阅读说明：本技术 一种飞行中继浮标及水陆通讯系统 (Flight relay buoy and land-water communication system ) 是由 廖飞 吴世崇 张旭 杨强 吴文华 耿青凯 余晨晖 于 2020-06-28 设计创作，主要内容包括：本发明公开了一种飞行中继浮标,涉及多介质通信领域,在保证浮标具有飞行控制通信、水下航行体控制通信中继及数传通信中继功能的前提下,使其具备飞行布放,实现水下航行体的控制和载荷数据传输。具体方案为：包括天线水密基座、信号处理/控制板及其机箱、水下通讯器水密舱,天线水密基座与信号处理控制机箱通过天线上支撑杆连接,水下通讯器水密舱与信号处理控制机箱通过水下通讯器下支撑杆连接；信号处理控制机箱连接一机架载体,机架载体上设有浮力体和飞行组件,飞行组件包括电机和与旋翼电机转动连接的旋翼；与现有技术相比,本发明提出的飞行浮标,采用了多旋翼载体,实现了浮标的飞行控制,能够通过飞行进行布放,方便更改任务。(The invention discloses a flight relay buoy, which relates to the field of multi-medium communication, and has the functions of flight control communication, underwater vehicle control communication relay and data transmission communication relay on the premise of ensuring that the buoy has the functions of flight control communication, underwater vehicle control communication relay and data transmission communication relay, so that the control of an underwater vehicle and load data transmission are realized. The specific scheme is as follows: the underwater communicator watertight cabin is connected with the signal processing control case through an upper antenna supporting rod; the signal processing control cabinet is connected with a rack carrier, a buoyancy body and a flight assembly are arranged on the rack carrier, and the flight assembly comprises a motor and a rotor which is rotationally connected with a rotor motor; compared with the prior art, the flying buoy provided by the invention adopts the multi-rotor carrier, realizes the flying control of the buoy, can be distributed through flying, and is convenient for changing tasks.)

1. A flight relay buoy is characterized by comprising an antenna watertight base (3), a signal processing control case (10) and an underwater communicator watertight cabin (21), wherein the antenna watertight base (3) is connected with the signal processing control case (10) through an antenna upper supporting rod (6), and the underwater communicator watertight cabin (21) is connected with the signal processing control case (10) through an underwater communicator lower supporting rod (20); the signal processing control cabinet (10) is connected with a rack carrier (13), a buoyancy body (14) and a flight assembly (12) are arranged on the rack carrier (13), and the flight assembly (12) comprises a rotor motor and a rotor which is rotationally connected with the rotor motor;

the antenna watertight base (3) is provided with an antenna which is used for signal transmission between the signal processing control case (10) and a ground station or water equipment;

an underwater communicator group (22) is arranged in the underwater communicator watertight cabin (21);

the signal processing control cabinet (10) is hermetically arranged, a control computer (15) is arranged in the cabinet, and the control computer (15) is respectively in signal connection with the antenna, the rotor motor and the underwater communicator group (22).

2. The flying relay buoy of claim 1, characterized in that the rack carrier (13) is designed to penetrate through the signal processing control cabinet (10), the connection part of the rack carrier (13) and the signal processing control cabinet (10) is hermetically connected through a fastening connector (16), and a signal transmission line is arranged in the rack carrier (13).

3. The flight relay buoy of claim 1, characterized in that the antenna watertight base (3) is further provided with a GPS and external compass integrated assembly (4) and a beacon light (5); the antenna comprises a first antenna (1) and a second antenna (2), wherein the first antenna (1) is used for receiving flight remote control signals, and the second antenna (2) is used for wireless data transmission of ground stations or water equipment.

4. The flying relay buoy of claim 1, wherein the bottom of the watertight compartment (21) of the underwater communicator is further provided with a fishing winch (23) and a fishing storage bin (24), and the fishing winch (23) is connected with a fishing (26) through a bearing cable (25).

5. The flight relay buoy of claim 2, 3 or 4, characterized in that the signal processing control cabinet (10) is further provided with a wireless communication radio station (9) and a power amplifier (18), and the wireless communication radio station (9) and the power amplifier (18) are in signal connection with the control computer (15).

6. The flight relay buoy of claim 5, characterized in that a sealing door (11) is provided on the signal processing control cabinet (10).

