Underwater communication system based on ultrasonic waves and underwater cleaning robot

Abstract

The embodiment of the application discloses a kind of underwater communication systems and underwater cleaning robots based on ultrasonic wave, underwater communication systems based on ultrasonic wave include control module, drive module, ultrasonic transmitter, ultrasonic receiver and receiving module, control module is used to generate original waveform;Drive module is electrically connected with control module, to output drive signal according to original waveform;Ultrasonic transmitter is used to convert drive signal into ultrasonic wave;Ultrasonic receiver is used to receive ultrasonic wave and convert ultrasonic wave into original signal;Receiving module is electrically connected with ultrasonic receiver and control module, to output receiving signal according to original signal;Control module is used to control drive module to output drive signal after gain adjustment to original waveform, so that the emission energy of ultrasonic transmitter is stable and consistent when working in frequency band, control module is also used to control receiving module to output receiving signal after gain adjustment to original signal, so as to facilitate the analysis, identification of receiving signal.

Description

Technical Field

[0001] This application relates to the field of underwater communication technology, and in particular to an ultrasonic-based underwater communication system and an underwater cleaning robot. Background Technology

[0002] In related technologies, because ultrasonic transmitters have different transmission efficiencies for drive signals at different frequency bands, the intensity of ultrasonic waves varies when transmitting drive signals at different frequencies, which is detrimental to the propagation and reception of ultrasonic waves. Furthermore, during transmission, ultrasonic waves are subject to interference from external signals and multipath propagation of their own signals. Therefore, ultrasonic receivers receive ultrasonic waves of varying intensities and frequencies, making it difficult to identify communication information. Summary of the Invention

[0003] This application provides an ultrasonic-based underwater communication system and an underwater cleaning robot. By automatically adjusting the transmit and receive gain, the energy of the transmitted ultrasonic wave and the strength of the received signal are kept as consistent as possible, thereby improving the recognition probability of communication information.

[0004] In a first aspect, embodiments of this application provide an ultrasonic-based underwater communication system. The ultrasonic-based underwater communication system includes a control module, a drive module, an ultrasonic transmitter, an ultrasonic receiver, and a receiving module. The control module generates an original waveform; the drive module is electrically connected to the control module to output a drive signal based on the original waveform; the ultrasonic transmitter converts the drive signal into ultrasonic waves; the ultrasonic receiver receives the ultrasonic waves and converts them back into the original signal; the receiving module is electrically connected to both the ultrasonic receiver and the control module to output a received signal based on the original signal; wherein, the control module controls the drive module to adjust the gain of the original waveform before outputting the drive signal, and the control module also controls the receiving module to adjust the gain of the original signal before outputting the received signal.

[0005] In some exemplary embodiments, the driving module includes: a first gain adjustment unit electrically connected to both the control module and the ultrasonic transmitter, the first gain adjustment unit receiving the original waveform; a first digital potential unit electrically connected to both the first gain adjustment unit and the control module; and a first reference voltage unit electrically connected to the first gain adjustment unit for providing a reference voltage to the first gain adjustment unit; wherein the control module pre-generates a first gain adjustment signal based on the original waveform and sends the first gain adjustment signal to the first digital potential unit, the first digital potential unit controlling the first gain adjustment unit to adjust the gain of the original waveform based on the first gain adjustment signal.

[0006] In some exemplary embodiments, the driving module further includes: a digital-to-analog converter electrically connected to the control module, used to convert the original waveform into a first analog signal; a first filtering unit electrically connected to both the digital-to-analog converter and the first gain adjustment unit, wherein the first filtering unit filters the first analog signal and outputs a second analog signal, and the first gain adjustment unit adjusts the gain of the second analog signal and outputs a third analog signal; a first amplification unit electrically connected to the first gain adjustment unit, used to amplify the voltage of the third analog signal and output a fourth analog signal; and a second amplification unit electrically connected to the first amplification unit and the ultrasonic transmitter, wherein the second amplification unit amplifies the current of the fourth analog signal and outputs the driving signal.

