Fish dorsal fin imitating dual-wireless communication and positioning illumination integrated system

Abstract

The invention discloses a fish dorsal fin imitating dual wireless communication and positioning illumination integrated system, and belongs to the technical field of underwater operation equipment control. The system comprises a main control unit, a dual-mode communication module, a positioning module, a lighting module and a power supply module which are all integrated in a bionic dorsal fin shell optimized by fluid mechanics. The dual-mode communication module supports short-range RF and remote 4G communication; the positioning module receives GPS / Beidou signals and provides centimeter-level positioning data. The lighting module comprises a tracing light source and a light supplementing light source which can be independently controlled. Through the highly-integrated design, the problems that traditional underwater equipment is short in communication distance, easy to drift in positioning, single in lighting function and dispersed in system are solved, and the device has the advantages of being compact in structure, small in water resistance, flexible to control, high in reliability and the like and is suitable for various scenes such as underwater detection, monitoring and operation.

Description

Technical Field

[0001] This invention relates to the field of underwater operation equipment control technology, and in particular to a bionic dorsal fin system that integrates wireless communication, satellite positioning and lighting functions, which is suitable for underwater bionic robots, detection equipment, etc. Background Technology

[0002] The design of control systems for underwater equipment faces numerous technical challenges. Due to the unique environment, while wired communication methods such as fiber optics or cables can provide stable data transmission, they severely restrict the equipment's freedom of movement. Electromagnetic signals experience significant attenuation when propagating in water, greatly limiting the application of traditional wireless communication technologies. Radio frequencies operating at 4GHz and 5GHz suffer severe attenuation in water, while frequencies operating at 900MHz and 2.4GHz are insufficient for practical ultra-long-distance applications.

[0003] In terms of positioning technology, underwater equipment mainly relies on inertial navigation systems or ultra-short baseline (UBS) positioning technologies. These technologies either suffer from cumulative error problems or require the deployment of seabed arrays, resulting in high implementation costs. Facing the challenge of positioning in open waters without reference points, satellite positioning systems can provide centimeter-level positioning accuracy on the water surface, offering a feasible solution for accurately providing equipment location information and correcting inertial navigation errors.

[0004] In engineering practice, current mainstream solutions for lighting systems mostly employ fixed LED modules. While this function-oriented design meets basic lighting needs, it suffers from the limitation of an unadjustable light field distribution. Specifically, a fixed beam angle makes it difficult to simultaneously address the complex needs of equipment tracking—requiring both wide-angle lighting and supplemental lighting for the work surface—and focused lighting. Furthermore, regarding equipment structure, the external design of most underwater devices currently fails to adequately consider hydrodynamic optimization. Traditional square or cylindrical shells generate significant drag when moving through water, increasing energy consumption and limiting maneuverability. Although some high-end equipment adopts streamlined designs, they often fail to integrate communication modules, positioning systems, and lighting systems into a unified design, resulting in bulky equipment and complex wiring.

[0005] Comprehensive performance in the environment. This highly integrated design combines technological advancement with engineering practicality, demonstrating broad application prospects and commercial value in various underwater operation scenarios such as environmental detection, underwater rescue, and marine scientific research. Summary of the Invention

[0006] This invention provides an integrated system for dual wireless communication and positioning lighting of a fish-inspired dorsal fin. This system aims to provide an efficient remote control and precise status monitoring solution for underwater biomimetic devices to adapt to complex and ever-changing underwater environments.

[0007] The technical solution adopted in this invention is a fish-inspired dorsal fin dual wireless communication and positioning lighting integrated system, including a main control MCU, a dual-mode wireless communication module, a satellite positioning module, a multi-functional lighting control unit, and a power management module; all integrated into a single embedded hardware platform and encapsulated within a hydrodynamically optimized biomimetic dorsal fin structure; the main control MCU is electrically connected to other modules; the dual-mode wireless communication module supports short-range RF communication and long-range 4G communication; the satellite positioning module supports both GPS and BeiDou systems; the multi-functional lighting control unit includes a tracer LED array and a lighting LED array; and the power management module converts the externally input 12V DC power supply into the operating voltage required by the system.