7. An amphibious communication system based on a relay buoy according to any one of claims 1 to 6, which is based on a flight relay buoy and is characterized by further comprising a ground station, wherein the ground station comprises a wireless communication module, a flight control module, an underwater communication module and a comprehensive control and processing module.

8. The system according to claim 7, wherein the wireless communication module comprises a first wireless communication data link layer processing module, a first wireless communication physical layer processing module, a second wireless communication physical layer processing module and a second wireless communication data link layer processing module.

9. The relay buoy-based land-water communication system of claim 7, wherein the flight control module comprises a flight control and navigation unit, a flight control component unit.

10. The relay buoy-based land-water communication system as claimed in claim 7, wherein the underwater communication module comprises an underwater communication data link layer processing unit, an underwater communication physical layer processing unit, a signal acquisition/analog-to-digital conversion unit, a receiving front end processing unit, a transceiving conversion unit, an underwater transceiving unit, a function matching layer and a signal generation/power amplification/analog-to-digital conversion unit.

Technical Field

The invention relates to the field of multi-medium communication, in particular to a flight relay buoy and an amphibious communication system.

Background

The underwater unmanned intelligent navigation body and the water-air amphibious unmanned intelligent body need to complete control and data transmission underwater communication when navigating underwater. The underwater intelligent control navigation body and the amphibious aircraft realize cross-medium control and data transmission communication, and due to the huge difference of water and air media, the optimal communication means in water and air are greatly different and have poor compatibility, so that seamless conversion or power amplification of water and air communication is realized by designing a relay buoy.

The current relay buoy does not generally have the flight laying function, and does not generally have the control and transmission communication functions at the same time. At present, with the development of underwater intelligent bodies and amphibious intelligent flying bodies, the development of the relay buoy with the flying function has practical value.

Disclosure of Invention

The invention provides a flight relay buoy, which overcomes the defects of the prior art, and has flight arrangement on the premise of ensuring that the buoy has flight control communication, underwater vehicle control communication relay and data transmission communication relay functions, so that the control and load data transmission of an underwater vehicle are realized.

The technical purpose of the invention is realized by the following technical scheme:

a flight relay buoy comprises an antenna watertight base, a signal processing/control panel and a case thereof, and an underwater communicator watertight cabin, wherein the antenna watertight base is connected with the signal processing control case through an upper antenna supporting rod, and the underwater communicator watertight cabin is connected with the signal processing control case through a lower underwater communicator supporting rod; the signal processing control cabinet is connected with a rack carrier, a buoyancy body and a flight assembly are arranged on the rack carrier, and the flight assembly comprises a motor and a rotor which is rotationally connected with a rotor motor;

the antenna watertight base is provided with an antenna which is used for signal transmission between the signal processing control case and the ground station or the water equipment;

an underwater communicator group is arranged in the watertight cabin of the underwater communicator;

the signal processing control cabinet is sealed, a control computer is arranged in the cabinet, and the control computer is respectively in signal connection with the antenna, the rotor motor and the underwater communicator.

In the scheme, the antenna and the control computer can connect signals through a circuit laid in the support rod on the antenna, the function of the antenna comprises controlling the flight assembly, and the function of the antenna also comprises the step of carrying out wireless data transmission between the relay buoy and a ground station or water equipment; the signal connection can be carried out in a mode of laying lines in the connecting rods, the rack carrier and the signal processing control cabinet can be connected in a mode of arranging the connecting frame, the rack carrier and the signal processing control cabinet can be detachably connected, and the rack carrier and the signal processing control cabinet can also be integrally formed. The specific arrangement mode of the buoyancy body and the flight assembly is not specifically limited, the buoyancy body is used as a common object of the relay buoy, various arrangement modes are provided, and the specific position of the flight assembly is not specifically limited on the basis of realizing flight. The relationship between the buoyant body and the flying assembly can be a coupled relationship or an independent relationship.

Above-mentioned scheme has realized the flight control of buoy through setting up the flight subassembly, can lay through the flight, and the task is conveniently changed.

As a preferred scheme, the rack carrier penetrates through the signal processing control cabinet, the connection part of the rack carrier and the signal processing control cabinet is hermetically connected through a fastening connecting piece, and a signal transmission line is arranged in the rack carrier.

In the scheme, the rack carrier is directly connected with the signal processing control cabinet, so that the design of a connecting rack can be reduced, and the whole relay buoy is lighter in weight and easier to control.

