Underwater robot and overwater separated communication system

Abstract

The utility model discloses an underwater robot and an overwater separated communication system. The underwater robot comprises an underwater actuator and a relay device. The underwater actuator is connected with the relay device through a cable, the relay device comprises a water surface buoy provided with an LET module, the relay device floats on the water surface, and the relay device is used for being in communication connection with a shore-based control terminal. The relay device is provided with the 4GLTE module to be connected with the underwater actuator, so that information transmission between the underwater actuator and the ground shore-based control terminal through the relay device is realized, and the underwater communication quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of underwater robots, and in particular to an underwater robot and an above-water separated communication system. Background Art

[0002] During underwater communications, the underwater acoustic channel is significantly affected by the ocean environment, including multipath propagation, attenuation, scattering, noise, and time delay. These factors make underwater acoustic channel models more sophisticated and diverse than radio wave channels in air, requiring specialized simulation tools for accurate modeling and analysis. Furthermore, since signal transmission distance is limited by the speed of sound, the rapid decrease in signal strength with distance increases the complexity of the underwater acoustic channel. Direct data transmission between underwater robots and the surface through underwater acoustic channels has the following disadvantages: Underwater communication is limited by the characteristics of the medium (such as water), resulting in high signal attenuation and propagation delay, which can make real-time control feedback difficult. Communication distances in the deep ocean are limited, and transmission rates are slow, which limits the amount of data that can be quickly sent and received, especially for high-dimensional state and motion information. Continuous long-range communication increases the underwater robot's energy consumption, especially when battery capacity is limited, as frequent data exchange can shorten its operating time. The complex and changing seabed environment can interfere with communication signals, resulting in data loss or inaccuracy.

[0003] At present, the ground is connected to the underwater robot through a communication cable. The disadvantages of the existing technology are as follows: limited working depth. The physical length of the cable limits the maximum depth to which the ROV can dive. Once the maximum effective length of the cable is exceeded, the operator cannot continue to control the submersible in deeper areas; transmission delay. When data is transmitted through the cable, it will be affected by the attenuation of electromagnetic wave signals, resulting in possible delays in operating instructions from the submersible to the ground, which may affect real-time performance, especially in emergency situations in deep-sea environments; mechanical fragility. Long-distance cables are easily affected by factors such as water pressure, marine biological activity, and changes in seabed topography, which may cause cable damage, thereby interrupting communication or affecting the function of the ROV; deployment and recovery difficulties: Each deployment and recovery process requires precise management of the cable to avoid tangling, twisting or excessive stretching, which increases the complexity and time cost of the operation; high cost. The production and maintenance costs of long cables are high, especially for deep-sea applications. These cables are usually made of expensive materials to resist high pressure and corrosion.

[0004] Therefore, the existing technology still needs to be improved and developed. Utility Model Content

[0005] The main purpose of this application is to provide an underwater robot and an underwater separated communication system, aiming to solve the problem in the prior art of connecting the ground with the underwater robot through a communication cable, resulting in poor underwater connection stability in a rapidly changing environment.

[0006] A first aspect of an embodiment of the present application provides an underwater robot, wherein the underwater robot includes an underwater actuator and a relay device; the underwater actuator is connected to the relay device via a cable, the relay device includes a surface buoy equipped with an LET module, the relay device floats on the water surface, and the relay device is used to communicate with a shore-based control terminal; the underwater actuator is used to collect deep-sea environmental data and transmit it to the relay device, and the relay device converts the received environmental data into radio waves and sends them to the shore-based control terminal.

[0007] Optionally, the underwater robot, wherein the underwater actuator includes a base, an inertial navigation system, a three-dimensional laser scanner and an underwater sonar differential locator, the inertial navigation system, the three-dimensional laser scanner and the underwater sonar differential locator are respectively arranged on the base, and the inertial navigation system, the three-dimensional laser scanner and the underwater sonar differential locator are respectively connected to the surface buoy; the inertial navigation system is used to measure the position information of the underwater actuator, the three-dimensional laser scanner is used to form a three-dimensional model of the underwater object, and the underwater sonar differential locator is used to measure the distance between the underwater actuator and the underwater target.

