Cluster wireless ad hoc network method for port intelligent operation equipment

Abstract

The invention provides a cluster wireless ad hoc network method for port intelligent operation equipment, and belongs to the technical field of wireless communication. The method comprises the steps that firstly, port communication system layered architecture initialization is carried out, port intelligent operation equipment neighbor discovery is achieved, and meanwhile neighbor equipment access information packets and channel quality index information are recorded; secondly, performing cluster head node election through a maximum score priority rule to form a local cluster structure consisting of cluster head nodes and terminal equipment, and introducing a cluster wireless ad hoc network to complete a judgment mechanism after the cluster head node election of the intelligent operation equipment is completed; and finally, performing multi-path construction, standby path caching and a main and standby path seamless switching mechanism. The method supports dynamic election of cluster head nodes, supports multi-path cache, can realize seamless communication switching, and solves the problems of slow remote control response speed and high failure rate of port intelligent operation equipment.

Description

Technical Field

[0001] The present invention belongs to the field of wireless communication technology and relates to a cluster wireless self-organizing network method for port intelligent operation equipment. The cluster wireless self-organizing network method is oriented to the automated port environment and supports remote control response of heterogeneous equipment clusters such as intelligent loading and unloading operation equipment and intelligent horizontal transportation equipment. Background Art

[0002] In the cluster control of intelligent port equipment, traditional wired communication technologies rely on fixed physical connections, making them only suitable for scenarios where equipment paths are fixed and the master control system and data collection equipment are close together. However, the highly dynamic nature of port operations leads to high costs and poor flexibility in wired deployment. Furthermore, high cable maintenance costs and failure rates make it difficult to achieve full yard coverage, severely restricting equipment scheduling efficiency and automation levels.

[0003] With the rapid development of wireless communication technology, 5G, with its advantages of large bandwidth and low latency, is gradually being applied to port industry scenarios, supporting services such as remote control and real-time video transmission. Chinese invention patent CN118740871A proposes a 5G-based yard crane remote control system, which dynamically prioritizes video stream transmission in the operator's viewing area through an intelligent gateway to ensure the real-time performance of critical control images. Chinese invention patent CN110072204B uses a 5G virtual private network (VPN) instead of optical fiber to build a wide-area interconnection architecture between equipment and control centers. However, such solutions still face significant challenges: coverage blind spots may exist in complex yard environments; in addition, the frequent movement of intelligent horizontal transport equipment can lead to communication interruptions.

[0004] To address these challenges, wireless ad hoc networking (WAN) technology has become a key application area due to its lack of fixed infrastructure, support for dynamic networking, and multi-hop routing. This technology, through autonomous signal relaying by nodes, can adapt to complex environments with frequently mobile equipment. Its self-organizing architecture allows for flexible adjustments to network topology, opening up new possibilities for remote control of intelligent port equipment. Summary of the Invention

[0005] To address the challenges of existing technologies, this paper proposes a clustered wireless ad hoc networking method for intelligent port operation equipment. This method supports dynamic cluster head node election, establishes a target communication link consisting of a control center, wireless base stations, cluster head nodes, and terminal devices, and supports multipath caching for seamless communication switching. This method addresses the challenges of slow remote control response and high failure rates for intelligent port operation equipment.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A cluster wireless ad hoc networking method for port intelligent operation equipment includes the following steps:

[0008] Step 1: Initialize the hierarchical architecture of the port communication system. The details are as follows:

[0009] Step 1.1: Deploy a control center and wireless base stations covering the entire port area based on the distribution density and movement trajectory of the port's intelligent operating equipment and existing wireless communication technologies.

[0010] In step 1.2, after the deployment of wireless base stations covering the control center and the entire port area is completed based on existing wireless communication technology, the dual-mode communication units of the port intelligent operation equipment are powered on and activated.

[0011] The intelligent port operation equipment includes intelligent loading and unloading operation equipment (such as quay cranes, yard cranes, etc.) and intelligent horizontal transportation equipment (such as automatic guided vehicles, unmanned container trucks, straddle carriers, etc.).

[0012] The dual-mode communication unit includes two channels, one of which is a low-speed, high-stability narrowband channel suitable for issuing control instructions, and the other is a high-speed, large-bandwidth broadband channel suitable for returning the status of intelligent operating equipment and transmitting video monitoring data.

