Search

CN-121984600-A - Underwater docking system integrating navigation, wireless communication and wireless power supply

CN121984600ACN 121984600 ACN121984600 ACN 121984600ACN-121984600-A

Abstract

The invention relates to the technical field of underwater integrated docking systems, and discloses an underwater docking system integrating navigation, wireless communication and wireless electric energy supply, which comprises a docking end and an execution end, wherein the docking end and the execution end are based on long-distance light guiding and low-speed data link, electric energy, communication and guiding control module, wireless electric energy transmission module and short-distance high-speed data link two-way communication, the execution end enters into the optical guiding through sound guiding, the docking end and the execution end switch low-speed or laser high-speed communication according to distance and start energy supply, the system enables the light vision guiding to have the function of underwater wireless optical communication through modulation, and meanwhile, the light attenuation under water is lower than that of radio, the execution end realizes low-speed data transmission during the recovery process, and starts high-speed communication and wireless energy supply after the execution end reaches the docking end under the detection and switching of the guiding control module and the wireless electric energy transmission module.

Inventors

  • XU JING
  • GUO JIANSHE

Assignees

  • 浙江大学

Dates

Publication Date
20260505
Application Date
20260317

Claims (10)

  1. 1. An underwater docking system integrating navigation, wireless communication and wireless electric energy supply is characterized by comprising a docking end and an execution end, wherein the docking end and the execution end are based on long-distance light guiding and low-speed data links, electric energy, communication and guiding control modules, wireless electric energy transmission modules and short-distance high-speed data links for bidirectional communication, the execution end enters into the optical guiding through sound guiding, the docking end and the execution end switch low-speed or laser high-speed communication according to distance and start energy supply, The remote light guide and low-speed data link enables light vision to have light vision guide and underwater wireless light low-speed communication through photoelectric conversion, and provides remote light guide and light communication for the execution end, and duplex bidirectional communication of the connection end and the execution end is realized at the same time; the electric energy, communication and guiding control module is connected with the long-distance light guiding and low-speed data link and the wireless electric energy transmission module and regulates and controls signal transmission and switching of the long-distance light guiding and low-speed data link and the wireless electric energy transmission module; the wireless power transmission module realizes wireless energy supplementing for the execution end to reach the connection end; The short-distance high-speed data link is connected with the connection end through the optical visual guide execution end and has the short-distance laser high-speed wireless data communication.
  2. 2. The integrated navigation, wireless communication and wireless power supply underwater docking system of claim 1 wherein the remote light guide and low speed data link comprises a bi-directional low speed data transmission link connecting the docking end and the executing end, the link structure of the bi-directional low speed data transmission link is consistent and the signal transmission direction is opposite, any one of the data transmission links comprises a transmitting link and a receiving link, the transmitting link comprises a low speed signal modulation circuit, a driver and switching circuit, an LED transmitter, the receiving link comprises an LED receiver, a limiting amplifying circuit and sampling circuit and a low speed signal demodulation circuit, The switching circuit is connected with the MCU of the electric energy, communication and guidance control module, the low-speed signal modulation circuit modulates data in an OOK mode, the MCU drives the LED light source to conduct light guidance through the switching circuit and the driver, and when the switching circuit is switched, the MCU automatically starts and stops LED communication according to the light power; The LED receiver converts the optical signal into a current signal, the limiting amplifying circuit and the sampling circuit are connected with the MCU of the electric energy, communication and guiding control module to convert, detect and separate the current signal, and the low-speed signal demodulation circuit modulates the signal and then outputs the signal.
  3. 3. The integrated navigation, wireless communication and wireless power fed underwater docking system of claim 2 wherein: The driver comprises a drive control circuit and a Boost type LED Boost drive circuit, wherein the drive control circuit generates and conditions a drive signal for controlling the MOS tube, the oscillation caused by parasitic parameters in the MOS tube and the circuit is suppressed by adopting a resistor, the Boost type LED Boost drive circuit takes the MOS tube as a core switch, boost is realized by superposing an inductor and a power supply voltage, the LED is taken as a light-emitting element, and the LED is driven to emit light after Boost; The switching circuit comprises an optocoupler, a triode and a relay, wherein a control pin of the circuit is connected with the MCU, when the control pin is at a low level, a light emitting diode at the input side of the optocoupler is conducted, a light emitting diode at the output side of the optocoupler is driven to be conducted, the triode connected with the optocoupler is conducted, a collector electrode of the triode is pulled down, a relay coil is electrified, a Boost type LED Boost driving circuit is started to start LED communication, and when the LED communication is turned off, the level of the control pin is set to be high.
  4. 4. An integrated navigation, wireless communication and wireless power supply underwater docking system according to claim 2 or 3, characterized in that the limiting amplification circuit comprises an operational amplifier connected with the LED detector, the current signal in the LED detector is converted into a voltage signal based on the virtual breaking characteristic of the operational amplifier, the position correction of the execution end and the communication between the docking end and the execution end are realized through the voltage signal, the limiting amplification circuit is connected with the sampling circuit, the sampling circuit comprises the operational amplifier and a filter, the operational amplifier maintains the signal characteristic, and the filter inputs the signal to the MCU after filtering.
  5. 5. The underwater docking system integrating navigation, wireless communication and wireless power supply of claim 2 or 3, wherein the low-speed signal demodulation circuit uses a comparator circuit with SB9696 as a core, and converts the nonstandard voltage output by the limiting amplifying circuit into a standard TTL communication level voltage output through positive feedback amplifying characteristics.
