CN110048783B - Sound wave communication unit, system, base station, inspection device and sound wave communication method - Google Patents
Sound wave communication unit, system, base station, inspection device and sound wave communication method Download PDFInfo
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- CN110048783B CN110048783B CN201910320349.6A CN201910320349A CN110048783B CN 110048783 B CN110048783 B CN 110048783B CN 201910320349 A CN201910320349 A CN 201910320349A CN 110048783 B CN110048783 B CN 110048783B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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Abstract
The embodiment of the invention discloses a sound wave communication unit, a system, a base station, an inspection device and a sound wave communication method, wherein the sound wave communication unit is arranged in the inspection device and comprises a first active sonar and a second active sonar; the sound wave communication unit is used for respectively sending a sound wave data signal and a sound wave enabling signal to the base station through the first active sonar and the second active sonar, so that the base station judges whether the sound wave data signal is effective or not based on the sound wave enabling signal, and sends a positioning sound wave signal for positioning or sends an infrared signal for charging to the inspection device based on the effective sound wave data signal. The technical scheme of the embodiment of the invention can reduce the design cost and simply and effectively reduce the influence of underwater interference on the communication sound wave signal.
Description
Technical Field
The embodiment of the invention relates to a communication technology, in particular to a sound wave communication unit, a sound wave communication system, a base station, an inspection device and a sound wave communication method.
Background
The underwater sound wave communication technology is a technology for transmitting and receiving information underwater, and is widely applied to marine industry.
The working principle of the underwater sound wave communication technology is that information such as characters, voice, images and the like is converted into electric signals through an electric transmitter, the electric information is processed in a digital mode through an encoder, and then the electric signals are converted into sound signals through a transducer. Due to the fact that water components and underwater environment are complex, when underwater sound wave communication is conducted, a communication channel is prone to being interfered, and therefore a target sound source cannot be identified by an information receiving end.
Disclosure of Invention
The embodiment of the invention provides a sound wave communication unit, a sound wave communication system, a base station, a routing inspection device and a sound wave communication method, which can reduce the design cost and simply and effectively reduce the influence of underwater interference on communication sound wave signals.
In a first aspect, an embodiment of the present invention provides an acoustic wave communication unit, where the acoustic wave communication unit is arranged in an inspection device, and the acoustic wave communication unit includes a first active sonar and a second active sonar;
the sound wave communication unit is used for respectively sending a sound wave data signal and a sound wave enabling signal to the base station through the first active sonar and the second active sonar, so that the base station judges whether the sound wave data signal is effective or not based on the sound wave enabling signal, and sends a positioning sound wave signal for positioning or sends an infrared signal for charging to the inspection device based on the effective sound wave data signal.
In a second aspect, an embodiment of the present invention further provides an acoustic wave communication unit, where the acoustic wave communication unit is disposed in a base station, and the acoustic wave communication unit includes a first passive sonar and a second passive sonar;
the sound wave communication unit is used for receiving sound wave data signals and sound wave enabling signals sent by the inspection device respectively through the first passive sonar and the second passive sonar, judging whether the sound wave data signals are effective or not based on the sound wave enabling signals, converting the effective sound wave data signals into control instructions, and sending the control instructions to the main controller in the base station, so that the main controller sends positioning sound wave signals used for positioning or infrared signals used for charging to the inspection device based on the control instructions.
In a third aspect, an embodiment of the present invention further provides an acoustic wave communication system, including: the inspection device comprises a first sound wave communication unit and a second sound wave communication unit, wherein the first sound wave communication unit is arranged in the inspection device, and the second sound wave communication unit is arranged in a base station;
the first sound wave communication unit comprises a first active sonar and a second active sonar;
the second sound wave communication unit comprises a first passive sonar and a second passive sonar;
the first sound wave communication unit is used for respectively sending a sound wave data signal and a sound wave enabling signal to the base station through the first active sonar and the second active sonar;
the second sound wave communication unit is used for respectively receiving the sound wave data signals and the sound wave enabling signals sent by the inspection device through the first passive sonar and the second passive sonar, judging whether the sound wave data signals are effective or not based on the sound wave enabling signals, converting the effective sound wave data signals into control instructions, and sending the control instructions to the main controller in the base station, so that the main controller sends positioning sound wave signals used for positioning or infrared signals used for charging to the inspection device based on the control instructions.