[0007] In some exemplary embodiments, the receiving module includes: a second gain adjustment unit electrically connected to both the control module and the ultrasound receiver, the second gain adjustment unit receiving the original signal; a second digital potential unit electrically connected to the control module; and a second reference voltage unit electrically connected to the second gain adjustment unit, used to provide a reference voltage to the second gain adjustment unit; wherein the control module generates a second gain adjustment signal in real time based on the original signal and sends the second gain adjustment signal to the second digital potential unit, the second digital potential unit controlling the second gain adjustment unit to adjust the gain of the original signal based on the second gain adjustment signal.

[0008] In some exemplary embodiments, the receiving module includes: a third amplification unit electrically connected to the ultrasound receiver, used to amplify the original signal into a fifth analog signal; a second filtering unit electrically connected to both the third amplification unit and the second gain adjustment unit, wherein the third amplification unit is used to filter the fifth analog signal and output a sixth analog signal, and the second gain adjustment unit is used to adjust the gain of the sixth analog signal and output a seventh analog signal; and an analog-to-digital conversion unit electrically connected to the second gain adjustment unit, used to convert the seventh analog signal into the received signal.

[0009] In some exemplary embodiments, the original signal includes a plurality of sequentially received signal symbols, the control module adjusts the gain of the first signal symbol in a preset manner, and the control module adjusts the gain amplitude of the next signal symbol according to the signal strength of the current signal symbol.

[0010] In some exemplary embodiments, the modulation and demodulation method of the control module is orthogonal frequency division multiplexing; and / or

[0011] The peak-to-peak voltage of the ultrasonic transmitter is less than or equal to 500V; and / or

[0012] The ultrasonic transmitter emits ultrasonic waves at a frequency of 20-300 kHz.

[0013] Preferably, the peak-to-peak voltage of the ultrasonic transmitter is less than or equal to 100V;

[0014] Preferably, the ultrasonic transmitter emits ultrasonic waves at a frequency of 25-65 kHz.

[0015] In some exemplary embodiments, the ultrasonic transmitter and the ultrasonic receiver are integrated into a transceiver ultrasonic transducer.

[0016] In some exemplary embodiments, the transceiver-integrated ultrasonic transducer includes: a piezoelectric ceramic arranged in a tubular shape; a first sound-absorbing end cap, a sealing cap disposed at one end of the piezoelectric ceramic; a second sound-absorbing end cap, a sealing cap disposed at the other end of the piezoelectric ceramic, the second sound-absorbing end cap having a wire-passing hole; and a waterproof sealant covering the periphery of the piezoelectric ceramic and the first sound-absorbing end cap.

[0017] Secondly, embodiments of this application provide an underwater cleaning robot, which includes a robot body and an ultrasonic-based underwater communication system as described in any of the above claims, wherein the ultrasonic-based underwater communication system is disposed on the robot body.

[0018] Beneficial effects: The control module in this embodiment can control the drive module to adjust the gain of the original waveform and output a drive signal according to a preset program, thereby ensuring that the transmitted energy of the ultrasonic transmitter is stable and consistent within the working frequency band, which is beneficial to the propagation and reception of ultrasonic waves. The control module can also control the receiving module to adjust the gain of the original signal and output a received signal, so that the intensity of the received signal is more uniform after amplification, which is beneficial to the control module's analysis and recognition of the received signal, and improves the recognition probability of communication information. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a block diagram of an ultrasonic-based underwater communication system according to one embodiment of this application.

[0021] Figure 2 This is a schematic diagram of the structure of an ultrasonic-based underwater communication system according to another embodiment of this application;

[0022] Figure 3 This is a circuit diagram of the first gain adjustment unit in one embodiment of this application;

[0023] Figure 4 This is a circuit diagram of the first digital potential unit in another embodiment of this application;

[0024] Figure 5 This is a circuit diagram of the first reference voltage unit in one embodiment of this application;

[0025] Figure 6 This is a block diagram of an ultrasonic-based underwater communication system in another embodiment of this application.