[0013] In step 1.3, after being powered on, the intelligent operation device sends a registration request to the wireless base station using existing wireless communication technology and obtains a temporary logical address assigned by the wireless base station, completing the process of the intelligent operation device accessing the control center and establishing a primary downlink communication link between the control center, the wireless base station, and the terminal device. The terminal device is the intelligent operation device.

[0014] In step 1.4, a target communication link consisting of the control center, wireless base station, cluster head node, and terminal device is reserved, where the cluster head node is dynamically generated by the election in step 3.

[0015] Based on existing wireless communication technology, the port communication system layered architecture is initialized through the above-mentioned systematic deployment and access control center process.

[0016] Step 2: Neighbor discovery of port intelligent operation equipment. Details are as follows:

[0017] Step 2.1: After completing the initialization of the hierarchical architecture of the port communication system, the intelligent operation equipment periodically broadcasts access information packets through the narrow channel.

[0018] The content of the access information package includes the current intelligent operation device Unique number, current remaining power of smart operation equipment , physical location , mobility indicators and the number of neighboring devices .

[0019] The neighbor device is defined as: Set the time window , if intelligent operation equipment Successfully received the smart operation equipment within the time window Broadcast access packets times, then define intelligent operation equipment For intelligent operation equipment Neighbor equipment, intelligent operation equipment Also for intelligent operation equipment Neighbor devices and smart operation devices In smart working equipment within the communication area.

[0020] Step 2.2, after the intelligent operation device completes the periodic broadcast of the access information packet, the intelligent operation device records the neighboring device access information packet and channel quality index information, where the channel quality index includes the received signal strength and channel propagation delay, thereby constructing the intelligent operation device Local initial connection topology matrix , as shown in formula (1):

[0021] (1)

[0022] Among them, j is the intelligent operation equipment Neighboring devices; Indicates intelligent operation equipment Receive from intelligent operation equipment The average signal strength of is the one-way signal propagation delay; Q is the set of neighboring devices.

[0023] Through step 2, neighbor discovery of port intelligent operation equipment is realized, and the access information packets and channel quality index information of neighboring equipment are recorded at the same time, laying the foundation for the election of cluster head nodes in the target communication link.

[0024] Step 3: Election of the cluster head node with the highest score first. The details are as follows:

[0025] Step 3.1: Based on the neighbor device access information packet and channel quality index information recorded in step 2, all intelligent operation devices calculate the cluster head node adaptability score. , as shown in formula (2):

[0026] (2)

[0027] in, Indicates intelligent operation equipment Remaining power; For intelligent operation equipment The maximum value of the power; Scheduling mobility indicators for intelligent operation equipment; To avoid small amounts of division by zero; The average signal strength between the smart device and all neighboring devices; is the number of neighboring devices; The maximum number of neighboring devices in the entire network; are weighted coefficients, which are the weights of controlling energy consumption, stability, signal strength, and connectivity respectively.

[0028] In step 3.2, cluster head node election is performed using the maximum score priority rule. Each intelligent working device compares the cluster head node adaptability scores of neighboring devices in different communication areas within its communication area. The intelligent working device with the highest score is elected as the cluster head node, forming a local cluster structure consisting of cluster head nodes and terminal devices.

[0029] Step 4: The cluster wireless ad hoc network completes the judgment mechanism. The details are as follows:

[0030] After the local cluster structure is determined, in order to ensure that each intelligent operation device completes the target communication link construction, the present invention introduces a cluster wireless ad hoc network completion judgment mechanism after completing the intelligent operation device cluster head node election.

[0031] The target communication link is just a way of expression, including the control center, wireless base station, terminal device, control center, wireless base station, cluster head node, terminal device, control center, wireless base station, cluster head node, cluster head node, terminal device, and the corresponding path hops are 0, 1, and 2 respectively.

[0032] The cluster wireless ad hoc network completion judgment mechanism is: when all the intelligent operation equipment connectivity indicators At the same time: ,continuous cycle hold , and the intelligent operation equipment has a path with hops not exceeding If the path is found, it is determined that the cluster wireless ad hoc network is completed. Indicates the connectivity threshold, ranging from 3 to 15; Indicates the connectivity fluctuation judgment period, ranging from 2 to 5; Indicates the connectivity fluctuation tolerance threshold, ranging from 0.5 to 3; Indicates the maximum allowed path hops, ranging from 2 to 5.

[0033] Connectivity indicators of the intelligent operation equipment The definition of is shown in formula (3):

[0034] (3)

[0035] in, Indicates taking the minimum value.

[0036] After determining that the cluster wireless self-organizing network is completed, the control center sends a cluster wireless self-organizing network completion instruction to officially enable the target communication link.

