CN110510085A - A kind of underwater robot based on visible light communication - Google Patents
A kind of underwater robot based on visible light communication Download PDFInfo
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- CN110510085A CN110510085A CN201910708185.4A CN201910708185A CN110510085A CN 110510085 A CN110510085 A CN 110510085A CN 201910708185 A CN201910708185 A CN 201910708185A CN 110510085 A CN110510085 A CN 110510085A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/54—Systems for transmission via power distribution lines
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
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Abstract
The present invention provides a kind of underwater robots based on visible light communication, including industrial control host, power line carrier module, robot control module, visible light signal transmitter, visible light signal receiving module, serial port module, power module, sensor module, propeller；The information that industrial control host is used to carry out control to each module and return to each module carries out reception processing；Power line carrier module carries out long range wire communication for industrial control host and water surface user；Robot control module is used to receive the control instruction of industrial control host and controls the movement of each propeller；Visible light signal transmitter emits visible light communication signal；Visible light signal receiving module includes condenser lens and signal processing circuit；Power module is responsible for energy supply；Sensor module is for acquiring underwater robot posture information and underwater environment information.The present invention have the advantages that it is at low cost, low in energy consumption, easy to operate, be conducive to realize, can be used for constructing the underwater sensor network based on visible light communication.
Description
Technical field
The present invention relates to technical field of visible light communication, and in particular to a kind of underwater robot based on visible light communication.
Background technique
Since radio signal decays seriously in an underwater environment, it can only realize short-range data transmission, be unable to satisfy
The requirement of long range subsurface communication.Current underwater sensor node is based on underwater sound communication more and realizes and the water surface and submarine navigation device
Communication, but underwater sound communication delay is high, digit rate is low, power consumption is big, equipment volume is big, multipath effect is obvious.
Visible light communication has at low cost, and rate is high, and feature low in energy consumption, transmission range is between underwater sound communication under water
Between radio communication, but transmission rate is communicated much higher than underwater sound communication and underwater long wave radio, meets underwater sensing
The growing data communication needs of device network are suitable for underwater short-distance and medium-distance and wirelessly communicate.
Underwater robot plays important work in acquisition underwater sensor node data and in terms of carrying out underwater exploration operation
With.The speed and stability for how improving underwater robot acquisition node data become current urgent problem to be solved.
Summary of the invention
That the purpose of the present invention is to provide a kind of based on visible light communication is inexpensive, small in size, it is underwater to be easy to dispose
Robot.
The purpose of the present invention is realized at least through one of following technical solution.
A kind of underwater robot based on visible light communication, including industrial control host, power line carrier module, robot control mould
Block, visible light signal transmitter, visible light signal receiving module, serial port module, power module, sensor module, propeller；
The industrial control host, for control and return each module to each module, visible light signal transmitter and propeller
The information returned carries out reception processing；
The power line carrier module, for making industrial control host and water surface user carry out long range wire communication；
The robot control module is connect, for receiving the control instruction of industrial control host with industrial control host by serial port module
And control instruction conversion, distribution are controlled into the movement of each propeller to each propeller；
The visible light signal transmitter input end is connected to industrial control host by serial port module, it is seen that optical signal transmitter includes
LED drive circuit and LED light, in the Transistor-Transistor Logic level signal modulation to LED light that LED drive circuit issues serial port module, it is seen that light
Signal projector is for emitting visible light communication signal；
The visible light signal receiving module is connect by serial port module with industrial control host, including condenser lens and signal processing electricity
Road；
The power module respectively with industrial control host, power line carrier module, robot control module, visible light signal transmitter,
Visible light signal receiving module, sensor module, propeller connection, are responsible for the energy supply of underwater robot；
The sensor module, including camera, pressure sensor, acceleration transducer and voltage detector, are separately connected machine
Device people control module and industrial control host, for acquiring underwater robot posture information and underwater environment information；
The propeller is connect with robot control module and power module, is included 6 brush DC propellers, is set to machine
People is left front, it is right before, it is left back, right after, it is left, right in orientation.