In a third aspect, an embodiment of the present invention further provides an inspection device, including the acoustic wave communication unit in the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a base station, including the acoustic wave communication unit described in the second aspect.
In a fifth aspect, an embodiment of the present invention further provides an acoustic wave communication method, which is applied to the acoustic wave communication system according to the third aspect, where the acoustic wave communication system includes: the method comprises the following steps that a first sound wave communication unit and a second sound wave communication unit are arranged in an inspection device, the second sound wave communication unit is arranged in a base station, and the method comprises the following steps:
respectively sending a sound wave data signal and a sound wave enabling signal to the base station through a first active sonar and a second active sonar;
the method comprises the steps of respectively receiving sound wave data signals and sound wave enabling signals sent by an inspection device through a first passive sonar and a second passive sonar, judging whether the sound wave data signals are effective or not based on the sound wave enabling signals, converting the effective sound wave data signals into control instructions, and sending the control instructions to a main controller in a base station, so that the main controller sends positioning sound wave signals used for positioning or infrared signals used for charging to the inspection device based on the control instructions.
In the embodiment of the invention, the two channels transmit and receive the sound wave data signals and the sound wave enabling signals only by adding the sonar in the sound wave communication process, and then the effectiveness of the sound wave data signals is judged by utilizing the sound wave enabling signals. The problem of among the prior art, when adopting the mode of handling the frequency of sending the sound wave to alleviate the underwater interference, need design multiple frequency processing circuit, carry out frequency processing to the sound wave signal that sends, design cost is higher and the processing procedure is complicated is solved, realized reducing design cost, simply reduce the effect of the influence of the underwater interference to communication sound wave signal effectively.
Drawings
Fig. 1a is a schematic structural diagram of an acoustic wave communication unit according to an embodiment of the present invention;
fig. 1b is a schematic position diagram of a base station and an inspection device according to an embodiment of the present invention;
fig. 1c is a schematic structural diagram of an acoustic wave communication unit according to an embodiment of the present invention;
fig. 2a is a schematic structural diagram of an acoustic wave communication unit according to a second embodiment of the present invention;
fig. 2b is a schematic structural diagram of an acoustic wave communication unit according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an acoustic wave communication system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an inspection device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a base station according to a fifth embodiment of the present invention;
fig. 6 is a flowchart of a sound wave communication method according to a seventh embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that, in the embodiment of the present invention, only preferred electrical connection modes and power supply modes are provided in the drawings, but the electrical connection modes in the embodiment are not limited to a Controller Area Network (CAN) bus connection mode, a Serial Peripheral Interface (SPI) protocol connection mode, and the like. In addition, the power supply method in the embodiment is not limited to Direct Current (DC) 24V, DC 5V and DC 600V power supply.
Example one
Fig. 1a is a schematic structural diagram of an acoustic wave communication unit according to an embodiment of the present invention, which is applicable to a case of sending communication data in an acoustic wave form. Generally, the acoustic wave communication unit is not used alone, but is arranged on a device with data transmission requirements, typically, the device is arranged underwater, and the acoustic wave communication unit provided in this embodiment is used for assisting the underwater device in realizing data transmission.
As shown in fig. 1a, the acoustic wave communication unit 110 is provided in the inspection apparatus 1, and the acoustic wave communication unit 110 includes a first active sonar 1121 and a second active sonar 1122.
Wherein, inspection device 1 is based on system of patrolling and examining under water, can be at the underwater motion, specifically realizes the device that detects the pipeline leak point. The underwater inspection system is a system which is used for detecting leakage points of submarine pipelines and assisting in completing the transmission work of oil gas from the seabed to the land in an ocean oil gas production system. Typically, inspection device 1 is the intelligence robot of patrolling and examining, and pipeline management platform is regularly patrolled and examined the robot with the intelligence and is transferred to around the pipeline under water, makes the intelligence robot of patrolling and examining patrol and examine along the pipeline to will acquire data transmission and to pipeline management platform after patrolling and examining, at inspection device 1 and patrol and examine the in-process, can carry out data exchange with basic station 2 on the pipeline under water in real time, and figure 1b provides a basic station 2 and inspection device 1's position schematic diagram.
