基于MQTT与LoRa的海洋机器人水面协同通信系统设计  

Design of Surface Cooperative Communication System for Underwater Vehicles Based on MQTT and LoRa

作　　者：明彦坤 董昊楠 吴以宁 张润锋 刘振忠[1,2] 王巨涛[1,2] MING Yankun;DONG Haonan;WU Yining;ZHANG Runfeng;LIU Zhenzhong;WANG Jutao(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China;School of Computer Science and Engineering,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]天津理工大学计算机科学与技术学院,天津300384

出　　处：《数字海洋与水下攻防》2024年第4期411-418,共8页Digital Ocean & Underwater Warfare

基　　金：天津市自然科学基金“伴中尺度涡的亚中尺度过程水下滑翔机编队观测理论研究”(19JCQNJC03700);天津理工大学大学生创新创业训练计划基于模块化的仿生水下机器人岸基操控平台设计(202310060113)。

摘　　要：研究了海洋机器人的水面协同通信对于实现海洋数据观测的关键性作用,并提出了一种基于MQTT与LoRa协同通信的解决方案,该方案能够有效解决海洋通信盲区和缺乏通用海洋机器人数据采集与控制一体化系统设计的问题。MQTT通信协议具备轻量级、低带宽消耗和可靠性高等特点,适用于海洋环境中的数据传输。LoRa通信技术则具备远距离传输和穿透障碍物的能力。通过结合这2种通信技术,可以克服海洋通信盲区和距离短的问题,实现水下机器人在水面的远距离数据传输和控制。此外,还通过模拟实验验证了数据传输链路的合理性,结果表明该系统能够有效解决水下机器人通信距离短和海上通信覆盖盲区问题。因此,认为这种基于MQTT与LoRa协同通信的方案具备协同作用,能够为未来海洋物联网的搭建提供理论与技术基础,并推动物联网技术在透明海洋建设中的应用进程。The crucial role of surface cooperative communication of underwater vehicles in facilitating ocean data observation is investigated in this paper.A cooperative communication solution based on MQTT and LoRa is proposed.The challenges of blind areas of marine communication and the lack of an integrated system for data acquisition and control of underwater vehicles are effectively addressed by this solution.The MQTT communication protocol is characterized by lightweight,low bandwidth consumption,and high-reliability,making it suitable for data transmission in marine environment.Additionally,the LoRa communication technology enables long-distance transmission and obstacle penetration.By combining these two communication technologies,the limitations of short communication distances and blind areas in marine communication can be overcome,and surface long-distance data transmission and control of underwater vehicles can be realized.Then,the rationality of the data transmission link is verified by simulation experiments,and the results show that the system can efficiently solve the problem of limited communication distance for underwater vehicles and blind areas in maritime communication coverage.Consequently,it is asserted in this paper that the proposed MQTT and LoRa cooperative communication scheme exhibits a synergistic effect,which can provide a theoretical and technical foundation for the construction of Marine Internet of Things in the future,and facilitate the application of Internet of Things technology in transparent ocean construction.

关 键 词：水下机器人 数据采集 机器人控制 MQTT LoRa 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] U665.26[自动化与计算机技术—控制科学与工程]