Further, the industrial control host is connect with power line carrier module, and power line carrier module issues industrial control host
Ethernet signal is converted to power carrier signal, is connect by two electric power twisted pairs with water surface subscriber's main station and carries out signal biography
Defeated, water surface host subscriber can be underwater with the movement of real-time control underwater robot and acquisition by remotely controlling the industrial control host
The status information of robot.
Further, the robot control module respectively in propeller, serial port module and sensor module plus
Velocity sensor, pressure sensor are connected with voltage sensor；Robot control module is by acceleration transducer, pressure sensor
The data returned with voltage sensor are converted to serial data, and send institute for the serial data after conversion by serial port module
State industrial control host；Robot control module receives the control instruction of industrial control host sending by serial port module and is converted into
Pwm signal is assigned to each propeller, realizes the motor function of underwater robot, and the propeller and robot control module connect
It connects.
Further, it is seen that in optical signal receiving module, the signal processing circuit includes photodiode, across resistance amplification
Device, sign-changing amplifier and comparator；Condenser lens gathers light beam on the photosurface of photodiode, and trans-impedance amplifier is by light
The current signal of electric diode output is converted to voltage signal, and the voltage signal that sign-changing amplifier exports trans-impedance amplifier is into one
Step amplification, and the analog electrical signal that sign-changing amplifier exports is converted to by the identifiable Transistor-Transistor Logic level of serial port module by comparator
Signal, it is seen that optical signal receiving module output end is believed by text, picture or the video that serial port module will be seen that optic communication is transmitted
Breath, which is transferred in industrial control host, to be handled.
Further, the sensor module, including camera, pressure sensor, acceleration transducer and voltage detecting
Device；Wherein, camera is connected to industrial control host, the acquisition for underwater picture and video information；Pressure sensor is connected to machine
Device people's control module, for measuring the depth where underwater robot；Acceleration transducer is connected to robot control module, uses
In detection underwater robot front and rear, left and right, up and down direction acceleration information and industrial control host is returned to, convenient for industrial control host to water
Lower robot front and rear, left and right, the athletic posture for heaving, rotating horizontally 4 freedom degrees are controlled；Voltage detector is connected to machine
Device people's control module, for detecting the output voltage of underwater robot interior power module.
Further, in 6 brush DC propellers, wherein before left front, right, it is left back, right after four orientation push away
Into device be used for robot provide front and rear, left and right, rotate horizontally 3 freedom degrees power, it is left, right in two orientation propulsion
Device is used to provide rising, sinking power to robot.
Compared to traditional technology, the beneficial effects of the present invention are:
The present invention uses visible light communication technology, has higher communication compared to traditional underwater robot based on underwater sound communication
Rate and confidentiality are, it can be achieved that metastable underwater short distance high-speed mobile communications；The present invention is low in cost, small in size, just
In realizing undersea detection and the acquisition of underwater sensor node data, there is good practical value and promotion prospect.
Detailed description of the invention
Fig. 1 is system construction drawing of the invention.
Fig. 2 is underwater robot and underwater node and water surface user's communication scheme.
Fig. 3 is visible light signal transmitter circuit figure of the invention.
Fig. 4 is trans-impedance amplifier circuit diagram in visible light signal processing circuit of the invention.
Fig. 5 is inverting amplifier circuit figure in visible light signal processing circuit of the invention.
Fig. 6 is comparator circuit figure in visible light signal processing circuit of the invention.
Fig. 7 is that visible light signal of the invention emits signal flow schematic diagram.
Fig. 8 is that visible light signal of the invention receives signal flow schematic diagram.
Fig. 9 is that orientation schematic diagram is arranged in underwater robot propeller.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawings and examples.