In the present embodiment, the acoustic wave communication unit 110 is provided in the inspection apparatus 1 for transmitting an acoustic wave signal, which is a signal generated by electroacoustic conversion and information processing by an active sonar on the inspection apparatus 1 using the propagation characteristic of acoustic waves under water, to the base station 2. Wherein, the active sonar includes first active sonar 1121 and second active sonar 1122, and typically, first active sonar 1121 and second active sonar 1122 are the loudspeaker that is used for the pronunciation under water.
The sound wave communication unit 110 is configured to send a sound wave data signal and a sound wave enable signal to the base station 2 through the first active sonar 1121 and the second active sonar 1122, so that the base station 2 determines whether the sound wave data signal is valid based on the sound wave enable signal, and sends a positioning sound wave signal for positioning or sends an infrared signal for charging to the inspection apparatus 1 based on the valid sound wave data signal.
Wherein the acoustic data signals include an acoustic data signal requesting positioning and an acoustic data signal requesting charging.
The sound wave data signal of request location is used for when patrol and examine device 1 with the distance of basic station 2 is when predetermineeing apart from the scope when, by patrol and examine device 1 send to basic station 2, so that basic station 2 is receiving behind the sound wave data signal of request location, to patrol and examine device 1 and send the sound wave signal of location, guarantee patrol and examine device 1 basis the sound wave signal of location to basic station 2 removes, accomplishes the work of patrolling and examining along the pipeline.
Specifically, the inspection device 1 sends the acoustic data signal requesting positioning when leaving the pipeline management platform or when reaching a base station 2 to go to the next base station 2. After receiving the sound wave data signal requesting positioning, the base station 2 analyzes the sound wave data signal requesting positioning, generates a first positioning instruction according to the sound wave data information requesting positioning, and controls a sound wave generating device inside the base station 2 to send a positioning sound wave signal to the inspection device 1 based on the first positioning instruction. Patrol and examine and be provided with two at least sound wave receivers that are used for receiving location sound wave signal on the device 1, based on triangle-shaped location principle and acquire two at least timestamps of location sound wave signal, patrol and examine device 1 can confirm with base station 2's relative position to based on this relative position generates first power instruction, so that power device in patrol and examine device 1 is based on first power instruction control patrol and examine device 1 to base station 2 removes.
The sound wave data signal that the request was charged, be used for patrol and examine device 1 with 2 apart from when presetting the distance in, just when patrol and examine device 1 has inside demand of charging, by patrol and examine device 1 send to base station 2, so that base station 2 is receiving behind the sound wave data signal that the request was charged, to patrol and examine device 1 and send infrared signal, the guide patrol and examine device 1 to the port that charges of base station 2 removes, in order to accomplish patrol and examine device 1 with the butt joint work of the port that charges of base station 2, and then charge.
Specifically, the base station 2 receives the acoustic data signal which is sent by the inspection device 1 and is requested to be charged, analyzes the acoustic data signal which is requested to be charged, and generates a second positioning instruction according to the acoustic data signal which is requested to be charged, and the base station 2 controls an infrared array transmitter which is arranged at the charging port to send an infrared array signal to the inspection device 1 based on the second positioning instruction. Patrol and examine and be provided with on the device 1 and receive the infrared array receiver of infrared array signal, through infrared array imaging and acquisition on the infrared array receiver the signal strength of infrared array, patrol and examine device 1 can confirm with 2 relative direction of basic stations and relative distance to based on this relative direction and relative distance generation second power instruction, so that power device in the device 1 of patrolling and examining is based on second power instruction control patrol and examine device 1 to 2 charging port of basic stations removes. Further, after the inspection device 1 is in butt joint with the charging port of the base station 2, the base station 2 transmits electric energy to the inspection device 1 in the form of electromagnetic waves.
In this embodiment, the reason why the relative position of the inspection apparatus 1 and the base station 2 is determined by using the positioning acoustic wave signal and the infrared signal is that: the positioning acoustic signals are suitable for long-range positioning, typically over a distance of 100 meters. The infrared signals are suitable for close range positioning, typically distances below 100 meters.
In this embodiment, the acoustic data signal is transmitted using a first active sonar 1121, and the acoustic enable signal is transmitted using a second active sonar. The sound wave enable signal is a constant and persistent sound wave signal with a certain frequency, and the sound wave enable signal has an effect of controlling validity of a sound wave data signal sent by the first active sonar 1121. For example, when the inspection apparatus 1 has an internal fault, the sound wave data signal transmitted by the first active sonar 1121 has a certain deviation, and at this time, if the base station 2 receives the sound wave data signal having the deviation, a reaction error of the base station 2 may be caused, so that the second active sonar 1122 may be controlled to stop transmitting the sound wave enable signal, so that when the base station 2 cannot receive the sound wave enable signal, it is determined that the currently received sound wave data signal is an invalid sound wave signal and cannot be used for performing an operation reaction.