[0026] Figure 7 This is a circuit diagram of a digital-to-analog converter unit in one embodiment of this application;

[0027] Figure 8 This is a circuit diagram of the first filtering unit in one embodiment of this application;

[0028] Figure 9 This is a circuit diagram of the first amplification unit in one embodiment of this application;

[0029] Figure 10 This is a circuit diagram of the second amplification unit in one embodiment of this application;

[0030] Figure 11 This is a circuit diagram of the second gain adjustment unit in one embodiment of this application;

[0031] Figure 12 This is a circuit diagram of the second digital potential unit in one embodiment of this application;

[0032] Figure 13 This is a circuit diagram of the second reference voltage unit in one embodiment of this application;

[0033] Figure 14 This is a circuit diagram of the second filter unit in one embodiment of this application;

[0034] Figure 15 This is a circuit diagram of an analog-to-digital conversion unit in one embodiment of this application;

[0035] Figure 16 This is a schematic diagram of the control module in one embodiment of this application;

[0036] Figure 17 This is a schematic diagram of the structure of an integrated transceiver ultrasonic transducer in one embodiment of this application;

[0037] Figure 18 This is an exploded view of the integrated transceiver ultrasonic transducer in one embodiment of this application.

[0038] Explanation of reference numerals in the attached figures: 100, Ultrasonic-based underwater communication system; 110, Control module; 120, Drive module; 121, First gain adjustment unit; 122, First digital potential unit; 123, First reference voltage unit; 124, Digital-to-analog conversion unit; 125, First filtering unit; 126, First amplification unit; 127, Second amplification unit; 130, Ultrasonic transmitter; 140, Ultrasonic receiver; 150, Receiving module; 151, Second gain adjustment unit; 152, Second digital potential unit; 153, Second reference voltage unit; 154, Third amplification unit; 155, Second filtering unit; 156, Analog-to-digital conversion unit; 160, Transceiver ultrasonic transducer; 161, Piezoelectric ceramic; 162, First sound-absorbing end cap; 163, Second sound-absorbing end cap; 163a, Cable guide hole. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0040] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0041] Furthermore, the use of terms such as "first," "second," etc., in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0043] Furthermore, the technical solutions of the various embodiments of this application can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this application.

[0044] like Figure 1 As shown, the first aspect of this application provides an ultrasonic-based underwater communication system 100, which is applied to narrow water areas (swimming pool-like environments). The ultrasonic-based underwater communication system 100 includes a control module 110, a drive module 120, an ultrasonic transmitter 130, an ultrasonic receiver 140, and a receiving module 150.

[0045] The control module 110 can generate raw waveforms containing communication information. Different raw waveforms correspond to different communication information. The correspondence between raw waveforms and communication information can be preset within the control module 110. When a certain communication information needs to be sent, the control module 110 directly generates the corresponding raw waveform, thereby reducing the amount of computation. For example, the control module 110 can be connected to peripheral devices, and different communication information can be sent by operating the peripheral devices.

[0046] The drive module 120 is electrically connected to the control module 110 to output a drive signal based on the original waveform. The ultrasonic transmitter 130 converts the drive signal into ultrasonic waves, which serve as the carrier of communication information. The ultrasonic transmitter 130 can be an ultrasonic transducer. It is understood that since the original waveform typically has a low potential and low current, it cannot be directly used to drive the ultrasonic transmitter 130. Therefore, by setting up the drive module 120, the original waveform can be amplified, thereby enabling it to drive the ultrasonic transmitter 130.

[0047] The ultrasonic receiver 140 is used to receive ultrasonic waves and convert them into raw signals. The receiving module 150 is electrically connected to both the ultrasonic receiver 140 and the control module 110 to output a received signal based on the raw signal. The control module 110 parses the communication information based on the received signal, thereby completing the communication. The ultrasonic receiver 140 can be an ultrasonic transducer.

[0048] It is understood that communication is based on at least two devices, therefore at least two ultrasonic-based underwater communication systems 100 are required to communicate, with one ultrasonic transmitter 130 of the ultrasonic-based underwater communication system 100 transmitting ultrasonic waves and the other ultrasonic receivers 140 of the ultrasonic-based underwater communication system 100 receiving ultrasonic waves.