Embodiment:
As shown in Figure 1, a kind of underwater robot based on visible light communication, including industrial control host, power line carrier module, robot
Control module, visible light signal receiving module, serial port module, power module, sensor module, pushes away visible light signal transmitter
Into device；
The industrial control host, for control and return each module to each module, visible light signal transmitter and propeller
The information returned carries out reception processing；
The power line carrier module carries out long range wire communication for industrial control host and water surface user；
The robot control module is connect, for receiving the control instruction of industrial control host with industrial control host by serial port module
And control instruction conversion, distribution are controlled into the movement of each propeller to each propeller；
The visible light signal transmitter input end is connected to industrial control host, including LED drive circuit and LED by serial port module
Lamp, in the Transistor-Transistor Logic level signal modulation to LED light that LED drive circuit issues serial port module, it is seen that optical signal transmitter is for sending out
Penetrate visible light communication signal；
The visible light signal receiving module is connect by serial port module with industrial control host, including condenser lens and signal processing electricity
Road；
The power module respectively with industrial control host, power line carrier module, robot control module, visible light signal transmitter,
Visible light signal receiving module, sensor module, propeller connection, are responsible for the energy supply of underwater robot；
The sensor module, including camera, pressure sensor, acceleration transducer and voltage detector, are separately connected machine
Device people control module and industrial control host, for acquiring underwater robot posture information and underwater environment information；
The propeller is connect with robot control module and power module, is included 6 brush DC propellers, is set to machine
People is left front, it is right before, it is left back, right after, it is left, right in orientation.
Further, in this embodiment the industrial control host passes through power carrier using the new wound mini host j1900 of cloud
Module is attached with water surface subscriber's main station.As shown in Fig. 2, by visible between underwater robot B and underwater sensor node C
Optic communication exchanges data, and water surface host subscriber A can be by controlling industrial control host remotely with the movement of real-time control underwater robot B
And the status information of acquisition underwater robot B.The ethernet signal that the power line carrier module issues industrial control host is converted
For power carrier signal, carry out signal transmission by two electric power twisted pairs, it can be achieved that underwater 300m communication distance.
Further, in the present embodiment, robot control module uses open source hardware circuit Arduino MEGA
2560.Arduino Mega 2560 is the core circuit plate using USB interface, has 54 number word input and outputs, is suitble to need
The design of a large amount of I/O interfaces.Processor core is ATmega2560, while having 54 railway digital I/O ports, wherein 15 tunnels
Can be used as PWM output, also have 15 tunnel simulation input mouths, 4 tunnel UART interfaces, a 16MHz crystal oscillator, a USB port,
One power outlet, an ICSP header and a reset button.The robot control module passes through digital IO
Interface is connect with acceleration transducer, voltage detector, the pressure sensor in sensor module by Du Pont's line, by sensor
The data that module returns are converted to serial data, and are sent to industrial control host by serial port module.Robot control module passes through
Serial port module, which receives the control instruction that industrial control host issues and is converted into pwm signal, is assigned to each propeller, realizes underwater
The motor function of robot, the propeller are connect with robot control module.
In the present embodiment, the visible light signal transmitter, using constant-current LED driving chip DD311.DD311 is single
The LED constant-current driver of channel output is the chip for aiming at driving great power LED and designing.DD311 can drive up to 1 ampere
Sink current, integrated level is high, and outer hanging component is few, and stability is high.Chip enable end can control the switching of output end, and frequency reaches
1MHz.As shown in figure 3, LED drive circuit includes constant-current LED driving chip DD311, resistance R_LED and port P1.Wherein
The REXT pin of DD311 is connected to positive 5V power supply by resistance R_LED；OUT pin is connected to the cathode of LED；GND and VSS draw
Foot ground connection；EN pin is connected to the output end of serial port module by port P1.The anode of LED is connected to positive 5V power supply.
Further, in this embodiment the visible light signal transmitter LED is using peak wavelength 450nm's or so
Blue-ray LED is conducive to the stability for enhancing signal, increases water since blue light that wavelength is 450nm or so is decayed smaller under water
The effective distance of lower visible light communication.
Further, as shown in fig. 7, the visible light signal transmitter input end is connected to industry control master by serial port module
Text, image, vision signal are sent to the LED drive circuit in visible light emitter by serial port module by machine, industrial control host,
LED drive circuit by the text received, image, vision signal be converted to visible light signal and control driving LED export this can
Light-exposed signal beams.