Optionally, the acoustic data signal includes a null signal and an acoustic signal with a set frequency, and the set frequency is different from the frequency of the acoustic enable signal.
The null signal and the acoustic wave signal with the set frequency respectively correspond to different unit data in the same coding format, for example, correspond to 0 and 1 in binary coding. Furthermore, various combination forms of the null signal and the sound wave signal with the set frequency can correspond to different unit data in the same coding format, so that the plurality of unit data in the same coding format can be represented only by the null signal and the sound wave signal with the set frequency.
In this optional technical solution, the set frequency is different from the frequency of the sound wave enable signal, so that the base station 2 can accurately distinguish the signal type and determine the data information to be transmitted when receiving the sound wave data signal and the sound wave enable signal, typically, the frequency of the sound wave data signal is 40KHz, and the frequency of the sound wave enable signal is 28 KHz. Of course, the method for distinguishing the signal types is not limited to frequency distinguishing, and the signal types may be distinguished by using the propagation time of the signal.
Specifically, as shown in fig. 1c, the acoustic wave communication unit 110 includes: a communication controller 111 and a signal transmission circuit 112;
the communication controller 111 is electrically connected with the signal sending circuit 112, and is configured to process a control instruction sent by a main controller in the inspection device 1, and send the processed control instruction to the signal sending circuit 112;
the signal transmitting circuit 112 is configured to convert the received control instruction into the acoustic wave data signal, and transmit the acoustic wave data signal and the acoustic wave enabling signal to the base station 2 through the first active sonar 1121 and the second active sonar, respectively.
The signal transmission circuit 112 includes two channels a and B, and one active sonar, namely, the first active sonar 1121 and the second active sonar 1122, is installed on each channel, where channel a is used to emit the sound wave data signal, and channel B is used to emit the sound wave enable signal. The channels a and B may send the acoustic wave signals at the same time, or the channel a sends the acoustic wave data signal after the channel B sends the continuous acoustic wave enable signal.
The sound wave data signals are transmitted in a binary coding mode, when the channel A has sound wave signals with set frequency, the sound wave signals represent binary '1', when the sound wave signals without the set frequency, namely null signals, represent binary '0', the channel A transmits the data signals at a preset speed, and when the data signals are transmitted, the channel B stops sending the sound wave enabling signals.
In the sound wave communication process, the double-channel transmission of the sound wave data signals and the sound wave enabling signals is realized only by adding the sonar mode, and the effectiveness of the transmitted sound wave data signals is determined by utilizing the transmitted sound wave enabling signals, so that the receiving end can convert the effective sound wave data signals into the control instructions. The problem of among the prior art, when adopting the mode of handling the frequency of sending the sound wave to alleviate the underwater interference, need design multiple frequency processing circuit, carry out frequency processing to the sound wave signal that sends, design cost is higher and the processing procedure is complicated is solved, realized reducing design cost, simply reduce the effect of the influence of the underwater interference to communication sound wave signal effectively.
Example two
Fig. 2a is a schematic structural diagram of an acoustic wave communication unit according to a second embodiment of the present invention, which is applicable to a case of receiving communication data in an acoustic wave form. Generally, the acoustic communication unit is not used alone, but is disposed on a device with data receiving requirements, typically, the device is disposed underwater, and the acoustic communication unit provided in this embodiment is used to assist the underwater device in data receiving.
As shown in fig. 2a, the acoustic wave communication unit 220 is installed in the base station 2, and the acoustic wave communication unit 220 includes a first passive sonar 2211 and a second passive sonar 2212.
Wherein, basic station 2 is based on system of patrolling and examining under water, sets up on the pipeline under water, specifically realizes for removing the device that patrols and examines 1 and provide navigation and energy supply under water, and is general, and basic station 2 sets up on the pipeline under water or distributes according to the node of pipeline under water with preset interval length, rationally sets up on the pipeline node under water, needs to explain that the relative position of basic station 2 and pipeline is not limited to upper and lower position, and basic station 2 can set up with the laminating of pipeline with arbitrary angle. In the underwater inspection process, the base station 2 can exchange data with the inspection device 1 moving underwater in real time, and the schematic position diagram of the base station 2 and the inspection device is shown in fig. 1 b.