[0049] It should be noted that since the ultrasonic transmitter 130 has different transmission efficiencies for different frequency bands of drive signals, the ultrasonic transmitter 130 usually has the frequency point with the highest efficiency. If the frequency is higher or lower than this frequency point, the transmission efficiency of the ultrasonic transmitter 130 will decrease. Therefore, when the ultrasonic transmitter 130 transmits drive signals of different frequency bands, the intensity of the ultrasonic waves will be different, which is not conducive to the propagation and reception of ultrasonic waves.

[0050] In this embodiment, during the design phase, the driving signal is matched with the characteristics of the ultrasonic transmitter 130. For example, the control module 110 can control the driving module 120 to adjust the gain of the original waveform and output the driving signal according to a preset program, so that the transmission energy of the ultrasonic transmitter 130 is stable and consistent when it works in the working frequency band, which is beneficial to the propagation and reception of ultrasonic waves, and thus beneficial to the transmission of communication information.

[0051] In addition, during the transmission of ultrasound, the attenuation of ultrasound waves of different frequencies varies, or due to changes in the underwater environment, the attenuation of ultrasound waves at different times and locations also varies. Therefore, the ultrasound receiver 140 will receive ultrasound waves of different intensities, resulting in inconsistent signal strength and making it difficult to identify communication information.

[0052] In this embodiment, the control module 110 can also control the receiving module 150 to adjust the gain of the original signal and output the received signal, so that the intensity of the received signal is more uniform after amplification, which is beneficial to the control module 110 in parsing and recognizing the received signal and improving the recognition probability of communication information.

[0053] like Figure 2 As shown, in some embodiments, the driving module 120 includes a first gain adjustment unit 121, a first digital potential unit 122, and a first reference voltage unit 123.

[0054] The first gain adjustment unit 121 is electrically connected to the control module 110 and the ultrasonic transmitter 130. The first gain adjustment unit 121 receives the original waveform. The first digital potential unit 122 is electrically connected to the first gain adjustment unit and the control module 110. The first digital potential unit 122 is used to control the first gain adjustment unit to perform gain adjustment. The first reference voltage unit 123 is electrically connected to the first gain adjustment unit. The first reference voltage unit 123 is used to provide a reference voltage to the first gain adjustment unit.

[0055] Optionally, the control module 110 pre-generates a first gain adjustment signal based on the original waveform and sends the first gain adjustment signal to the first digital potential unit 122. The first digital potential unit 122 controls the first gain adjustment unit 121 to adjust the gain of the original waveform based on the first gain adjustment signal. Optionally, the first digital potential unit 122 consists of a resistor array and a set of switches. The control module 110 controls the selection of the switches through digital signals, thereby changing the resistance value of the circuit connected to the control module, thus achieving gain adjustment of the first gain adjustment unit. Optionally, the correspondence between the original waveform and the first gain adjustment signal is preset in the control module 110. That is, the control module 110 can directly read the corresponding first gain adjustment signal based on the original waveform without real-time calculation, thereby reducing the computational load, lowering the computational requirements of the control module 110, and thus reducing costs.

[0056] For example, Figure 3 The circuit diagram shows the first gain adjustment unit 121, which can be a COS358SR. Figure 4 The circuit diagram shows the first digital potential unit 122, which can be an AD5245. Figure 5 The circuit diagram shows the first reference voltage unit 123, which can be an LM321.

[0057] like Figure 6 As shown, in some embodiments, the driving module 120 further includes a digital-to-analog conversion unit 124, a first filtering unit 125, a first amplification unit 126, and a second amplification unit 127.

[0058] The digital-to-analog converter 124 is electrically connected to the control module 110 and is used to convert the original waveform into a first analog signal. Since the control module 110 can only generate digital signals, that is, the type of the original waveform is a digital signal, while the ultrasonic transmitter 130 can only be controlled by analog signals, the digital-to-analog converter 124 is required to convert the original waveform into a first analog signal.