In the visible light signal receiving module, as shown in figure 8, signal processing circuit includes photodiode, puts across resistance
Big device, sign-changing amplifier and comparator；Condenser lens will be seen that optical signal beam gathers on the photosurface of photodiode, across
The current signal that photodiode exports is converted to voltage signal by impedance amplifier, and sign-changing amplifier exports trans-impedance amplifier
Voltage signal is further amplified, and the analog electrical signal that sign-changing amplifier exports is converted to serial port module by comparator can know
Other Transistor-Transistor Logic level signal, module output end are passed by text, picture or the video information that serial port module will be seen that optic communication is transmitted
It is defeated to being handled in industrial control host.
Further, in the present embodiment, the visible light signal receiving module circuit is using peak wavelength 540nm's
Photodiode Hamamatsu S8265.
In the present embodiment, it is put in the visible light signal receiving module signal processing circuit using TI OPA657 operation
Big device constitutes trans-impedance amplifier and inverting amplifier circuit, and conversion speed reaches 700V/us, and gain bandwidth product reaches 1.6GHz, knot
The JFET input characteristics of high gain-bandwidth, low distortion, Voltage Feedback operational amplifier and low-voltage noise is closed.
As shown in figure 4, in the present embodiment, trans-impedance amplifier circuit include operational amplifier IC1, resistance R1, resistance R7,
Resistance R10, capacitor C11 and capacitor C22.Wherein operational amplifier IC1 selects TI OPA657, the positive power source terminal+Vs of IC1 to connect
It is connected to positive 5V power supply；Negative power end-Vs is connected to negative 5V power supply；Non-inverting input terminal Vin+ is grounded by resistance R1；Anti-phase input
End Vin- is connected to the cathode of photodiode S8265；Output end vo ut and inverting input terminal Vin- passes through feedback electricity in parallel
Resistance R10 is connected with feedback capacity C11；Output end vo ut is connected to one end of capacitor C22.The other end of capacitor C22 passes through resistance
R7 ground connection, capacitor C22 and resistance R7 constitute single order high-pass filter.The anode of photodiode S8265 is connected to negative 5V power supply.
As shown in figure 5, in the present embodiment, inverting amplifier circuit includes operational amplifier IC2, resistance R12, resistance R8
With resistance R11, wherein operational amplifier IC2 selects TI OPA657, the positive power source terminal+Vs of IC2 to be connected to positive 5V power supply；Negative electricity
Source-Vs is connected to negative 5V power supply；Non-inverting input terminal Vin+ is grounded by resistance R12；Inverting input terminal Vin- passes through resistance R8
It is connected in trans-impedance amplifier circuit between capacitor C22 and resistance R7；Output end vo ut and inverting input terminal Vin- pass through feedback
Resistance R11 connection.
After signal amplification, the binary signal of Transistor-Transistor Logic level is converted into so as to serial port module reading by comparator.Such as
Shown in Fig. 6, in the present embodiment, comparator circuit includes comparator chip IC 3, resistance R2, resistance R3, resistance R4 and current potential
Device Rdj.Wherein comparator chip IC 3 selects the positive power source terminal V+ of high-speed comparator chip MAX913, IC3 to be connected to positive 5V electricity
Source；Negative power end V- is connected to negative 5V power supply；Non-inverting input terminal IN+ is grounded by resistance R1；Inverting input terminal IN- is connected to instead
The OPA657 output end vo ut into amplifier circuit；Inverting input terminal IN- is also connected to potentiometer Rdj's by resistance R4 simultaneously
Variable resistance end, the both ends potentiometer Rdj are respectively connected to positive 5V power supply and negative 5V power supply；In-phase output end Q and non-inverting input terminal
It is connected between IN+ by resistance R3；In-phase output end Q is also connected to the input terminal of serial port module simultaneously；The end GND and LE termination
Ground.