[0037] Step 5: Multi-path construction and backup path cache. Details are as follows:

[0038] After the cluster wireless ad hoc network is completed, the information of each intelligent operation device can be transmitted through the target communication link. However, to avoid communication link interruption caused by the frequent movement of intelligent horizontal transport equipment, a path redundancy mechanism is introduced. The communication link with the highest score in step 3 is prioritized as the primary path.

[0039] In step 5.1, the backup path is the communication link constructed in step 3 according to other rules, where the other rules are constructed according to the second largest score.

[0040] Step 5.2: The primary path and the backup path are collectively referred to as paths. Each path The evaluation function is shown in formula (4):

[0041] (4)

[0042] in, Indicates the number of path hops; The successful delivery rate of the path package is calculated according to the existing standards; The average round-trip delay of the path is measured according to existing technology; Path stability is defined as the path in continuous Link survival rate within a cycle; are adjustment factors, which are the weights of controlling the number of path hops, delivery rate, delay, and stability.

[0043] Calculate the evaluation function values ​​of the primary path and all backup paths in real time.

[0044] Step 5.3: When the signal strength of a certain intelligent operation device on the main path is , and the duration exceeds the set time window , it is determined that the link quality of the main path has deteriorated. The minimum signal strength threshold is set, ranging from -95 to -75dBm;

[0045] When the quality of the main path link deteriorates, All backup paths are scored and sorted in real time, and the backup path with high score and meeting the cluster wireless ad hoc network completion judgment mechanism is selected to replace the main path.

[0046] Step 6: Seamless switching mechanism of primary and backup paths. Details are as follows:

[0047] Step 6.1: When the primary path switches to the backup path, the cluster head node in the local cluster structure composed of cluster head nodes and terminal devices changes, for example, from cluster head node A to relay node B.

[0048] The cluster head node A is one of the cluster head nodes in the target communication link of the primary path. The relay node B is one of the cluster head nodes in the communication link of the backup path. The relay node B replaces the cluster head node A. For example, the local cluster structure consisting of the cluster head node A and the terminal device will become the local cluster structure consisting of the relay node B and the terminal device.

[0049] When relay node B has not completely taken over the information, cluster head node A notifies relay node B to enter the monitoring state. The intelligent operation device sends data to both nodes at the same time. The control center uses the maximum ratio combining algorithm to perform signal fusion, as shown in formula (5):

[0050] (5)

[0051] Among them, when When it is A, For the control center receiving signal through the main path, when When B, receiving signals for the control center via alternate paths; is the weight: the lower the bit error rate, the higher the weight; is the fused signal.

[0052] Step 6.2: When the relay node B is on the backup path for multiple consecutive cycles, the successful delivery rate of the path packet is , then the main path can be switched to the backup path. is the set threshold, ranging from 90% to 100%.

[0053] In step 6.3, after the primary path switches to the backup path, relay node B completely takes over the information, updates the cluster head node to relay node B, and seamlessly completes the communication link switch.

[0054] The beneficial effects of the present invention are:

[0055] The present invention supports the automatic networking of heterogeneous intelligent operation equipment clusters such as intelligent loading and unloading equipment and intelligent horizontal transportation equipment, constructs a target communication link consisting of a control center, wireless base stations, cluster head nodes, and terminal equipment, and introduces a multi-path redundancy mechanism to support seamless switching to a backup path when the quality of the main path link deteriorates. This can solve the problem of slow remote control response speed and high failure rate of port intelligent operation equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1The present invention is a schematic diagram of the implementation steps of a cluster wireless ad hoc networking method for intelligent port operation equipment.

[0057] Figure 2 Schematic diagram of the target communication link. DETAILED DESCRIPTION

[0058] To further illustrate the technical solution of the present invention, the following describes in detail the implementation steps of a cluster wireless ad hoc networking method for port intelligent operation equipment of the present invention in combination with specific embodiments (eg Figure 1 shown) with key configurations.

[0059] Step 1: Initialize the hierarchical architecture of the port communication system. The details are as follows:

[0060] In step 1.1, based on the distribution density and movement trajectories of the port's intelligent operating equipment and in accordance with wireless communication technical specifications, sector-shaped wireless base stations (IMT-8000 wireless communication system base stations) were installed on the yard's high-mast lights and main road lighting poles. The wireless base stations must have a coverage radius of no more than 30 kilometers and be installed above the highest point of the equipment to ensure unobstructed signal transmission. Core switches were also configured in the control center, connecting all wireless base stations via fiber optic links to form the basic communication framework.