[0008] Preferably, the dual-mode wireless communication module includes a short-range RF communication module operating in the 433MHz frequency band and a long-range 4G communication module operating in the 4GHz frequency band. The main control MCU is connected to the short-range RF communication module and the long-range 4G communication module through multiple UART interfaces respectively.

[0009] Preferably, the satellite positioning module is connected to the main control MCU via a UART interface to receive and process satellite signals, provide centimeter-level positioning data, and correct the accumulated error of the inertial navigation system through a data fusion algorithm.

[0010] Preferably, the multi-functional lighting control unit includes a multi-channel independent PWM drive circuit to control the tracer LED array and the lighting LED array respectively; the tracer LED array uses large-angle LEDs to support multi-angle visible light tracing; the lighting LED array uses high-efficiency narrow-beam-angle LEDs to support forward supplementary lighting; the main control MCU adjusts the brightness and working mode through PWM signals, supporting at least one of full brightness, flashing, and progressive dynamic effects.

[0011] Preferably, it also includes a temperature monitoring circuit, which collects temperature data of the densely LED area in real time through an NTC thermistor, and samples and processes the data through the ADC pin of the main control MCU.

[0012] Preferably, the biomimetic dorsal fin structure is made of transparent photosensitive resin material, with an external size of no more than 20cm × 12cm, and has low water resistance characteristics.

[0013] Preferably, the power management module includes a DC-DC conversion circuit and an LDO linear regulator to provide stable voltages of 5V and 3.3V.

[0014] Preferably, the main control MCU is a 32-bit ARM Cortex-M series microcontroller that supports multiple UART, PWM and ADC interfaces. The beneficial effects of this invention are: through highly integrated design, the size of the equipment is reduced, water resistance is lowered, and swimming efficiency is improved; Dual-mode communication ensures reliable short-range and long-range connections, adapting to complex underwater environments; the combination of satellite positioning and data fusion algorithms effectively corrects positioning drift; the programmable lighting system meets both tracing and supplementary lighting needs, improving operational adaptability; the overall system has a compact structure, high reliability, and is suitable for various underwater operation scenarios. Attached Figure Description

[0015] Figure 1 This is a block diagram of the overall system structure of the present invention; Figure 2 This is a circuit schematic diagram of the dual-mode wireless communication module of the present invention; Figure 3 This is a circuit diagram of the satellite positioning module of the present invention; Figure 4 This is a schematic diagram of the LED driver circuit of the present invention; Figure 5 This is a schematic diagram of the LED temperature monitoring circuit of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0017] A fish-inspired dorsal fin dual wireless communication and positioning lighting integrated system is mainly composed of a DC power supply, an RF wireless communication chip, a 4G wireless communication chip, a satellite positioning chip, an LED driver chip, a main control MCU chip, a temperature sensing resistor, and a fish-inspired dorsal fin shell. The components work together to achieve the system's preset functions.

[0018] This invention uses a 12V DC power supply as input. Through the built-in high-efficiency power management system, it uses DC-DC, LDO and other conversion circuits to accurately convert the input power voltage, providing stable and suitable power supply to the chips and modules of the system, ensuring their normal operation and performance. In terms of system control, it features diverse control access methods. The wireless RF communication module uses 433MHz to achieve short-range, high-speed data transmission and control command reception via wireless radio frequency signals; the wireless 4G communication module supports remote, wide-area wireless data interaction, meeting the needs of long-distance control and data transmission; and the serial port directly connected to the MCU enables stable communication with underwater equipment, receiving control signals from the underwater equipment and precisely regulating the system's operating status. During system operation, the satellite positioning module uses GPS, BeiDou, and other satellites to receive signals from multiple satellites and employs high-precision positioning algorithms to quickly and accurately obtain the device's current coordinates, achieving centimeter-level positioning accuracy. The tracer LED array can be programmed with operating modes, such as flashing frequency, to clearly indicate the device's location in complex environments, facilitating device search and identification. The front-lighting LED array integrates an intelligent dimming control circuit, enabling multi-level dimming from low to high brightness based on preset lighting algorithms or external control, providing sufficient and suitable lighting conditions for underwater operations. In terms of structural design, the entire system is highly integrated and optimized in layout, and can be compactly assembled in a dorsal fin structure with a size not exceeding 20cm×12cm. The dorsal fin structure is made of transparent photosensitive resin material, which not only has good hydrodynamic performance and can effectively reduce resistance when running in water, but also provides reliable physical protection and environmental adaptability for the system, ensuring stable operation of the system in complex underwater environments.