[0059] The first filtering unit 125 is electrically connected to the digital-to-analog converter 124 and the first gain adjustment unit 121. The first filtering unit 125 is used to filter the first analog signal and output the second analog signal. The first filtering unit 125 can be used to filter noise. The first filtering unit 125 can be a low-pass filter, specifically a fourth-order Bessel filter. The first gain adjustment unit 121 is used to adjust the gain of the second analog signal and output the third analog signal.

[0060] The first amplification unit 126 is electrically connected to the first gain adjustment unit 121. The first amplification unit 126 is used to amplify the voltage of the third analog signal and output the fourth analog signal, so that the voltage level of the fourth analog signal matches the voltage level of the ultrasonic transmitter 130.

[0061] The second amplification unit 127 is electrically connected to the first amplification unit 126 and the ultrasonic transmitter 130. The second amplification unit 127 is used to amplify the fourth analog signal by current and output a drive signal. The second amplification unit 127 can amplify the power, so that the drive signal can drive the ultrasonic transmitter 130 to work.

[0062] Figure 7 The circuit diagram shows the digital-to-analog converter unit 124, which can be model AD5621. Figure 8 The circuit diagram shows the first filter unit 125, which can be a COS358. Figure 9 The circuit diagram of the first amplification unit 126 is shown. The model of the first amplification unit 126 can be COS2172. Figure 10 The circuit diagram of the second amplification unit 127 is shown. The model of the second amplification unit 127 can be NCV0372.

[0063] like Figure 2 As shown, in some embodiments, the receiving module 150 includes a second gain adjustment unit 151, a second digital potential unit 152, and a second reference voltage unit 153.

[0064] The second gain adjustment unit 151 is electrically connected to the control module 110 and the ultrasound receiver 140. The second gain adjustment unit 151 receives the original signal. The second digital potential unit 152 is electrically connected to the control module 110 and is used to control the second gain adjustment unit 151 to perform gain adjustment. The second reference voltage unit 153 is electrically connected to the second gain adjustment unit and is used to provide a reference voltage to the second gain adjustment unit.

[0065] Optionally, the control module 110 generates a second gain adjustment signal in real time based on the original signal and sends the second gain adjustment signal to the second digital potential unit 152. The second digital potential unit 152 controls the second gain adjustment unit 151 to adjust the gain of the original signal based on the second gain adjustment signal. Optionally, the second digital potential unit 152 consists of a resistor array and a set of switches. The control module 110 controls the selection of the switches through digital signals, thereby changing the resistance value of the circuit connected to it, thereby realizing the gain adjustment of the second gain adjustment unit.

[0066] Figure 11 The circuit diagram shows the second gain adjustment unit 151, which can be a COS8092. Figure 12 The circuit diagram shows the second digital potential unit 152, which can be an AD5245. Figure 13 The circuit diagram shows the second reference voltage unit 153, which can be an LM321.

[0067] In some embodiments, the original signal includes multiple sequentially received signal symbols. The control module 110 adjusts the gain of the first signal symbol according to a preset method, and adjusts the gain of the next signal symbol based on the signal strength of the current signal symbol. Typically, the original signal has a low strength, thus requiring gain amplification. For example, the first signal symbol is amplified by a factor of 10 by default. The control module 110 adjusts the gain of the next signal symbol based on the strength of the received signal corresponding to the first signal symbol. If the received signal is too strong, the next signal symbol is amplified by a factor of 9; if the received signal is too weak, the next signal symbol is amplified by a factor of 12; if the received signal strength is suitable, the next signal symbol is kept amplified by a factor of 10. That is, except for the first signal symbol, the amplification factor of the remaining signal symbols is adjusted in real time, with the adjustment target being the strength of the previous signal symbol. By adjusting the amplification factor of different signal symbols in real time, precise gain adjustment of the original signal can be achieved, resulting in a more uniform and consistent strength of the received signal after amplification.

[0068] In some embodiments, the receiving module 150 includes a third amplification unit 154, a second filtering unit 155, and an analog-to-digital conversion unit 156.