In the present embodiment, the acoustic wave communication unit 220 is provided in the base station 2 for receiving the acoustic wave signal transmitted from the inspection apparatus 1 through the passive sonar. Wherein the passive sonar includes first passive sonar 2211 and second passive sonar 2212, and typically, first passive sonar 2211 and second passive sonar 2212 are pickups.
The sound wave communication unit 220 is configured to receive a sound wave data signal and a sound wave enable signal sent by the inspection device 1 through the first passive sonar 2211 and the second passive sonar 2212, determine whether the sound wave data signal is valid based on the sound wave enable signal, convert the valid sound wave data signal into a control instruction, and send the control instruction to the main controller in the base station 2, so that the main controller sends a positioning sound wave signal for positioning or an infrared signal for charging to the inspection device 1 based on the control instruction.
The acoustic wave data signal and the acoustic wave enable signal are the same as those in the above embodiments, and are not described herein again.
In this embodiment, the sound wave data signal is received by the first passive sonar 2211, the sound wave enable signal is received by the second passive sonar 2212, the validity of the sound wave data signal existing simultaneously with the sound wave enable signal is determined by the presence or absence of the received sound wave enable signal, the sound wave data signal existing simultaneously with the sound wave enable signal is converted into a control command as the valid sound wave data signal, and the control command is transmitted to the main controller of the base station 2, so that the main controller of the base station 2 transmits a positioning sound wave signal or an infrared signal to the inspection apparatus 1 based on the control command.
Specifically, as shown in fig. 2b, the acoustic wave communication unit 220 includes: a signal receiving circuit 221, a filter processing circuit 222 and a communication controller 223.
The signal receiving circuit 221 is electrically connected to the filtering processing circuit 222, and is configured to receive a first frequency band acoustic signal containing the acoustic data signal through the first passive sonar 2211, receive a second frequency band acoustic signal containing the acoustic enable signal through the second passive sonar 2212, and send the first frequency band acoustic signal and the second frequency band acoustic signal to the filtering processing circuit 222.
Wherein, signal receiving circuit 221 also includes two passageways a and B, installs a passive communication sonar on every passageway, promptly first passive sonar 2211 and second passive sonar 2212, wherein passageway a is used for receiving first frequency channel sound wave signal, and passageway B is used for receiving second frequency channel sound wave signal. During signal reception, the first frequency band acoustic signal and the second frequency band acoustic signal may be received through two channels at the same time, or the channel B may receive the second frequency band acoustic signal and then start to read the channel B signal, convert the received channel a and B acoustic signals into analog signals, and send the analog signals to the filtering processing circuit 222.
The filtering processing circuit 222 is electrically connected to the communication controller 223 and is configured to perform filtering processing on the first frequency band sound wave signal and the second frequency band sound wave signal respectively to obtain the sound wave data signal and the sound wave enabling signal, and determine whether the sound wave data signal is valid or not by using the sound wave enabling signal, so that the sound wave data signal is converted into the control command and sent to the communication controller 223.
The filtering processing circuit 222 performs second-order active filtering on the two received analog quantity signals respectively, retains the signals with the required frequency, filters the signals with the rest frequencies to obtain the acoustic wave data signals and the acoustic wave enable signals, converts the acoustic wave data signals into digital signals through the trigger circuit after determining the effective acoustic wave data signals, namely, control instructions, and sends the digital signals to the communication controller 223.
The communication controller 223 is configured to receive the control instruction, process the control instruction, and send the processed control instruction to the main controller in the base station 2.
Further, the filtering processing circuit 222 is specifically configured to:
filtering the first frequency band sound wave signal to obtain a sound wave data signal, wherein the sound wave data signal comprises a null signal and a sound wave signal with a set frequency;
filtering the second frequency band sound wave signal to obtain a sound wave enabling signal;
when the sound wave enabling signal exists, taking a sound wave data signal corresponding to the sound wave enabling signal as an effective sound wave data signal;
and converting the effective sound wave signals with the set frequency and the empty signals in the sound wave data signals into the control instruction according to a preset coding rule, and sending the control instruction to the communication controller 223.
When the sound wave enabling signal exists, the sound wave data signal with the set frequency and the empty signal existing at the same time are effective.