[0008] Optionally, in the underwater robot, the three-dimensional laser scanner is located at one end of the base, and the three-dimensional laser scanner and the underwater sonar differential locator are located on the same side of the base.

[0009] Optionally, in the underwater robot, the inertial navigation system is located on the other side of the base.

[0010] Optionally, in the underwater robot, the cable is a photoelectric signal composite cable and / or an umbilical cable.

[0011] Optionally, in the underwater robot, a first baseband processor and a radio frequency unit are provided in the LTE module, the first baseband processor is used for data encoding, and the radio frequency unit is used for transmitting wireless signals.

[0012] Optionally, in the underwater robot, the underwater actuator further includes any one of a pressure sensor, a temperature sensor and a humidity sensor.

[0013] Optionally, in the underwater robot, the underwater actuator further includes a gyroscope, the gyroscope is connected to the surface buoy, and the gyroscope is used to measure angular velocity data of the underwater actuator.

[0014] The second aspect of an embodiment of the present application further provides an on-water separated communication system, wherein the on-water separated communication system includes an underwater robot and a shore-based control terminal as described in any one of the above-mentioned schemes; the relay device is communicatively connected to the shore-based control terminal.

[0015] Optionally, the underwater robot, wherein the shore-based control terminal has a second baseband processor, and the second baseband processor is used to receive and decode wireless signals.

[0016] Beneficial effects: The present application provides an underwater robot and an above-water separated communication system. In the underwater robot, information transmission between the underwater robot and the ground-based control terminal is realized by equipping the underwater robot with a 4GLTE module as a relay, thereby improving the quality of underwater communication.

[0017] In addition to the technical problems solved by the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the underwater robot and the water-separated communication system provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A three-dimensional diagram of an underwater actuator of a preferred embodiment of the underwater robot of the present application;

[0020] Figure 2 This is a front view of the underwater actuator of a preferred embodiment of the underwater robot of the present application;

[0021] Figure 3 This is a right side view of the underwater actuator of a preferred embodiment of the underwater robot of the present application;

[0022] Figure 4 This is a left view of the underwater actuator of a preferred embodiment of the underwater robot of the present application.

[0023] Description of reference numerals:

[0024] 10. Inertial navigation system; 20. Three-dimensional laser scanner; 30. Underwater sonar differential locator.

[0025] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0026] To make the purpose, technical solutions, and effects of this application clearer and more explicit, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0027] Among the relevant technologies, first, the system requires support from specific types of relay equipment and ground control systems. The relay equipment must have fiber optic communication (FSO) and radio frequency (RF) communication capabilities, which may increase deployment difficulty and cost. Second, although the design is optimized for rainy and foggy weather on the sea surface, under extreme conditions (such as severe storms or heavy pollution), both FSO and RF links may be affected, thereby affecting the overall communication quality. Third, the switching mechanism needs to automatically detect the current link status and decide whether to switch. The operating logic of this mechanism may have the risk of misjudgment, especially in a rapidly changing environment. Fourth, integrating multiple communication technologies (such as FSO and RF) into a single system may encounter compatibility and integration issues.

[0028] First, the nouns involved in the embodiments of this application are introduced:

[0029] 4G LTE, or fourth-generation Long Term Evolution (LTE), is considered the mainstream technology in the evolution from 3G to 4G and is also known as 3.9G. 4G LTE is a general term for LTE (Long Term Evolution) network standards, including TD-LTE (Time-division Long Term Evolution) and FDD-LTE (Frequency-division Long Term Evolution). Its full Chinese name is "Fourth Generation Mobile Communications Long Term Evolution Technology." It is often referred to as 4G module, 4G module, or full network access. LTE technology is considered the mainstream technology in the evolution from 3G to 4G, offering higher data rates and lower latency.

[0030] In response to the problem mentioned above that the related art uses ground-based communication cables to connect to the underwater robot, resulting in poor underwater connection stability in rapidly changing environments, this application provides an underwater robot and a surface-based separated communication system. In the underwater robot, a relay device equipped with a 4GLTE module is connected to the underwater actuator to achieve information transmission between the underwater actuator and the ground-based control terminal through the relay device, thereby improving the quality of underwater communication. This solves the technical problem of the related art using ground-based communication cables to connect to the underwater robot, resulting in poor underwater connection stability in rapidly changing environments.

