. After the blue-green light communication link recovers, it automatically switches back, realizing intelligent fusion and seamless switching of the two links.

[0067] Second embodiment:

[0068] Please see Figure 3 and Figure 4 ,in Figure 3 This is a flowchart of the underwater wireless converged communication method of the present invention. Figure 4This is a flowchart of the link switching process of the underwater wireless converged communication method of the present invention.

[0069] The present invention also includes an underwater wireless converged communication method, comprising the following steps:

[0070] S1: Establish an initial communication connection with the peer device in an omnidirectional manner through the antenna of the LoRa link;

[0071] S2: The LoRa module measures the transmission rate, received signal strength, and signal-to-noise ratio in real time. The positioning and pointing calculation module calculates communication quality parameters based on a preset fusion algorithm and sends these parameters to the tracking control module to control the pitch rotation mechanism to optimize communication quality.

[0072] S3: The tracking control module controls the orientation rotation mechanism to rotate, so that the CCD camera captures the blue-green light of the opposite device;

[0073] S4: Based on the spot position information provided by the spot position detection module, the tracking control module controls the azimuth rotation mechanism and the pitch rotation mechanism to make fine adjustments so that the receiving spot of the blue-green laser is incident on the designated position of the CCD camera.

[0074] S5: Blue-green laser light can be incident on the detector to perform blue-green light communication;

[0075] S6: The optical signal receiving and detection module transmits the obtained blue-green laser power value to the transmission power adjustment module to adjust the magnitude of the transmitted optical power so that it does not cause the receiving optical power of the opposite device to saturate due to excessive power.

[0076] S7: During the communication process, blue-green light is used as the main communication method. When the performance degrades or is interrupted, the communication processing module can switch the service to the LoRa link for transmission.

[0077] Specifically: S21: First, measure the relationship between received signal strength and transmission rate: increase the received signal strength and measure the change in transmission rate, increasing the transmission rate from 0.2 to 1;

[0078] S22: Then measure the relationship between signal-to-noise ratio and transmission rate. Increase the signal-to-noise ratio and measure the change in transmission rate, so that the transmission rate increases from 0.2 to 1.

[0079] S23: y is highly fitted to the transmission rate, and the fitting function is y=a*f(RSSI)+b*f(SNR)+c;

[0080] S24: Adjust the pitch direction through the pitch rotation mechanism to maximize the y value.

[0081] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. An underwater wireless converged communication device, characterized in that, It includes an azimuth rotation mechanism, a pitch rotation mechanism, and a communication system. The pitch rotation mechanism is mounted on the azimuth rotation mechanism, and the communication system is mounted on the pitch rotation mechanism. The azimuth rotation mechanism can drive the pitch rotation mechanism to adjust the horizontal angle, and the pitch rotation mechanism can drive the communication system to adjust the pitch angle. The communication system includes a LoRa link, a blue-green light emitting module, a blue-green light receiving module, a tracking control module, a spot position detection module, and a communication processing module. The LoRa link, the blue-green light emitting module, and the blue-green light receiving module are all connected to the pitch rotation mechanism. The communication processing module is connected to the LoRa link, the blue-green light emitting module, and the blue-green light receiving module. The spot position detection module is connected to the blue-green light receiving module. The tracking control module is connected to the spot position detection module and the LoRa link.

2. The underwater wireless converged communication device as described in claim 1, characterized in that, The blue-green light emitting module includes a emitting unit and a emitting power adjustment module, wherein the emitting power adjustment module is connected to the communication processing module; the emitting unit is connected to the emitting power adjustment module. The transmitting unit is used to convert the electrical signal to be transmitted into a blue-green band laser signal and transmit it. The transmission power adjustment module is used to adjust the output power of the transmission unit.