[0069] The third amplification unit 154 is electrically connected to the ultrasonic receiver 140. The third amplification unit 154 is used to amplify the original signal into a fifth analog signal. It is understood that due to the attenuation of ultrasonic waves during transmission, the ultrasonic intensity received by the ultrasonic receiver 140 is usually low, resulting in a low intensity of the original signal, which is not conducive to interpreting the communication information contained in the original signal. The third amplification unit 154 amplifies the original signal, thereby facilitating the subsequent processing of the fifth analog signal.

[0070] The second filtering unit 155 is electrically connected to the third amplification unit 154 and the second gain adjustment unit 151. The second filtering unit 155 is used to filter the fifth analog signal and output the sixth analog signal. The second filtering unit 155 can be a low-pass filter, which allows signals below the cutoff frequency to pass through while suppressing or attenuating signals above the cutoff frequency to suppress high-frequency interference and remove electromagnetic noise. The second gain adjustment unit 151 is used to adjust the gain of the sixth analog signal and output the seventh analog signal.

[0071] The analog-to-digital converter 156 is electrically connected to the second gain adjustment unit 151 and is used to convert the seventh analog signal into a received signal. Since the control module 110 can only read digital signals, it is necessary to set the analog-to-digital converter 156 to convert the seventh analog signal into a received signal, that is, the type of the received signal is a digital signal.

[0072] Figure 11 A circuit diagram of the third amplification unit 154 is also shown. The model of the third amplification unit 154 can be COS8092. The left half of COS8092 is the third amplification unit 154, and the right half of COS8092 is the second gain adjustment unit 151.

[0073] Figure 14 The circuit diagram of the second filter unit 155 is shown. The model of the second filter unit 155 can be COS8092. The OUTA pin of COS8092 is connected to the IN2+ pin, that is, both the left and right sides of COS8092 can be filtered. The second filter unit 155 is a two-stage filter.

[0074] Figure 15 This is a circuit diagram of the analog-to-digital converter 156, which can be model XC121S.

[0075] Figure 16 The diagram shows the principle of the control module 110. The model of the control module 110 can be STM32F446RET6. The control module 110 is connected to the driver module 120 and the receiver module 150 through standard peripherals (I2C, SPI, etc.).

[0076] like Figure 16As shown, in some embodiments, the modulation and demodulation method of the control module 110 is OFDM (Orthogonal Frequency Division Multiplexing). OFDM modulation can effectively expand the bandwidth utilization, improve the communication speed, and achieve underwater acoustic communication with a rate of not less than 150bps. Using the orthogonal frequency division multiplexing modulation and demodulation method can effectively expand the bandwidth utilization, improve anti-interference performance, and increase the success rate of communication information transmission.

[0077] In related technologies, underwater acoustic communication equipment is typically used in open waters, therefore it often has high transmission power, high power consumption, and large size, making it inconvenient to integrate into small devices. Moreover, if high-power underwater acoustic communication equipment is used in narrow waters, it will be unusable due to severe interference caused by sound wave reflection, multipath propagation, and superposition.

[0078] In some embodiments, the peak-to-peak voltage of the ultrasonic transmitter 130 is less than or equal to 500V and / or the ultrasonic frequency emitted by the ultrasonic transmitter 130 is 20-300KHz, thereby enabling ultrasonic communication.

[0079] The higher the peak-to-peak voltage of the ultrasonic transmitter 130, the stronger the emitted ultrasonic wave; the lower the peak-to-peak voltage, the weaker the emitted ultrasonic wave. For example, the peak-to-peak voltage of the ultrasonic transmitter 130 can be 1V, 10V, 50V, 80V, 100V, or any range of the above.

[0080] In some embodiments, the peak-to-peak voltage of the ultrasonic transmitter 130 is less than or equal to 100V, thus distinguishing it from commonly used underwater acoustic communication devices with drive signals of hundreds or even thousands of volts. This limits the power of the communication system within a reasonable range, avoiding excessive multipath interference caused by excessive ultrasonic power and improving communication performance in narrow waterway applications. Simultaneously, the overall electrical power of the system can also be limited within a reasonable range, thereby reducing the requirements for component size and electrical performance (such as withstand voltage ratings), facilitating the layout design of the communication system within the robot structure. For example, this application uses an 80V Vpp drive signal to drive the ultrasonic transmitter 130, resulting in lower drive power, smaller communication system size, and lower cost, which is beneficial for integration into small devices. Furthermore, from this application… Figures 3 to 15 It can also be seen that the component models selected in this application embodiment are all suitable for low voltage and low power. In addition, this application embodiment also has an automatic transmit and receive gain adjustment function to minimize multipath interference problems in underwater acoustic communication in narrow waters and realize underwater acoustic communication function in narrow waters.