As a preferred scheme, the antenna watertight base is also provided with a GPS and external compass integrated assembly and a beacon light; the antenna comprises a first antenna and a second antenna, wherein the first antenna is used for receiving flight remote control signals, and the second antenna is used for carrying out wireless data transmission on a ground station or water equipment.

In the scheme, the first antenna is used for receiving flight remote control signals; the second antenna adopts a VHF antenna and is used for carrying out wireless data transmission with a ground station or water equipment. The two are clearly divided, so that the signal transmission speed is higher and the quality is better.

As a preferred scheme, the bottom of the watertight cabin of the underwater communicator is also provided with a fishing winch and a fishing storage bin, and the fishing winch is connected with a fishing through a bearing cable.

In the above scheme, the fish lead is stored in the fish lead storage cabin through the control of the flight control system, and is distributed to the water bottom or the water after being thrown at a fixed point.

As a preferred scheme, the signal processing control cabinet is also provided with a wireless communication radio station and a power amplifier, and the wireless communication radio station and the power amplifier are in signal connection with the control computer.

As a preferred scheme, a sealing door is arranged on the signal processing control cabinet.

In the scheme, the sealing door can realize the operations and the charging of unlocking control hardware, self-checking, battery charging, a power switch and a watertight interface.

The amphibious communication system based on the relay buoy further comprises a ground station, wherein the ground station comprises a wireless communication module, a flight control module, an underwater communication module and a comprehensive control and processing module.

As a preferred scheme, the wireless communication module includes a first wireless communication data link layer processing module, a first wireless communication physical layer processing module, a second wireless communication physical layer processing module, and a second wireless communication data link layer processing module.

Preferably, the flight control module comprises a flight control and navigation unit and a flight control component unit.

As a preferred scheme, the underwater communication module comprises an underwater communication data link layer processing unit, an underwater communication physical layer processing unit, a signal acquisition/analog-to-digital conversion unit, a receiving front-end processing unit, a transceiving conversion unit, an underwater transceiving unit, a function matching layer and a signal generation/power amplification/analog-to-digital conversion unit.

In conclusion, the invention has the following beneficial effects:

1) compared with the prior art, the flying buoy provided by the invention adopts the multi-rotor carrier, realizes the flying control of the buoy, can be laid by flying, and is convenient for changing tasks;

2) the invention is compatible with the seamless connection between the water and the water of two wireless communication of control and data transmission, is beneficial to the integration of the control and the data link of the underwater navigation body, and can meet the remote control of floating, underwater moving or static targets and various data transmission requirements;

3) the invention provides a mobile radio communication gateway node, which has great application prospect.

Drawings

FIG. 1 is a schematic structural diagram of a flight relay buoy according to an embodiment of the invention;

FIG. 2 is a detailed component diagram of a software system of an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a rack carrier according to an embodiment of the invention;

wherein:

1. a first antenna; 2. a second antenna; 3. an antenna watertight base; 4. the GPS and the external compass integrated component; 5. a beacon light; 6. an antenna upper support rod; 7. the antenna upper supporting rod is connected with the watertight flange; 8. an electrical component capsule; 9. a wireless communication station; 10. a signal processing control cabinet; 11. a sealing door; 12. a flight assembly; 13. a rack carrier; 13a, a motor mounting seat; 13b, a quad-rotor airframe; 14. a buoyant body; 15. a control computer; 16. fastening a connecting piece; 17. an energy system; 18. a power amplifier; 19. the lower support rod is connected with a watertight flange; 20. a lower support rod of the underwater communicator; 21. a watertight compartment of the underwater communicator; 22. an underwater communicator group; 23. a fishing winch; 24. a fishing storage compartment; 25. a load-bearing cable; 26. fishing.

Detailed Description

This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

The description is further described below with reference to the accompanying drawings.

A flight relay buoy adopts a modular design of building blocks and comprises the following components from top to bottom: the system comprises a first antenna 1, a second antenna 2, an antenna watertight base 3, a GPS and external compass integrated component 4, a beacon light 5, an antenna upper supporting rod 6, an antenna upper supporting rod connecting watertight flange 7, an electrical component sealed cabin 8, a wireless communication radio station 9, a signal processing control cabinet 10, a sealing door 11, a flight component 12, a rack carrier 13, a buoyancy body 14, a control computer 15, a fastening connecting piece 16, an energy system 17, a power amplifier 18, a lower supporting rod connecting watertight flange 19, an underwater communicator lower supporting rod 20, an underwater communicator watertight cabin 21, an underwater communicator group 22, a fish winch 23, a fish accommodating cabin 24, a bearing cable 25, a fish 26, a wireless communication module, a flight control system, an underwater communication system, an integrated control and processing module and a power management system.