And converting the effective sound wave signals with set frequency in the sound wave data signals into characters 1 in a binary coding form, converting the effective null signals in the sound wave receiving data signals into characters 0 in the binary coding form, obtaining the control instruction, and sending the control instruction to the communication controller 223.
In the sound wave communication process, the double channels are used for receiving the sound wave data signals and the sound wave enabling signals only by adding the sonar, the effectiveness of the received sound wave data signals is determined by the received sound wave enabling signals, and the effective sound wave data signals are converted into the control instructions. The problem of among the prior art, when adopting the mode of handling the frequency of sending the sound wave to alleviate the underwater interference, need design multiple frequency processing circuit, carry out frequency processing to the sound wave signal that sends, design cost is higher and the processing procedure is complicated is solved, realized reducing design cost, simply reduce the effect of the influence of the underwater interference to communication sound wave signal effectively.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an acoustic wave communication system according to a third embodiment of the present invention, which is applicable to the case of transceiving communication data in an acoustic wave form. Generally, the acoustic wave communication system is not used alone, but is arranged on two devices with data transceiving requirements, typically, the devices are arranged underwater, and the acoustic wave communication system provided in this embodiment is used for assisting the underwater devices to realize data transceiving.
As shown in fig. 3, the acoustic wave communication system includes: the inspection device comprises a first sound wave communication unit 110 and a second sound wave communication unit 220, wherein the first sound wave communication unit 110 is arranged in the inspection device 1, and the second sound wave communication unit 220 is arranged in a base station 2;
the first acoustic communication unit 110 includes a first active sonar 1121 and a second active sonar 1122;
the second acoustic wave communication unit 220 includes a first passive sonar 2211 and a second passive sonar 2212;
the first acoustic wave communication unit 110 is configured to send an acoustic wave data signal and an acoustic wave enable signal to the base station 2 through the first active sonar 1121 and the second active sonar 1122, respectively;
the second acoustic wave communication unit 220 is configured to receive the acoustic wave data signal and the acoustic wave enable signal sent by the inspection device 1 through the first passive sonar 2211 and the second passive sonar 2212, determine whether the acoustic wave data signal is valid based on the acoustic wave enable signal, convert the valid acoustic wave data signal into a control instruction, and send the control instruction to the main controller in the base station 2, so that the main controller sends a positioning acoustic wave signal for positioning or an infrared signal for charging to the inspection device 1 based on the control instruction.
It should be noted that, when the base station 2 has a need to transmit communication data to the inspection equipment 1, the base station 2 may include the first acoustic wave communication unit 110, and the inspection equipment 1 may include the second acoustic wave communication unit 220.
In the sound wave communication process, the two channels of receiving and sending the sound wave data signals and the sound wave enabling signals are realized only by adding a sonar mode, and the effectiveness of the sound wave data signals is judged by the sound wave enabling signals. The problem of among the prior art, when adopting the mode of handling the frequency of sending the sound wave to alleviate the underwater interference, need design multiple frequency processing circuit, carry out frequency processing to the sound wave signal that sends, design cost is higher and the processing procedure is complicated is solved, realized reducing design cost, simply reduce the effect of the influence of the underwater interference to communication sound wave signal effectively.
Example four
Fig. 4 is a schematic structural diagram of an inspection device 1 according to a fourth embodiment of the present invention, which is applicable to detecting the position of a leakage point of an underwater pipeline. The inspection device 1 is matched with the base station 2 arranged on the pipeline for use, so that inspection along the pipeline is realized.
As shown in fig. 4, the inspection equipment 1 includes an acoustic wave communication unit 110 provided in the first embodiment.
Typically, the sound wave communication unit 110 is disposed in the positioning communication module 11 of the inspection device 1, and the positioning communication module is configured to send a sound wave signal requesting positioning and a sound wave signal requesting charging to the inspection device 1, and receive a positioning sound wave signal and an infrared signal sent by the base station 2, so as to achieve the purpose that the inspection device 1 moves to the base station 2.
The technical scheme of this embodiment, through set up sound wave communication unit 110 in inspection device 1, just sound wave communication unit 110 uses sound wave data signal and sound wave enable signal to base station 2 routing information has guaranteed that base station 2 can receive effectual sound wave data signal to only realize above-mentioned function through the mode that increases the sonar, reduced the cost and the complexity of handling the sound wave signal.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a base station 2 according to a fifth embodiment of the present invention, which is applicable to a situation of detecting a position of a leakage point of an underwater pipeline. The base station 2 is matched with the mobile inspection device 1 for use, so that inspection along the pipeline is realized.