[0081] In some embodiments, the ultrasonic transmitter 130 emits ultrasonic waves at a frequency of 25-65 kHz, which has high propagation efficiency and low attenuation in water.

[0082] like Figure 17 As shown, in some embodiments, the ultrasonic transmitter 130 and the ultrasonic receiver 140 are integrated into a transceiver ultrasonic transducer 160, meaning that the transceiver ultrasonic transducer 160 can both emit and receive ultrasonic waves. Using a transceiver ultrasonic transducer offers advantages such as small size and ease of integration.

[0083] like Figure 18 As shown, in some embodiments, the transceiver integrated ultrasonic transducer 160 includes a piezoelectric ceramic 161, a first sound-absorbing end cap 162, a second sound-absorbing end cap 163, and a waterproof sealant.

[0084] The piezoelectric ceramic 161 is arranged in a tubular shape to balance cost and signal uniformity. Hemispherical piezoelectric ceramic 161 is more expensive, while sheet-shaped and ring-shaped piezoelectric ceramic 161 have poorer performance and the sound intensity is not uniform in all propagation directions.

[0085] The first sound-absorbing end cap 162 is a sealing cap located at one end of the piezoelectric ceramic 161, and the second sound-absorbing end cap 163 is a sealing cap located at the other end of the piezoelectric ceramic 161. The second sound-absorbing end cap is provided with a wire hole 163a.

[0086] A waterproof sealant is applied to the periphery of the piezoelectric ceramic 161, the first sound-absorbing end cap, and the second sound-absorbing end cap. The sealant can be, for example, polyurethane or epoxy. Polyurethane or epoxy potting is used to achieve waterproofing. The potted transceiver-transmitter 160 can, for example, be a cylinder of 28*25mm. However, this is only an example; the actual component size will be slightly adjusted depending on the specific model of the piezoelectric ceramic 161. The ultrasonic transmitter 130 and ultrasonic receiver 140 are integrated into a single transceiver design, resulting in a small size that facilitates integration into various underwater devices. The transceiver-transmitter-transmitter 160 is connected to the drive module 120 using wires, which can be led out through wire holes 163a.

[0087] A second aspect of this application provides an underwater cleaning robot capable of cleaning pools, etc. The underwater cleaning robot includes a robot body and an ultrasonic underwater communication system 100, which is installed on the robot body. The underwater cleaning robot can use the ultrasonic underwater communication system 100 to communicate with other underwater cleaning robots, or it can use the ultrasonic underwater communication system 100 to communicate with a charging station, enabling functions such as receiving control commands, providing its own status feedback, and guiding the cleaning robot back to the charging station.

[0088] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. An underwater communication system based on ultrasound, characterized in that, include: The control module is used to generate the original waveform; A drive module, electrically connected to the control module, outputs a drive signal according to the original waveform; An ultrasonic transmitter is used to convert a driving signal into ultrasonic waves; An ultrasound receiver is used to receive ultrasound waves and convert them into raw signals. The receiving module is electrically connected to both the ultrasound receiver and the control module to output a received signal based on the original signal. The control module is used to control the drive module to adjust the gain of the original waveform and then output the drive signal. The control module is also used to control the receiving module to adjust the gain of the original signal and then output the received signal.