[0019] A fish-inspired dorsal fin dual wireless communication and positioning lighting integrated system is mainly composed of a DC power supply, an RF wireless communication chip, a 4G wireless communication chip, a satellite positioning chip, an LED driver chip, a main control MCU chip, a temperature sensing resistor, and a fish-inspired dorsal fin shell. The components work together to achieve the system's preset functions.

[0020] A stable 12V DC power supply provides power to the entire integrated system. Once the system is powered on, the satellite positioning module immediately starts receiving satellite signals. The received satellite signals are first amplified by an RF amplifier circuit to improve signal strength and quality, and then transmitted to the RF_IN pin of the satellite positioning chip. The satellite positioning chip processes the received signal, converting it into specific location information using its built-in algorithm. Next, the satellite positioning chip establishes a communication connection with the serial port 1 of the main control MCU chip via its RXD0 and TXD0 pins, reporting the calculated location information to the main control MCU chip in a standard data format, thus realizing the system's real-time positioning function.

[0021] The RF wireless communication chip connects to serial port 1 of the main control MCU chip via its RXD and TXD pins, while the 4G wireless communication chip connects to serial port 2 of the main control MCU chip via its MAIN_RXD and MAIN_TXD pins. This connection method enables dual-mode wireless communication control. In practical operation, the system can flexibly select either RF or 4G wireless communication mode to receive external commands and send / receive data, depending on the specific communication environment and requirements. This dual-mode communication not only improves communication reliability but also adapts to communication requirements in different scenarios. Serial port 4 of the main control MCU chip can directly connect to underwater operating equipment, enabling data communication between the system and the equipment. Through this serial port connection, the system can send control commands to the underwater operating equipment and simultaneously receive data feedback from it, providing an effective means for precise control and data interaction in underwater operations.

[0022] In LED driver circuits, the light status is jointly controlled by a circuit consisting of a transistor and a PWM signal output from the main control MCU chip. The main control MCU chip adjusts the duty cycle of the PWM signal to control the transistor's on / off state, thereby achieving precise adjustment of the light brightness and on / off status. During the system design phase, the number of tracer lights and illumination lights can be adjusted according to the actual underwater operation requirements. Figure 4 The circuit shown should be reasonably expanded. The tracer lamp should use a wide-angle LED with strong penetration to ensure that the light emitted by the tracer lamp can travel long distances and is easily identifiable in complex underwater environments. The lighting lamp should use a high-brightness, narrow-angle LED that can be side-mounted to provide concentrated and bright illumination. The position of the tracer lamp can be determined based on aesthetics and actual usage. When designing the PCB, the layout of the lighting lamps must fully consider the interference between the lights. Refer to [reference needed]. Figure 5 Make scientific and reasonable arrangements to ensure the uniformity and stability of the lighting effect.

[0023] The temperature sensing resistors in the temperature detection circuit are arranged in the densely populated LED area, where the temperature changes significantly due to the substantial heat generated by the LEDs during operation. The main control MCU chip samples the voltage value of the temperature sensing resistors through its ADC pin. Based on a preset temperature-voltage correlation, the sampled voltage value is converted into specific temperature data, thereby monitoring the temperature of the densely populated LED area in real time. Real-time temperature monitoring allows for the timely detection of any abnormalities that may arise due to LED heating, enabling appropriate protective measures to be taken and ensuring stable system operation.

