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CN-121984605-A - AUV test dual-mode remote communication system and method based on 4G network

CN121984605ACN 121984605 ACN121984605 ACN 121984605ACN-121984605-A

Abstract

The invention provides an AUV test dual-mode remote communication system and method based on a 4G network, wherein the system comprises an AUV communication terminal, a water surface buoy relay device, a cloud server platform and a shore-based control center, the method comprises the steps that the AUV communication terminal monitors the water surface wireless or underwater wired signal intensity in real time, and a water surface direct communication mode or an underwater buoy relay mode is selected by combining the water surface/underwater actual working conditions. According to the invention, the 4G network is constructed to realize high-bandwidth communication between the AUV and the shore base when the AUV is on the water surface, and the power carrier is used for constructing the wired network to realize small-batch and high-priority real-time data interaction when the AUV is in underwater navigation, so that frequent deployment and recovery in the AUV debugging stage are avoided, the test efficiency is greatly improved, and the labor intensity and the operation risk are reduced.

Inventors

  • GAO DONG
  • WANG XIAOYONG
  • SUN BO
  • XU CHUNHUI
  • HE NING
  • QI YU

Assignees

  • 中国科学院沈阳自动化研究所

Dates

Publication Date
20260505
Application Date
20251029

Claims (8)

  1. 1. An AUV test dual-mode remote communication system based on a 4G network is characterized by comprising an AUV communication terminal, a water surface buoy relay device, a cloud server platform and a shore-based control center; The AUV communication terminal is integrated in the AUV body and comprises an industrial switch, an AUV4G routing module, an AUV power carrier module and a main control computer which are respectively linked with the industrial switch, wherein the industrial switch is connected with a 4G network through the AUV4G routing module to form a water surface direct communication link, and the industrial switch is connected with a water surface buoy relay device through the AUV power carrier module to form a wired network; The water surface buoy relay device comprises a buoy body, a relay 4G routing module and a relay power carrier module, wherein the relay 4G routing module and the relay power carrier module are arranged in the buoy body, and the relay 4G routing module is used for establishing 4G network connection with a cloud server platform; the cloud server platform is provided with a VPN server, and an AUV terminal, a water surface buoy relay device and a shore-based control center are built into a virtual local area network through a 4G routing module and used for encrypting/decrypting data and forwarding the data in a routing way; the shore-based control center comprises a shore-based 4G routing module and an AUV monitoring platform, wherein the shore-based 4G routing module is used for establishing connection between the shore-based control center and the cloud server platform, and the AUV monitoring platform is used for carrying out data and instruction communication interaction with the AUV.
  2. 2. The AUV test dual-mode remote communication system based on the 4G network as set forth in claim 1, wherein the AUV4G routing module is used for establishing 4G network connection with a cloud server platform to realize data communication between an AUV terminal and a shore-based control center, and the AUV4G routing module is connected with an AUV carried industrial switch by adopting an RJ45 network interface for communication expansion; the AUV power carrier module is used for modulating and demodulating power carrier data, and is connected with a relay power carrier module in the water surface buoy relay device through a zero-buoyancy power line to realize the data connection from underwater to water surface; The industrial switch is used for realizing the network topology of an AUV internal computer, and establishing a communication link among an AUV main control computer, an AUV4G routing module, an AUV power carrier module and other airborne computers; The main control computer is used for generating AUV navigation state data to be uploaded, analyzing the received shore-based control center command, and controlling switching of the water surface and underwater communication modes according to AUV operation conditions.
  3. 3. The 4G network-based AUV test dual-mode remote communication system according to claim 1, wherein the relay power carrier module is connected with an AUV power carrier module of an underwater AUV communication terminal through a zero-buoyancy power line, so that data communication with a shore base station control center under the AUV underwater working condition is realized.
  4. 4. The 4G network-based AUV test dual-mode telecommunication system according to claim 1, wherein the AUV monitoring platform comprises a mission management unit, a data monitoring unit and an instruction control unit, wherein the mission management unit is used for generating and editing task program files and initiating remote downloading instructions to a designated AUV, the data monitoring unit is used for displaying AUV states, tracks and sensor data in real time through a graphical interface, and the instruction control unit is used for sending debugging instructions, mode switching commands and data uploading requests to the AUV.
  5. 5. An AUV test dual-mode remote communication method based on a 4G network is characterized by comprising the following steps: When the AUV executes an underwater navigation task, the AUV communication terminal monitors the wireless or wired signal intensity in real time and selects a water surface direct communication mode or an underwater buoy relay mode by combining the water surface/underwater actual working conditions; In the underwater buoy relay mode, the shore-based control center establishes connection with the IP of the AUV communication terminal through a relay 4G routing module of the water buoy relay device to perform small-batch and high-priority real-time data interaction; And the AUV monitoring platform of the shore-based control center is in communication exchange with a main control computer of the AUV communication terminal, and receives and transmits instructions and data.
  6. 6. The 4G network-based AUV test dual-mode telecommunication system of claim 5, wherein the selecting of the water surface direct communication mode or the underwater buoy relay mode according to the wireless or wired signal intensity is that the AUV terminal monitors the GNSS signal intensity, the 4G signal intensity and the power carrier link connection state with the water surface buoy in real time, automatically switches to the water surface direct communication mode when determining that the AUV is on the water surface according to the threshold value, enables the AUV4G routing module of itself to communicate, or the GNSS signal and the 4G signal disappear, and determines that the AUV has fallen into the water when the power carrier link remains normally connected, automatically switches to the buoy relay mode, and communicates through the water surface buoy relay device.
  7. 7. The AUV test dual mode telecommunication system based on a 4G network of claim 5, wherein the transceiving instruction and data include: The AUV monitoring platform issues an instruction to request a main control computer of the AUV to upload key real-time data or specific cache segment data, including but not limited to state, position, depth and abnormal alarm; the AUV terminal main control computer receives the instruction, acquires data as required, compresses and selectively uploads the data packet so as to adapt to the bandwidth which may be unstable under water.
  8. 8. The 4G network-based AUV test dual mode telecommunications system of claim 5, further comprising: If the communication between the AUV monitoring platform of the shore-based control center and the main control computer of the AUV communication terminal is interrupted, the AUV terminal automatically caches the data to be uploaded, and retransmits the data after connection is restored; The shore-based control command may be implemented via a reverse link including, but not limited to, mission dispatch for an AUV, remote load rejection emergency means.