As shown in fig. 5, the base station 2 includes an acoustic wave communication unit 220 provided in the second embodiment.
Typically, the sound wave communication unit 220 is disposed in the positioning communication module 22 of the base station 2, and the positioning communication module is configured to receive a sound wave signal requesting positioning and a sound wave signal requesting charging, which are sent by the inspection device 1, and send a positioning sound wave signal and an infrared signal to the inspection device 1, so as to achieve the purpose that the inspection device 1 moves to the base station 2.
The technical scheme of this embodiment, through set up sound wave communication unit 220 in base station 2, just sound wave communication unit 220 receives the sound wave data signal and the sound wave enable signal that inspection device 1 sent, guaranteed base station 2 can judge the validity of the sound wave data signal of receipt according to the sound wave enable signal that receives to only realize above-mentioned function through the mode that increases the sonar, reduced the cost and the complexity of handling the sound wave signal.
EXAMPLE six
The sixth embodiment of the invention provides an underwater inspection system which is applicable to the condition of detecting the position of a leakage point of an underwater pipeline. As shown in FIG. 3, the underwater inspection system comprises an inspection device 1 and a base station 2, and the inspection along the pipeline is realized by matching the inspection device 1 and the base station 2.
The underwater tour inspection system comprises a sound wave communication system provided by the third embodiment. The first acoustic wave communication unit 110 is disposed in the inspection device 1, the second acoustic wave communication unit 220 is disposed in the base station 2, a specific structural schematic diagram of the inspection device 1 is shown in fig. 4, and a specific structural schematic diagram of the base station 2 is shown in fig. 5.
The technical scheme of this embodiment through set up sound wave communication system in the system of patrolling and examining under water, makes the system of patrolling and examining under water carry out data communication based on sound wave communication system's communication principle, has guaranteed that 2 basic stations in the system of patrolling and examining under water can receive effectual sound wave data signal to only realize above-mentioned function through the mode that increases the sonar in inspection device 1 and basic station 2, reduced the cost and the complexity of handling the sound wave signal.
EXAMPLE seven
Fig. 6 is a flowchart of an acoustic wave communication method according to a seventh embodiment, which is applicable to the case of transceiving communication data in the form of acoustic waves, and can be performed by an acoustic wave communication system according to the third embodiment. The acoustic wave communication system includes: first sound wave communication unit and second sound wave communication unit, first sound wave communication unit sets up in patrolling and examining the device, second sound wave communication unit sets up in the basic station
The method specifically comprises the following steps:
and step 610, respectively sending a sound wave data signal and a sound wave enabling signal to the base station through the first active sonar and the second active sonar.
In the sound wave communication process, the two channels of receiving and sending the sound wave data signals and the sound wave enabling signals are realized only by adding a sonar mode, and the effectiveness of the sound wave data signals is judged by the sound wave enabling signals. The problem of among the prior art, when adopting the mode of handling the frequency of sending the sound wave to alleviate the underwater interference, need design multiple frequency processing circuit, carry out frequency processing to the sound wave signal that sends, design cost is higher and the processing procedure is complicated is solved, realized reducing design cost, simply reduce the effect of the influence of the underwater interference to communication sound wave signal effectively.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A sound wave communication unit is characterized in that the sound wave communication unit is arranged in an inspection device and comprises a first active sonar and a second active sonar;
the sound wave communication unit is used for respectively sending a sound wave data signal and a sound wave enabling signal to a base station through the first active sonar and the second active sonar, so that the base station judges whether the sound wave data signal is effective or not based on the sound wave enabling signal, and sends a positioning sound wave signal for positioning or sends an infrared signal for charging to the inspection device based on the effective sound wave data signal.
2. The acoustic communications unit of claim 1, wherein the acoustic communications unit comprises: a communication controller and a signal transmission circuit;
the communication controller is electrically connected with the signal sending circuit and is used for processing a control instruction sent by a main controller in the inspection device and sending the processed control instruction to the signal sending circuit;
the signal sending circuit is used for converting the received control instruction into the sound wave data signal, and respectively sending the sound wave data signal and the sound wave enabling signal to the base station through the first active sonar and the second active sonar.