In the present embodiment, the power module, including 12V lithium battery and 5V voltage stabilizing circuit module.Industrial control host uses
12V directly powers, remaining module is powered by 5V voltage stabilizing circuit module.Wherein, it is visible for selecting switch power module IA1205S
Optical signal receiving module circuit provides positive and negative 5V power supply.The adjustable lowering and stabilizing blood pressure power module of LM2596S DC-DC direct current is selected to make
For 5V voltage stabilizing circuit module.
In the present embodiment, the sensor module, including camera, pressure sensor, acceleration transducer and voltage
Detector.Wherein, camera is connected to industrial control host, the acquisition for underwater picture and video information；Pressure sensor connection
To robot control module, MS5803-14BA is selected, for measuring the depth where underwater robot；Acceleration transducer connects
It is connected to robot control module, selects JY-901, for detecting the acceleration letter of underwater robot front and rear, left and right, up and down direction
Cease and return to industrial control host, convenient for industrial control host to around underwater robot, heave, rotate horizontally 4 freedom degrees
Athletic posture is controlled；Voltage detector is used to detect the output voltage of underwater robot power supply module.
The propeller includes 6 brush DC propellers, connect with robot control module and power module connects, adopt
Propeller is connected with 2212 type DC brushless motors.Robot control module is converted to the control instruction that industrial control host issues
Pwm signal is assigned to each propeller, realizes the motor function of underwater robot.As shown in figure 9,6 propellers are respectively arranged at
Robot is left front, it is right before, it is left back, right after, it is left, right in orientation, wherein before left front, right, it is left back, right after four orientation propulsion
Device be used for robot provide front and rear, left and right, rotate horizontally 3 freedom degrees power, it is left, right in two orientation propeller
For providing rising, sinking power to robot.
Underwater man-hour, the robot control module periodically acquire acceleration sensing in sensor module
The information of device, voltage detector, pressure sensor, and industrial control host is sent to by serial port module；In the sensor module
Camera acquires the image of underwater environment, video information in real time, and is transferred to industrial control host by USB line；The visible light letter
Number receiving module receives and processes and is sent to the industrial control host by serial port module after visible light signal, so that user can lead to
Process control industrial control host reads text, picture or the video information received too far；Meanwhile when user needs to pass through underwater
When people sends information to underwater sensor node, the information that user is needed to send by the industrial control host is transmitted by serial port module
Emitted into visible light signal transmitter；Underwater robot can be set by remotely controlling the industrial control host in user
Front and rear, left and right, heave, the acceleration of motion for rotating horizontally 4 freedom degrees, robot control module receive the control of industrial control host
It instructs and by control instruction conversion, distribution to each propeller, the movement of each propeller is controlled, before underwater robot
Afterwards, left and right, the athletic posture for heaving, rotating horizontally 4 freedom degrees.
Embodiment described above only represents one embodiment of the present invention, and description is more specific detailed, but not
It can be therefore understands that being limitations on the scope of the patent of the present invention.It is noted that for being engaged in for those skilled in the art, In
Under the premise of not being detached from present inventive concept, several changes and improvements can also be made, these belong to protection model of the invention
It encloses.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (6)
1. a kind of underwater robot based on visible light communication, which is characterized in that including industrial control host, power line carrier module, machine
Device people control module, visible light signal transmitter, visible light signal receiving module, serial port module, power module, sensor die
Block, propeller；
The industrial control host, for control and return each module to each module, visible light signal transmitter and propeller
The information returned carries out reception processing；
The power line carrier module connects industrial control host, for making industrial control host and water surface user carry out long range wire communication；
The robot control module is connect, for receiving the control instruction of industrial control host with industrial control host by serial port module
And control instruction conversion, distribution are controlled into the movement of each propeller to each propeller；
The visible light signal transmitter input end is connected to industrial control host by serial port module, it is seen that optical signal transmitter includes
LED drive circuit and LED light, in the Transistor-Transistor Logic level signal modulation to LED light that LED drive circuit issues serial port module, it is seen that light
Signal projector is for emitting visible light communication signal；
The visible light signal receiving module is connect by serial port module with industrial control host, including condenser lens and signal processing electricity
Road；
The power module respectively with industrial control host, power line carrier module, robot control module, visible light signal transmitter,
Visible light signal receiving module, sensor module, propeller connection, are responsible for the energy supply of underwater robot；
The sensor module, including camera, pressure sensor, acceleration transducer and voltage detector, are separately connected machine
Device people control module and industrial control host, for acquiring underwater robot posture information and underwater environment information；
The propeller is connect with robot control module and power module, is included 6 brush DC propellers, is set to machine
People is left front, it is right before, it is left back, right after, it is left, right in orientation.