Description

AUV test dual-mode remote communication system and method based on 4G network Technical Field The invention relates to the technical field of underwater robot testing, and is particularly applied to remote communication of AUV water environment navigation debugging tests, and two debugging working conditions of water surface and underwater are covered. Background Before the Autonomous Underwater Vehicle (AUV) is formally put into use, a great number of on-lake tests and off-shore tests are required to verify the functionality, reliability and task execution capacity of the AUV. In these test stages, the developers need to frequently modify the control program and algorithm parameters of the AUV, and timely acquire their control states, sensor data and mission execution logs to perform debugging and performance evaluation. Currently, program downloading and data uploading of an AUV mainly depend on two modes: 1. The wired connection mode is that the AUV is recovered to a mother ship or a shore base each time through a cable interface such as an Ethernet, a serial port and the like, and is distributed again after the AUV is completed. Recovery and deployment of AUV are time-consuming and labor-consuming, and safety risks exist, so that the test progress is severely restricted. The mode of optical fiber micro-cable towing communication does not need to recover the AUV frequently, but the optical fiber manufacturing cost is high, the maintenance cost of the AUV is high, the operation and deployment of the AUV with the cable are complex, the influence on the hydrodynamic performance and the maneuverability of the AUV is easy, and the cable has the risk of winding an AUV propeller. 2. The traditional wireless communication modes, such as underwater acoustic communication, short-distance radio, satellite communication and the like, have low underwater acoustic communication speed, large delay and easy environmental interference, are difficult to position the submersible vehicle under the wide-angle influence of operation in shallow water areas such as lakes and the like, and are difficult to meet the requirement of downloading large-capacity program files. Short-distance wireless network bridge communication distance is limited, can not cover the wide waters of lake test, especially offshore test, and the signal is easily influenced by wave etc. at the surface of water simultaneously, and signal attenuation is serious, and data transmission is unstable. Satellite communication is extremely high in cost and is not suitable for frequent debugging data transmission. The 4G network has realized wide coverage in coastal and lake areas, and has the advantages of high bandwidth, low delay and reasonable cost. However, how to apply the method innovatively to the whole flow of AUV test debugging, solve the problem of reliable communication under different working conditions of water surface and underwater, and form a complete debugging method, and no mature solution exists at present. Disclosure of Invention The invention aims to overcome the defect that the existing AUV lacks a 4G routing communication mode, and provides an AUV test dual-mode remote communication system and method based on a 4G network. The system enables debugging personnel to remotely complete program updating, parameter injection, state monitoring and data recovery of the AUV in the test on a shore base or a mother ship, has two test working conditions of water surface and underwater, and greatly improves efficiency and safety of lake test and offshore test. In order to achieve the above purpose, the invention adopts the following technical scheme: an AUV test dual-mode remote communication system based on a 4G network comprises an AUV communication terminal, a water surface buoy relay device, a cloud server platform and a shore-based control center; The AUV communication terminal is integrated in the AUV body and comprises an industrial switch, an AUV4G routing module, an AUV power carrier module and a main control computer which are respectively linked with the industrial switch, wherein the industrial switch is connected with a 4G network through the AUV4G routing module to form a water surface direct communication link, and the industrial switch is connected with a water surface buoy relay device through the AUV power carrier module to form a wired network; The water surface buoy relay device comprises a buoy body, a relay 4G routing module and a relay power carrier module, wherein the relay 4G routing module and the relay power carrier module are arranged in the buoy body, and the relay 4G routing module is used for establishing 4G network connection with a cloud server platform; the cloud server platform is provided with a VPN server, and an AUV terminal, a water surface buoy relay device and a shore-based control center are built into a virtual local area network through a 4G routing module and used for encrypting/decrypting data and forwarding