2. The underwater communication system based on ultrasound according to claim 1, characterized in that, The driving module includes: The first gain adjustment unit is electrically connected to both the control module and the ultrasonic transmitter, and the first gain adjustment unit receives the original waveform. The first digital potential unit is electrically connected to both the first gain adjustment unit and the control module. The first reference voltage unit is electrically connected to the first gain adjustment unit and is used to provide a reference voltage to the first gain adjustment unit. The control module pre-generates a first gain adjustment signal based on the original waveform and sends the first gain adjustment signal to the first digital potential unit. The first digital potential unit controls the first gain adjustment unit to adjust the gain of the original waveform based on the first gain adjustment signal.

3. The underwater communication system based on ultrasound according to claim 2, characterized in that, The driver module also includes: A digital-to-analog converter unit, electrically connected to the control module, is used to convert the original waveform into a first analog signal; The first filtering unit is electrically connected to both the digital-to-analog conversion unit and the first gain adjustment unit. The first filtering unit is used to filter the first analog signal and output a second analog signal. The first gain adjustment unit is used to adjust the gain of the second analog signal and output a third analog signal. The first amplification unit is electrically connected to the first gain adjustment unit and is used to amplify the third analog signal by voltage and then output a fourth analog signal. The second amplification unit is electrically connected to the first amplification unit and the ultrasonic transmitter. The second amplification unit is used to amplify the fourth analog signal by current and then output the driving signal.

4. The underwater communication system based on ultrasound according to claim 1, characterized in that, The receiving module includes: The second gain adjustment unit is electrically connected to both the control module and the ultrasound receiver, and the second gain adjustment unit receives the original signal. The second digital potential unit is electrically connected to the control module; The second reference voltage unit is electrically connected to the second gain adjustment unit and is used to provide a reference voltage to the second gain adjustment unit. The control module generates a second gain adjustment signal in real time based on the original signal and sends the second gain adjustment signal to the second digital potential unit. The second digital potential unit controls the second gain adjustment unit to adjust the gain of the original signal based on the second gain adjustment signal.

5. The underwater communication system based on ultrasound according to claim 4, characterized in that, The receiving module includes: The third amplification unit is electrically connected to the ultrasound receiver and is used to amplify the original signal into a fifth analog signal. The second filtering unit is connected to both the third amplification unit and the second gain adjustment unit. The third amplification unit is used to filter the fifth analog signal and output a sixth analog signal. The second gain adjustment unit is used to adjust the gain of the sixth analog signal and output a seventh analog signal. An analog-to-digital converter, electrically connected to the second gain adjustment unit, is used to convert the seventh analog signal into the received signal.

6. The ultrasonic-based underwater communication system according to claim 4, characterized in that, The original signal includes multiple sequentially received signal symbols. The control module adjusts the gain of the first signal symbol according to a preset method, and adjusts the gain of the next signal symbol according to the signal strength of the current signal symbol.

7. The underwater communication system based on ultrasound according to claim 1, characterized in that, The modulation and demodulation method of the control module is orthogonal frequency division multiplexing; and / or The peak-to-peak voltage of the ultrasonic transmitter is less than or equal to 500V; and / or The ultrasonic transmitter emits ultrasonic waves at a frequency of 20-300 kHz. Preferably, the peak-to-peak voltage of the ultrasonic transmitter is less than or equal to 100V; Preferably, the ultrasonic transmitter emits ultrasonic waves at a frequency of 25-65 kHz.

8. The underwater communication system based on ultrasound according to claim 1, characterized in that, The ultrasonic transmitter and the ultrasonic receiver are integrated into a transceiver ultrasonic transducer.

9. The underwater communication system based on ultrasound according to claim 8, characterized in that, The integrated transceiver ultrasonic transducer includes: Piezoelectric ceramics, arranged in a tubular shape; The first sound-absorbing end cap, with a sealing cap disposed at one end of the piezoelectric ceramic; The second sound-absorbing end cap, the sealing cap is provided at the other end of the piezoelectric ceramic, and the second sound-absorbing end cap is provided with a wire hole; Waterproof sealant is applied to the periphery of the piezoelectric ceramic and the first sound-absorbing end cap.

10. An underwater cleaning robot, characterized in that, include: The robot itself; and The ultrasonic-based underwater communication system as described in any one of claims 1-9, wherein the ultrasonic-based underwater communication system is disposed on the robot body.

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