  6. 6. The integrated navigation, wireless communication and wireless power supply underwater docking system of claim 1, wherein the near-distance high-speed data link comprises a bidirectional high-speed data transmission link connecting the docking end and the execution end, the link structures of the bidirectional high-speed data transmission links are consistent, the signal transmission directions are opposite, any one of the data transmission links comprises a transmitting link and a receiving link, the transmitting link comprises a high-speed signal modulation circuit, a driver, a switching circuit and a laser transmitter, the receiving link comprises an LED receiver and a high-speed signal demodulation circuit, The emission link comprises an NOT gate and a laser, and adopts two paths of NOT gate parallel driving to realize signal OOK modulation and laser driving, so as to convert electricity into laser; The receive chain includes an NOT gate and a laser detector that converts the optical signal to a TTL level.
  7. 7. The integrated navigation, wireless communication and wireless power supply underwater docking system according to claim 2, wherein the wireless power transmission module comprises a transmitting link and a receiving link, the transmitting link is communicated with the docking end, the receiving link is communicated with the execution end, wireless power supply is performed based on magnetic coupling transmission, the transmitting link and the receiving link control the starting and the stopping of the wireless power transmission link through a control unit, The transmitting link comprises a transmitting side power converter, a transmitting side compensation network and a transmitting coil in the electric energy coupling coil, the transmitting side power converter converts direct current into high-frequency alternating current, the transmitting side compensation network carries out impedance adjustment, and the transmitting coil converts the high-frequency alternating current into an alternating magnetic field to realize the short-distance wireless electric energy transmission link; The receiving link comprises a receiving coil in an electric energy coupling coil, a receiving side compensation network, a receiving side power converter and a Buck converter, wherein the receiving coil converts an alternating magnetic field into high-frequency alternating current, the receiving side compensation network adjusts the impedance of the coupling coil, the receiving side power converter converts the high-frequency alternating current into direct current, and the Buck converter realizes the function of charge management of a load; The control unit is connected with the MCU, and the MCU calculates the position of the execution end based on the voltage intensity obtained by the sampling circuit so as to control the power converter at the transmitting side to control the starting and stopping of the wireless electric energy transmission link.
  8. 8. The underwater docking system integrating navigation, wireless communication and wireless power supply of claim 1, wherein the power, communication and guiding control module comprises a transmitting link and a receiving link, the transmitting link is communicated with the docking end, the receiving link is communicated with the execution end, the transmitting link comprises a transmitting end MCU, the receiving link comprises a receiving end MCU, and the transmitting end MCU and the receiving end MCU are connected with a switching circuit to control the LED transmitter.
  9. 9. The underwater docking system integrating navigation, wireless communication and wireless power supply according to claim 1, wherein the docking end and the executing end switch low-speed or laser high-speed communication according to the distance and start energy supply comprises that an LED transmitter is turned on by a transmitting end MCU and a receiving end MCU of an electric energy, communication and guiding control module through a switching circuit, light is converted into electricity by a limiting amplifying circuit, a voltage value is detected by a sampling circuit, whether the voltage value can meet the communication is judged, if yes, a low-speed signal demodulation circuit is started by the MCU to start communication, if no, a transmitting signal is closed by the LED transmitter, the docking end and the executing end start wireless power transmission and a laser transmitter through the switching circuit and the control circuit, meanwhile, the high-speed signal demodulation circuit is started to communicate, the transmitting end MCU and the receiving end MCU correct the position of the executing end through the signal intensity of an LED, if the signal intensity of the LED received by the sampling circuit at fixed time intervals of the MCU of the executing end is in an enhanced trend, the executing end is kept unchanged, and if the trend is weakened, the executing end course is adjusted.
  10. 10. The underwater docking system integrating navigation, wireless communication and wireless power supply according to claim 1, wherein the system is internally provided with an LED light source, a detector, a laser light source and a magnetic coupling mechanism for wireless power, and the integrated navigation, wireless communication and wireless power supply are realized between the docking end and the execution end through unidirectional energy transmission and two-way data transmission of two channels, and the realization process comprises the following steps: The short-distance high-speed data link receives data of the connection end or the execution end, after modulation, the laser light source converts an electric signal into a wireless optical signal, laser passes through a water area to reach a laser detector of the connection end or the execution end, the laser reaches the connection end or the execution end, the laser detector converts the laser into an electric signal, and the electric signal reaches the connection end or the execution end after demodulation; the LED light source of the long-distance light guide and low-speed data link is used as the light vision navigation guide, after the light vision is modulated, the electric signal is converted into a wireless light signal, the light passes through the water area to reach the LED detector of the connection end or the execution end and is converted into an electric signal, and the electric signal reaches the connection end or the execution end after demodulation, so that the data transmission and the light vision navigation guide are realized; the wire electric energy transmission module receives the electric energy of the connection end, inputs the electric energy into the wireless electric energy transmission converter and the resonant circuit, converts the electric energy into high-frequency alternating current to the wireless electric energy transmission magnetic coupling mechanism, and the electromagnetic field passes through the wireless electric energy transmission magnetic coupling mechanism of the execution end after passing through the water area, converts the high-frequency alternating current into direct current through the wireless electric energy transmission converter and the resonant circuit to supply the direct current to the execution end, so that underwater energy supply is realized.