[0024] The aforementioned components are assembled into the fish-like dorsal fin shell and rigorously sealed to prevent water from entering the system and ensure its waterproof performance in underwater environments. After assembly, the integrated system is installed on the underwater work equipment. When the underwater work equipment is not submerged, an external wireless control system can send a start command to the integrated system. After startup, the system transmits real-time satellite positioning data to the underwater work equipment via serial port 4 of the main control MCU chip, providing initial position information. When the underwater work equipment begins to submerge, the operator can activate the tracking function via the external wireless control system or a preset program logic. The tracking light emits light to indicate the current position of the underwater work equipment, allowing the operator to monitor its movement in real time on the surface. Once the underwater work equipment reaches the work area, the system's lighting can be activated according to operational needs via the external wireless control system or a preset program on the main control MCU chip, providing sufficient illumination for underwater operations and ensuring good visibility in the working environment, facilitating various operational tasks. During operation, the underwater equipment can surface. At this point, the system utilizes the remote communication function of the 4G wireless communication chip to transmit data collected during the operation (such as positioning data and equipment status data) to a cloud server. Technicians can access this data through the cloud server and perform in-depth analysis and processing. Simultaneously, the system acquires satellite positioning data again and reports it to the underwater equipment via serial port 4 of the main control MCU chip. This corrects for potential positional drift in the underwater equipment's inertial system, improving the accuracy and reliability of the operation. This invention's fish-inspired dorsal fin dual wireless communication and positioning lighting integrated system has excellent scalability and versatility. Its design concept and technical solutions can be widely applied to various underwater equipment, providing more efficient and reliable support for underwater operations.

[0025] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A fish-inspired dorsal fin dual wireless communication and positioning lighting integrated system, characterized in that, The system includes a main control MCU, a dual-mode wireless communication module, a satellite positioning module, a multi-functional lighting control unit, and a power management module; all integrated into a single embedded hardware platform and encapsulated within a hydrodynamically optimized biomimetic dorsal fin structure. The main control MCU is electrically connected to other modules. The dual-mode wireless communication module supports short-range RF communication and long-range 4G communication. The satellite positioning module supports both GPS and BeiDou systems. The multi-functional lighting control unit includes a tracer LED array and a lighting LED array. The power management module converts the externally input 12V DC power supply into the operating voltage required by the system.

2. The integrated system for simulated fish dorsal fin dual wireless communication and positioning illumination according to claim 1, characterized in that, The dual-mode wireless communication module includes a short-range RF communication module operating in the 433MHz band and a long-range 4G communication module operating in the 4GHz band. The main control MCU is connected to the short-range RF communication module and the long-range 4G communication module through multiple UART interfaces.

3. The integrated system for simulated fish dorsal fin dual wireless communication and positioning illumination according to claim 1, characterized in that, The satellite positioning module is connected to the main control MCU via a UART interface. It is used to receive and process satellite signals, provide centimeter-level positioning data, and correct the cumulative error of the inertial navigation system through a data fusion algorithm.

4. The fish-like dorsal fin dual wireless communication and positioning lighting integrated system according to claim 1, characterized in that, The multi-functional lighting control unit includes a multi-channel independent PWM drive circuit, which controls the tracer LED array and the lighting LED array respectively; the tracer LED array uses LEDs with a large emission angle to support multi-angle visible light tracing; the lighting LED array uses LEDs with high luminous efficiency and a narrow beam angle to support forward supplementary lighting; the main control MCU adjusts the brightness and working mode through PWM signals, and supports at least one of the following: full brightness, flashing, and progressive dynamic effects.

5. The integrated system for simulated fish dorsal fin dual wireless communication and positioning illumination according to claim 4, characterized in that, It also includes a temperature monitoring circuit, which collects temperature data in real time from the densely LED area through an NTC thermistor, and the data is sampled and processed by the ADC pin of the main control MCU.

6. The integrated system for simulated fish dorsal fin dual wireless communication and positioning illumination according to claim 1, characterized in that, The biomimetic dorsal fin structure is made of transparent photosensitive resin material, with an external size of no more than 20cm × 12cm, and has low water resistance characteristics.

7. The integrated system for simulated fish dorsal fin dual wireless communication and positioning illumination according to claim 1, characterized in that, The power management module includes a DC-DC conversion circuit and an LDO linear regulator, providing stable voltages of 5V and 3.3V.

8. The integrated system for simulated fish dorsal fin dual wireless communication and positioning illumination according to claim 1, characterized in that, The main control MCU is a 32-bit ARM Cortex-M series microcontroller that supports multiple UART, PWM and ADC interfaces.

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