First antenna 1 and second antenna 2 pass through antenna watertight base 3 to be fixed on the support rod seat, and is integrative with GPS and the integrative subassembly 4 of external compass, realizes whole waterproof through the form of shell.

The antenna upper supporting rod 6 is connected with the electric appliance element sealed cabin 8 through the antenna upper supporting rod connecting watertight flange 7.

The form of the sealing cabin door realizes the unlocking of control hardware, self-checking, battery charging, the operation and charging of a power switch and a watertight interface.

The flying component 12 floats on the water surface through a buoyancy body 14 which is arranged below the waterproof rotor motor at a certain distance, is installed on a multi-rack carrier 13, and realizes the connection, power supply and communication with the electrical component sealed cabin 8 together with the rack through a lug and a waterproof plug, and the lead fish 26 is distributed for fixing points.

The wireless communication module, mainly composed as shown in fig. 2, includes a first wireless communication data link layer processing module, a first wireless data physical layer processing module, a second wireless data physical layer processing module, and a second wireless data link layer processing module, and is used to implement functions of a wireless communication data link layer and a physical layer.

The flight control system mainly comprises a flight control and navigation system and a flight control component module as shown in figure 2, and is used for realizing the flight function of the flight buoy and the retraction control of the fish lead.

An underwater communication system, mainly composed as shown in fig. 2, includes an underwater communication data link layer processing unit, an underwater communication physical layer processing unit, a signal acquisition/analog-to-digital conversion unit, a receiving front-end processing unit, a transceiving conversion unit, an underwater transceiving unit, a function matching layer and a signal generation/power amplification/analog-to-digital conversion unit, and is used for realizing functions of a wireless communication and underwater communication network layer and an application layer.

The power management system mainly comprises a flight control system power supply module, a wireless communication power supply module, a power amplification power supply module, a system analog circuit power supply module and a signal processing circuit power supply module, and is used for realizing distribution, control, maintenance and management of a power supply, as shown in fig. 2.

The first antenna 1 is used for receiving flight remote control signals; the second antenna 2 adopts a VHF antenna and is used for carrying out wireless data transmission with a ground station or water equipment.

A radio communication station 9, comprising: the system comprises a flight remote control signal receiver and a VHF data radio station, wherein the flight remote control signal receiver is used for outputting flight remote control signals according to an SBUS protocol, and the VHF data radio station and a second antenna 2 are used for long-distance data transmission.

The electric appliance element sealed cabin 8 can be in an ellipsoidal shape and is designed by adopting a light corrosion-resistant material, and after the internal module is configured, the integral gravity center position is close to the geometric center of the flying rack; the rack carrier 13, as shown in fig. 3, includes: the motor mounting seat 13a and the four-rotor frame 13b adopt a four-rotor cross frame, a wiring groove or a through pipe is reserved on a support rod, and the four-rotor frame and the electronic sealed cabin adopt a fastening connecting piece 16 to be connected with a power-on control signal. The energy system 17 adopts a lithium battery pack to supply power to the whole buoy and the four-rotor motor.

The underwater communicator group 22 adopts underwater acoustic communication, realizes energy conversion from wireless communication to underwater acoustic communication by using a receiving/transmitting transducer, and realizes seamless conversion between VHF communication and underwater acoustic communication by matching with an underwater communication system; the underwater communication data link layer processing module adopts an underwater acoustic communication data link layer processing protocol, the underwater communication physical layer processing module adopts an underwater acoustic communication physical layer for processing, and the underwater transceiving module adopts a transceiving transducer for realizing conversion from wireless to underwater sound; the underwater communication network layer processing module adopts an underwater acoustic network communication protocol to realize the function of an underwater acoustic communication network layer.

Adopt the modularized design, realize the flight through many rotor frame carriers 13 and flight control and navigation, put in through the surface of water fixed point and realize the control on water and underwater and the seamless switching of data transmission double communication, the fish lead 26 is accomodate in fish lead storage chamber 24 through flight control system control capstan winch 23 motor when flying, and the cloth is put to submarine or aquatic after the fixed point is put in.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.