3. The acoustic communication unit according to claim 1 or 2, wherein the acoustic data signal includes a null signal and an acoustic signal of a set frequency, the set frequency being different from the frequency of the acoustic enable signal.
4. A sound wave communication unit is characterized in that the sound wave communication unit is arranged in a base station and comprises a first passive sonar and a second passive sonar;
the sound wave communication unit is used for receiving sound wave data signals and sound wave enabling signals sent by the inspection device respectively through the first passive sonar and the second passive sonar, judging whether the sound wave data signals are effective or not based on the sound wave enabling signals, converting the effective sound wave data signals into control instructions, and sending the control instructions to the main controller in the base station, so that the main controller sends positioning sound wave signals used for positioning or infrared signals used for charging to the inspection device based on the control instructions.
5. The acoustic communication unit of claim 4, wherein the acoustic communication unit comprises: the device comprises a signal receiving circuit, a filtering processing circuit and a communication controller;
the signal receiving circuit is electrically connected with the filtering processing circuit and is used for receiving a first frequency band sound wave signal containing the sound wave data signal through the first passive sonar, receiving a second frequency band sound wave signal containing the sound wave enabling signal through the second passive sonar and sending the first frequency band sound wave signal and the second frequency band sound wave signal to the filtering processing circuit;
the filtering processing circuit is electrically connected with the communication controller and is used for respectively filtering the first frequency band sound wave signal and the second frequency band sound wave signal to obtain the sound wave data signal and the sound wave enabling signal, judging whether the sound wave data signal is effective or not by utilizing the sound wave enabling signal, converting the effective sound wave data signal into the control instruction and sending the control instruction to the communication controller;
and the communication controller is used for receiving the control instruction, processing the control instruction and sending the processed control instruction to a main controller in the base station.
6. The acoustic wave communication unit according to claim 5, wherein the filter processing circuit is specifically configured to:
filtering the first frequency band sound wave signal to obtain a sound wave data signal, wherein the sound wave data signal comprises a null signal and a sound wave signal with a set frequency;
filtering the second frequency band sound wave signal to obtain a sound wave enabling signal;
when the sound wave enabling signal exists, taking a sound wave data signal corresponding to the sound wave enabling signal as an effective sound wave data signal;
and converting the effective sound wave signals with the set frequency and the empty signals in the sound wave data signals into the control instruction according to a preset coding rule, and sending the control instruction to the communication controller.
7. An acoustic wave communication system, comprising: the inspection device comprises a first sound wave communication unit and a second sound wave communication unit, wherein the first sound wave communication unit is arranged in the inspection device, and the second sound wave communication unit is arranged in a base station;
the first sound wave communication unit comprises a first active sonar and a second active sonar;
the second sound wave communication unit comprises a first passive sonar and a second passive sonar;
the first sound wave communication unit is used for respectively sending a sound wave data signal and a sound wave enabling signal to the base station through the first active sonar and the second active sonar;
the second sound wave communication unit is used for respectively receiving the sound wave data signals and the sound wave enabling signals sent by the inspection device through the first passive sonar and the second passive sonar, judging whether the sound wave data signals are effective or not based on the sound wave enabling signals, converting the effective sound wave data signals into control instructions, and sending the control instructions to the main controller in the base station, so that the main controller sends positioning sound wave signals used for positioning or infrared signals used for charging to the inspection device based on the control instructions.
8. An inspection apparatus, comprising the acoustic wave communication unit according to any one of claims 1 to 3.
9. A base station comprising an acoustic communications unit according to any one of claims 4 to 6.
10. An acoustic wave communication method applied to the acoustic wave communication system according to claim 7, the acoustic wave communication system comprising: the method comprises the following steps that a first sound wave communication unit and a second sound wave communication unit are arranged in an inspection device, the second sound wave communication unit is arranged in a base station, and the method comprises the following steps:
respectively sending a sound wave data signal and a sound wave enabling signal to the base station through a first active sonar and a second active sonar;
the method comprises the steps of respectively receiving sound wave data signals and sound wave enabling signals sent by an inspection device through a first passive sonar and a second passive sonar, judging whether the sound wave data signals are effective or not based on the sound wave enabling signals, converting the effective sound wave data signals into control instructions, and sending the control instructions to a main controller in a base station, so that the main controller sends positioning sound wave signals used for positioning or infrared signals used for charging to the inspection device based on the control instructions.
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