[0031] The following specific embodiments are used to describe in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0032] like Figure 1 As shown, an embodiment of the present application provides an underwater robot, which includes an underwater actuator and a relay device; the underwater actuator is connected to the relay device via a cable, the relay device includes a surface buoy equipped with an LET module, the relay device floats on the water surface, and the relay device is used to communicate with a shore-based control terminal; the underwater actuator is used to collect deep-sea environmental data and transmit it to the relay device, and the relay device converts the received environmental data into radio waves and sends them to the shore-based control terminal.

[0033] Specifically, to address the communication needs of underwater robots, which can autonomously perform tasks, a surface buoy equipped with a 4G LTE module acts as a relay. Specifically, the 4G LTE module has a built-in baseband processor for data encoding and an RF unit for transmitting wireless signals, thereby ensuring real-time and efficient information exchange between the underwater robot and the ground. This application integrates modern communication technologies (such as 4G LTE) and optimizes existing technologies, significantly improving the control efficiency and stability of the underwater robot.

[0034] This application cleverly integrates an autonomous underwater robot, a surface buoy relay equipped with a 4G LTE module, and a ground control module to form an efficient and stable data transmission system. This integrated design not only simplifies the system structure and reduces deployment and maintenance costs, but also improves the efficiency and reliability of data transmission.

[0035] This application innovatively introduces 4G LTE technology as a communication relay from the surface to the ground. Leveraging the extensive coverage and high-speed data transmission capabilities of the 4G LTE network, it enables real-time, efficient information exchange between the underwater robot and the ground control module. This innovative application not only breaks through the bottleneck of traditional underwater communications but also provides a more convenient and reliable communication method for deep-sea exploration and control.

[0036] The underwater actuator (ROV) in this application is connected to the surface buoy relay via an optoelectronic signal composite cable, enabling data transmission from underwater to the surface. Simultaneously, an umbilical cable (PLC) is used to transmit data collected by the ROV to the relay's 4G LTE module. This combined approach not only improves the stability and reliability of data transmission, but also optimizes the data transmission path and efficiency.

[0037] It can be understood that the working principle of the 4G LTE module is as follows: channel allocation. In LTE, OFDMA (Orthogonal Frequency Division Multiple Access) technology is used for channel allocation. OFDMA divides the entire spectrum resources into different subcarriers, and each subcarrier can be individually allocated to different users, thereby realizing parallel transmission; multiple access technology. The multiple access technology used in LTE is SC-FDMA (Single Carrier Frequency Division Multiple Access) technology, which can effectively reduce the peak-to-average power ratio, improve power utilization, and have better anti-interference ability and lower power consumption; spatial division multiplexing: LTE uses spatial division multiplexing technology to allocate resources to different users, that is, the signals of different users are allocated to different antennas respectively, and then the signals are transmitted to the receiving end through channel coding and modulation technologies, which can reduce interference between users and improve the system capacity and coverage.

[0038] In one embodiment of the present application, Figure 1As shown, the underwater actuator includes a base, an inertial navigation system 10, a three-dimensional laser scanner 20 and an underwater sonar differential locator 30. The inertial navigation system 10, the three-dimensional laser scanner 20 and the underwater sonar differential locator 30 are respectively arranged on the base, and the inertial navigation system 10, the three-dimensional laser scanner 20 and the underwater sonar differential locator 30 are respectively connected to the surface buoy; the inertial navigation system is used to measure the position information of the underwater actuator, the three-dimensional laser scanner is used to form a three-dimensional model of the underwater object, and the underwater sonar differential locator is used to measure the distance between the underwater actuator and the underwater target.