Description

Underwater docking system integrating navigation, wireless communication and wireless power supply Technical Field The invention relates to the technical field of underwater integrated docking systems, in particular to an underwater integrated docking system integrating navigation, wireless communication and wireless power supply. Background With the development of technology, the availability of resources and strategic significance of the ocean have been increasingly appreciated. At present, the layout development of a submarine monitoring network and an underwater space station is started in China. In an underwater environment, an execution end, such as an ROV, is generally required to perform tasks such as submarine topography exploration, patrol, overhaul, and the like. The energy supply and information interaction of the underwater equipment are therefore of vital importance, and the present invention aims to solve both problems simultaneously by means of one integrated system. Since the implementation end and ROV equipment are mostly battery driven, it is common to now float to the surface to replace the battery or to directly recharge the power under water using wet plugging, but both of these approaches have drawbacks. The executing end consumes part of electric energy in the process of replacing the battery when the executing end floats out of the water, so that the endurance time is reduced, and the target is easily exposed. The underwater wet plugging method needs to be completely aligned during operation, which has extremely high requirements on auxiliary equipment, and the underwater environment, especially the deep sea environment, is very difficult to position, so that the contact type underwater connector brings a plurality of inconveniences to actual operation. The invention aims to realize the integration of underwater wireless optical communication, optical visual guidance solution and wireless power supply of underwater equipment through one system, thereby ensuring the flexibility of operation and improving the underwater endurance time of an execution end. Disclosure of Invention The invention provides an underwater docking system integrating visual navigation, wireless communication and wireless power supply, which can realize the integration of underwater wireless optical communication, optical visual guidance solution and wireless power supply of underwater equipment through one system, thereby ensuring the flexibility of operation and improving the underwater endurance time of an execution end. The underwater docking system integrating navigation, wireless communication and wireless electric energy supply comprises a docking end and an execution end, wherein the docking end and the execution end are based on long-distance light guiding and low-speed data links, electric energy, a communication and guiding control module, a wireless electric energy transmission module and a near-distance high-speed data link, the execution end enters into the optical guiding through sound guiding, the docking end and the execution end are used for switching low-speed or laser high-speed communication according to distance and starting energy supply, the long-distance light guiding and low-speed data links enable light vision to be provided with light vision guiding and underwater wireless light low-speed communication through photoelectric conversion, duplex bidirectional communication of the docking end and the execution end is simultaneously realized for the execution end, the electric energy, the communication and guiding control module is connected with the long-distance light guiding and low-speed data link and the wireless electric energy transmission module, the wireless electric energy transmission module realizes wireless energy supply of the execution end to the docking end, the high-speed data link is enabled to be in the docking end through the light vision guiding and the execution end to be in a docking mode according to distance, the long-distance light guiding and low-speed data guiding and the underwater wireless electric energy supply is enabled to be carried out, and the wireless electric energy is enabled to be simultaneously attenuated in the wireless light guiding and high-speed communication process to be realized, and the wireless electric energy is enabled to be simultaneously carried out in the wireless communication and the low-speed communication control module. The invention relates to an underwater docking system integrating visual navigation, wireless communication and wireless electric energy supply, which is an alternative scheme, wherein a remote light guide and low-speed data link comprises a bidirectional low-speed data transmission link which is communicated with a connection end and an execution end, the link structure of the bidirectional low-speed data transmission link is consistent, the signal transmission direction is opposite, any data transmission link co