Remote control underwater robot repeater control device based on twisted pair lines

Abstract

The invention relates to a remote control underwater robot repeater control device based on twisted pair lines. Ethernets are respectively established in a water surface unit and a repeater of an underwater robot, the Ethernet of the water surface unit and the Ethernet of the underwater repeater are connected through a pair of twisted pair lines via main and slave modulating and demodulating units to form unified Ethernet transmission video signals and control signals; the Ethernet of the water surface unit is formed by respectively connecting network ports of a main control computer, an I / O acquisition node, a video decoder and a main modulating and demodulating unit with the network port of a network switch in the water surface unit; and the Ethernet of the underwater repeater is formed by respectively connecting network ports of an I / O acquisition and output node of the repeater, a video encoder and a slave modulating and demodulating unit with the network port of a network switch in the repeater. The invention saves the size and the space of a winch for sheathed cables stored on the water surface; the transmission distance is far; and the expandability of the system is increased.

Description

technical field [0001] The present invention relates to a repeater video transmission and data communication technology for a remote-controlled underwater robot, specifically a technology based on the control of the repeater on the water surface and the transmission and display of the repeater video through twisted pairs. Twisted pair remote control underwater robot repeater control device. Background technique [0002] A remote-controlled underwater robot is a device that works in the sea. It usually consists of three parts, a surface unit, a repeater and a submersible. The surface unit and the repeater are mainly connected by an armored cable through a winch, and the repeater and the submersible are connected by a mooring cable. see specific figure 1 . The surface unit is mainly used to operate the submersible and the repeater, and display the video and sensor information on the submersible and the repeater through the monitor and the man-machine interface. Both the ar...

AI Technical Summary

Problems solved by technology

Coaxial video transmission is limited by the transmission distance, usually within a few hundred meters, and data is usually transmitted through twisted-pair wires using RS-485 or CAN bus, and the longest transmission distance is only about 1200 meters. The transmission of video and data by the above-mentioned method to the surface unit is limited by the length. With the development of the marine industry, the demand for underwater robots is also increasing, and underwater robots are required to develop in a deeper, multi-functional and networked direction. , so the video and data transmission of the traditional repeater system is far from meeting the needs of the development of underwater robots

The development of modern optical fiber technology can also be applied to the repeater of underwater robots, but because underwater optical fiber transmission requires equipment such as watertight optical cables and optical multiplexers, the cost is very high, and it is usually applied on submersibles Optical fiber, because there are many video sources on the submersible, and the amount of control data is large

If the repeater does not use optical fiber, it can also use twisted-pair wires to use modulation and demodulation technology, so that the video and data transmission can reach several kilometers, but the video and data each occupy a pair of twisted-pair wires. When the armored cable length is short, the two The contradiction between the space occupied by the twisted pair and the increase in the weight of the armored cable is not outstanding, but when the distance is long, the weight of the armored cable will increase, and the space occupied will also increase, and the two pairs of twisted pairs will also increase the weight of the armored cable. To use different types of modem equipment, this increases the installation space and weight of the electronic compartment of the repeater part, and also increases the cost and unreliability

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