[0039] Specifically, the inertial navigation system (INS) uses an inertial measurement unit (IMU) to measure the acceleration and angular velocity of an object, and then infer the object's position, velocity, and attitude information. Specifically, the IMU is usually composed of three-axis accelerometers and gyroscopes, which can measure the robot's motion state and attitude information underwater in real time; it can provide high-precision positioning and attitude information to help underwater robots achieve precise navigation and positioning. The three-dimensional laser scanner measures the surface of an object through a laser beam to achieve high-precision three-dimensional data acquisition and modeling, which is used for the detection and modeling of underwater targets. The underwater sonar differential locator uses sound waves for underwater positioning and navigation, and calculates the distance by measuring the time difference of the sound wave from the transmitter to the receiver, thereby achieving precise positioning of underwater targets.

[0040] In one embodiment of the present application, Figure 2 、 Figure 3 and Figure 4 As shown, the three-dimensional laser scanner 20 is located at one end of the base, and the three-dimensional laser scanner 20 and the underwater sonar differential locator 30 are located on the same side of the base.

[0041] It is worth noting that existing technologies typically use cables to directly connect underwater robots for information transmission. In contrast, this application uses a relay method equipped with a 4G LTE module to transmit data to and from a land-based control terminal through a relay device to achieve efficient information processing and transmission. When performing underwater detection missions, this application uses a 4G LTE module as a relay unit to achieve information transmission between the underwater robot and the ground control module.

[0042] In one embodiment of the present application, Figure 2 As shown, the inertial navigation system 10 is located on the other side of the base.

[0043] This process ensures that real-time information streams from the deep ocean can efficiently and securely reach the control terminal at the shore-based command and control center. As the central management layer of the entire system, the control terminal not only receives and interprets this data but also provides data analysis, decision support, and remote operation capabilities, including equipment monitoring, fault diagnosis, and resource scheduling. Its integrated web application interface, utilizing Three.js and graphical interactive design, enables intuitive data presentation and advanced analysis, thereby enhancing the overall intelligence of the system.

[0044] In one embodiment of the present application, the cable is an optoelectronic signal composite cable and / or an umbilical cable.

[0045] Specifically, an umbilical cable consists of an electrical wiring unit, an electrical cable unit, a hose / steel pipe unit (for transporting chemicals or liquids), and an optical cable unit. These units are integrated into a compact and fully functional structure. The umbilical cable exhibits excellent resistance to seawater corrosion, pressure, and abrasion, making it suitable for complex underwater environments. It also offers high transmission efficiency and stability, ensuring accurate transmission of power and signals.

[0046] Optical fiber composite cables consist of two main components: a stranded core and a sheath. The core contains transmission media such as optical fibers and copper wires, while the sheath protects the core from external damage. The sheath typically includes a jacket and an outer sheath, the latter of which may or may not be present depending on the application. Optical fiber composite cables offer high transmission speeds and bandwidth, long transmission distances, and high information security.

[0047] In one embodiment of the present application, the LTE module is provided with a first baseband processor and a radio frequency unit, the first baseband processor is used for data encoding, and the radio frequency unit is used for transmitting wireless signals.

[0048] In this application, underwater actuators, namely unmanned underwater vehicles (ROVs) equipped with autonomous detection equipment, are connected to a communication relay device floating on the water surface via an optoelectronic signal composite cable. These ROVs collect deep-sea environmental data, such as water quality parameters and biological activity, through built-in sensors. The data is then transmitted to the relay's 4G LTE module via an umbilical cable (PLC). The baseband processor unit inside the LTE module is responsible for data preprocessing, and then uses the radio frequency unit to convert the optimized signal into radio waves and send it back to the surface.

[0049] In one embodiment of the present application, the underwater actuator includes any one of a pressure sensor, a temperature sensor, and a humidity sensor.

[0050] In one embodiment of the present application, the underwater actuator further includes a gyroscope, which is connected to the surface buoy and is used to measure angular velocity data of the underwater actuator.

[0051] In another embodiment of the present application, for specific environments that are limited by the minimum MTU size 1 of IPv6 data packets and the frame size limitations of IEEE 802.15.4 wireless networks, the CV5200 long-range Wi-Fi module is used as an alternative option to overcome the packet splitting and transmission efficiency problems that may be encountered in traditional relay methods based on 4G LTE modules. This module supports greater packet processing capabilities, can adapt to complex network architectures and optimize communication performance within local area networks, especially for those application scenarios that rely on high-speed, low-latency communications. However, before implementing this change, it is necessary to evaluate the network coverage, security requirements, and cost-effectiveness, as wireless Wi-Fi may be subject to interference and distance limitations. At the same time, taking into account different types of network environments such as LAN, WLAN, WAN2 and their respective standards and characteristics, the selection of an appropriate module should be based on specific application scenarios and requirements.