3. The underwater wireless converged communication device as described in claim 2, characterized in that, The blue-green light receiving module includes a receiving unit, a beam splitter, and a CCD camera. The CCD camera is connected to the light spot position detection module. The beam splitter is connected to the optical path of the CCD camera, and the receiving unit is connected to the optical path of the beam splitter. The receiving unit is used to receive the blue-green light signal transmitted by the other end; The beam splitter is disposed in the output optical path of the receiving unit and is used to split the beam output by the receiving unit into two paths. The CCD camera is positioned on the transmission light path of the beam splitter to capture light spot images, thereby providing the position information required for fine tracking to the light spot position detection module.

4. The underwater wireless converged communication device as described in claim 3, characterized in that, The blue-green light receiving module further includes a detector and an optical signal receiving and detection module. The detector is connected to the optical path of the beam splitter; the optical signal receiving and detection module is connected to the detector. The detector is disposed in the reflected light path of the beam splitter and is used to convert the received blue-green light communication signal into an electrical signal. The optical signal receiving and detection module is used to receive and process the electrical signal output by the detector, and transmit the obtained blue-green laser power value to the emission power adjustment module to adjust the emission light power.

5. The underwater wireless converged communication device as described in claim 1, characterized in that, The LoRa link includes an antenna, a LoRa module, and a positioning and pointing calculation module. The positioning and pointing calculation module is connected to the tracking control module. The LoRa module is connected to both the positioning and pointing calculation module and the communication processing module. The antenna is connected to the LoRa module. The antenna is used to transmit and receive radio frequency signals in an omnidirectional manner to establish a preliminary communication link; The Lora module is used to process the antenna signal, realize data transmission with the peer device, and measure the transmission rate, received signal strength and signal-to-noise ratio in real time. The positioning and pointing calculation module is used to calculate the communication quality parameters through a preset fusion algorithm and send the parameters to the tracking control module to guide the azimuth rotation mechanism and the pitch rotation mechanism to perform coarse alignment in the pitch direction.

6. An underwater wireless converged communication method, employing the underwater wireless converged communication device as described in any one of claims 1-5, characterized in that, Includes the following steps: The antenna of the LoRa link establishes an initial communication connection with the peer device in an omnidirectional manner. The LoRa module measures the transmission rate, received signal strength, and signal-to-noise ratio in real time. The positioning and pointing calculation module calculates communication quality parameters based on a preset fusion algorithm and sends these parameters to the tracking control module to control the pitch rotation mechanism to optimize communication quality. The tracking control module controls the orientation rotation mechanism to rotate, so that the CCD camera captures the blue-green light of the opposite device; Based on the spot position information provided by the spot position detection module, the tracking control module controls the azimuth rotation mechanism and the pitch rotation mechanism to make fine adjustments so that the receiving spot of the blue-green laser is incident on the designated position of the CCD camera. Blue-green lasers can be incident on the detector to perform blue-green light communication; The optical signal receiving and detection module transmits the obtained blue-green laser power value to the transmission power adjustment module to adjust the magnitude of the transmitted optical power so that it does not cause the receiving optical power of the opposite device to saturate due to excessive power. During communication, blue-green light is used as the primary means of communication. When performance degrades or is interrupted, the communication processing module can switch the service to the LoRa link for transmission.

7. The underwater wireless converged communication method as described in claim 6, characterized in that, In the process of calculating communication quality parameters by the positioning and pointing calculation module based on a preset fusion algorithm, the method includes the following steps: First, the relationship between received signal strength and transmission rate was measured: the received signal strength was increased, and the change in transmission rate was measured, increasing the transmission rate from 0.2 to 1; Then, the relationship between signal-to-noise ratio and transmission rate was measured. The signal-to-noise ratio was increased, and the change in transmission rate was measured, increasing the transmission rate from 0.2 to 1. y is highly fitted to the transmission rate, and the fitting function is y=a*f(RSSI)+b*f(SNR)+c, where RSSI is the received signal strength, SNR is the signal-to-noise ratio, y is the communication quality parameter (transmission rate), a and b are coefficients, and f is the fitting function; The pitch direction is adjusted by the pitch rotation mechanism to maximize the y-value.

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