2. a kind of underwater robot based on visible light communication according to claim 1, which is characterized in that the industry control master
Machine is connect with power line carrier module, and the ethernet signal that industrial control host issues is converted to power carrier and believed by power line carrier module
Number, it is connect by two electric power twisted pairs with water surface subscriber's main station and carries out signal transmission, water surface host subscriber is by remotely controlling
The industrial control host is with the movement of real-time control underwater robot and the status information of acquisition underwater robot.
3. a kind of underwater robot based on visible light communication according to claim 1, which is characterized in that the robot
Control module respectively with acceleration transducer, pressure sensor and the voltage in propeller, serial port module and sensor module
Sensor connection；The data conversion that robot control module returns to acceleration transducer, pressure sensor and voltage sensor
For serial data, and the industrial control host is sent for the serial data after conversion by serial port module；Robot control module
It receives the control instruction of industrial control host sending by serial port module and is converted into pwm signal and be assigned to each propeller, realize
The motor function of underwater robot, the propeller are connect with robot control module.
4. a kind of underwater robot based on visible light communication according to claim 1, which is characterized in that visible light signal
In receiving module, the signal processing circuit includes photodiode, trans-impedance amplifier, sign-changing amplifier and comparator；It focuses
Lens gather light beam on the photosurface of photodiode, and photodiode exports corresponding current signal, trans-impedance amplifier
The current signal that photodiode exports is converted into voltage signal, the voltage signal that sign-changing amplifier exports trans-impedance amplifier
It is further amplified, and the analog electrical signal that sign-changing amplifier exports is converted to by the identifiable TTL of serial port module by comparator
Level signal, it is seen that optical signal receiving module output end will be seen that text, picture or the view that optic communication is transmitted by serial port module
Frequency information is transferred in industrial control host and is handled.
5. a kind of underwater robot based on visible light communication according to claim 1, which is characterized in that the sensor
Module, including camera, pressure sensor, acceleration transducer and voltage detector；Wherein, camera is connected to industry control master
Machine, the acquisition for underwater picture and video information；Pressure sensor is connected to robot control module, for measuring underwater machine
Depth where device people；Acceleration transducer is connected to robot control module, for around detecting underwater robot,
Up and down direction acceleration information simultaneously returns to industrial control host, convenient for industrial control host to underwater robot front and rear, left and right, heave, water
The athletic posture of 4 freedom degrees of flat rotation is controlled；Voltage detector is connected to robot control module, underwater for detecting
The output voltage of robot interior power module.
6. a kind of underwater robot based on visible light communication according to claim 1, which is characterized in that described 6 straight
Flow in brushless propeller, wherein before left front, right, it is left back, right after the propeller in four orientation be used to provide front and back, left to robot
Power that is right, rotating horizontally 3 freedom degrees, it is left, right in the propeller in two orientation be used to provide to robot and rise, sink
Power.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111147139A (en) * | 2019-12-24 | 2020-05-12 | 广东省半导体产业技术研究院 | Remote control unmanned submersible, underwater visible light communication system and underwater visible light communication automatic alignment method |
| WO2021218487A1 (en) * | 2020-04-30 | 2021-11-04 | Versitech Limited | Smart soft actuation unit for underwater applications |
| CN114802663A (en) * | 2022-05-05 | 2022-07-29 | 南京工程学院 | Single-joint bionic underwater visible light communication unmanned underwater vehicle, system and control method |
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