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
明彦坤（2002-），男，本科，主要从事水下机器人软件系统设计。
TP242.6；U665.26
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）
MING Yankun
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University ofTechnology,Tianjin 300384 ,China ；National Demonstration Center for Experimental Mechanical and ElectricalEngineering Education,Tianjin University of Technology,Tianjin 300384 ,ChinaWU Yining
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University ofTechnology,Tianjin 300384 ,China ；National Demonstration Center for Experimental Mechanical and ElectricalEngineering Education,Tianjin University of Technology,Tianjin 300384 ,ChinaZHANG Runfeng
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University ofTechnology,Tianjin 300384 ,China ；National Demonstration Center for Experimental Mechanical and ElectricalEngineering Education,Tianjin University of Technology,Tianjin 300384 ,ChinaLIU Zhenzhong
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University ofTechnology,Tianjin 300384 ,China ；National Demonstration Center for Experimental Mechanical and ElectricalEngineering Education,Tianjin University of Technology,Tianjin 300384 ,ChinaWANG Jutao
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University ofTechnology,Tianjin 300384 ,China ；National Demonstration Center for Experimental Mechanical and ElectricalEngineering Education,Tianjin University of Technology,Tianjin 300384 ,China1.Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University ofTechnology,Tianjin 300384 ,China ;2.National Demonstration Center for Experimental Mechanical and ElectricalEngineering Education,Tianjin University of Technology,Tianjin 300384 ,China ;3.School of Computer Scienceand Engineering,Tianjin University of Technology,Tianjin 300384 ,China
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.
明彦坤,董昊楠,吴以宁,等.基于MQTT与LoRa的海洋机器人水面协同通信系统设计[J].数字海洋与水下攻防,2024,7(4):411-418
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