[0052] Based on the above embodiments, the present application also provides an on-water separated communication system, wherein the on-water separated communication system includes an underwater robot and a shore-based control terminal as described in any one of the above schemes; the relay device is communicatively connected to the shore-based control terminal.

[0053] In one embodiment of the present application, the shore-based control terminal has a second baseband processor, and the second baseband processor is used to receive and decode wireless signals.

[0054] Specifically, the shore-based control terminal is equipped with a baseband processor that is specifically responsible for receiving and decoding these wireless signals.

[0055] This application utilizes a shore-based control terminal as the central management layer of the entire system. This terminal not only receives and interprets data but also provides data analysis, decision support, and remote operation capabilities. Through an integrated web application interface and graphical interactive design, intuitive data presentation and advanced analysis are achieved. This intelligent data analysis and decision support system not only enhances the system's intelligence level but also provides more accurate and efficient decision support for deep-sea exploration and control.

[0056] The above-water separated communication system provided in the present application has all the above beneficial effects because it is equipped with the underwater robot described in any of the above technical solutions, which will not be repeated here.

[0057] In the description of this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0059] It should be noted that, in this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0060] The terms "first," "second," "third," "fourth," etc. (if any) in the specification and claims of the present application and in the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential sequence. It should be understood that the numbers used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or apparatus.

[0061] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An underwater robot, characterized in that: The underwater robot includes an underwater actuator and a relay device; The underwater actuator is connected to the relay device via a cable. The relay device includes a surface buoy equipped with an LET module. The relay device floats on the water surface and is used for communication with a shore-based control terminal. The underwater actuator is used to collect deep-sea environmental data and transmit it to the relay device, and the relay device converts the received environmental data into radio waves and transmits them to the shore-based control terminal.

2. The underwater robot according to claim 1, characterized in that: The underwater actuator includes a base, an inertial navigation system, a three-dimensional laser scanner and an underwater sonar differential locator, wherein the inertial navigation system, the three-dimensional laser scanner and the underwater sonar differential locator are respectively arranged on the base, and the inertial navigation system, the three-dimensional laser scanner and the underwater sonar differential locator are respectively connected to the surface buoy; The inertial navigation system is used to measure the position information of the underwater actuator, the three-dimensional laser scanner is used to form a three-dimensional model of the underwater object, and the underwater sonar differential locator is used to measure the distance between the underwater actuator and the underwater target.

3. The underwater robot according to claim 2, characterized in that: The three-dimensional laser scanner is located at one end of the base, and the three-dimensional laser scanner and the underwater sonar differential locator are located on the same side of the base.

4. The underwater robot according to claim 3, characterized in that: The inertial navigation system is located on the other side of the base.

5. The underwater robot according to claim 2, characterized in that: The cable is a photoelectric signal composite cable or an umbilical cable.

6. The underwater robot according to claim 2, characterized in that: The LTE module is provided with a first baseband processor and a radio frequency unit. The first baseband processor is used for data encoding, and the radio frequency unit is used for transmitting wireless signals.

7. The underwater robot according to claim 2, characterized in that: The underwater actuator further includes any one of a pressure sensor, a temperature sensor and a humidity sensor.

8. The underwater robot according to claim 1, characterized in that: The underwater actuator further includes a gyroscope, which is connected to the surface buoy and is used to measure angular velocity data of the underwater actuator.

9. An overwater separated communication system, characterized in that: The above-water separated communication system comprises an underwater robot according to any one of claims 1 to 8 and a shore-based control terminal; the relay device is communicatively connected to the shore-based control terminal.

10. The water-based separated communication system according to claim 9, characterized in that: The shore-based control terminal has a second baseband processor, which is used to receive and decode wireless signals.

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