[0061] In step 1.2, after completing the deployment of wireless base stations covering the control center and the entire port area according to existing technologies, power on and activate the dual-mode communication units of the port's intelligent operation equipment.

[0062] The port intelligent operation equipment includes intelligent loading and unloading operation equipment (such as quay cranes and yard cranes) and intelligent horizontal transportation equipment (such as automatic guided vehicles, unmanned container trucks, and straddle carriers).

[0063] One channel of the dual-mode communication unit is a low-speed, high-stability narrowband channel, suitable for issuing control instructions, and the other is a high-speed, large-bandwidth broadband channel, suitable for returning the status of intelligent operation equipment and transmitting video monitoring data.

[0064] In step 1.3, after powering on, the port intelligent operation device sends a registration request to the wireless base station using the existing wireless communication protocol, carrying the device's unique number and type information. The wireless base station assigns a temporary logical IP address to each port intelligent operation device, using the uniform format of 10.10.device number.100, with a fixed subnet mask of 255.255.0.0. This establishes a primary downlink communication link between the control center, the wireless base station, and the terminal device.

[0065] In step 1.4, a logical interface is reserved in advance in the wireless base station network configuration to provide access conditions for the target communication link, where the cluster head node is dynamically generated by the election in step 3.

[0066] Based on the existing wireless communication protocols and wireless communication technical specifications, the port communication system layered architecture initialization is completed through the above-mentioned systematic deployment and access process.

[0067] Step 2: Neighbor discovery of port intelligent operation equipment. Details are as follows:

[0068] In step 2.1, after completing the initialization of the hierarchical architecture of the port communication system, the intelligent operation equipment broadcasts the access information packet through the narrow channel with a period of 5 seconds.

[0069] The content of the access information package includes the current intelligent operation device Unique number, current remaining power of smart operation equipment , physical location , mobility indicators and the number of neighboring devices .

[0070] The neighbor device is defined as: Set the time window If the intelligent operation equipment Successfully received the smart operation equipment within the time window Broadcast access packets times, then define intelligent operation equipment For intelligent operation equipment Neighbor equipment, intelligent operation equipment Also for intelligent operation equipment Neighbor devices and smart operation devices In smart working equipment within the communication area.

[0071] Step 2.2, after the intelligent operation device completes the periodic broadcast of the access information packet, the intelligent operation device records the neighboring device access information packet and channel quality index information, where the channel quality index includes the received signal strength and channel propagation delay, thereby constructing the intelligent operation device Local initial connection topology matrix , as shown in formula (1):

[0072] (1)

[0073] Among them, j is the intelligent operation equipment Neighboring devices; Indicates intelligent operation equipment Receive data from intelligent operation equipment The average signal strength of is the one-way signal propagation delay; Q is the set of neighboring devices.

[0074] Through step 2, neighbor discovery of port intelligent operation equipment is realized, and the access information packets and channel quality index information of neighboring equipment are recorded at the same time, laying the foundation for the election of cluster head nodes in the target communication link.

[0075] Step 3: Election of the cluster head node with the highest score first. The details are as follows:

[0076] Step 3.1: Based on the neighbor device access information packet and channel quality index information recorded in step 2, all intelligent operation devices calculate the cluster head node adaptability score. , as shown in formula (2):

[0077] (2)

[0078] in, Indicates intelligent operation equipment Remaining power; For intelligent operation equipment The maximum value of the power; Scheduling mobility indicators for intelligent operation equipment; The average signal strength between the smart device and all neighboring devices; is the number of neighboring devices; The maximum number of neighboring devices in the entire network.

[0079] In step 3.2, each intelligent device broadcasts its cluster head node adaptability score within the communication area. By comparing the adaptability scores of its neighboring devices' cluster heads, the cluster head with the highest adaptability score, excluding the intelligent device itself, is elected as the cluster head. This forms a local cluster structure consisting of cluster heads and terminal devices, with a coverage radius strictly controlled within 500 meters.

[0080] Step 4: The cluster wireless ad hoc network completes the judgment mechanism. The details are as follows:

[0081] After the local cluster structure is determined, in order to ensure that each intelligent operation device completes the construction of the communication link consisting of the control center, wireless base station, cluster head node, and terminal device, all intelligent operation devices calculate the connectivity index , as shown in formula (3):

[0082] (3)

[0083] in, Indicates taking the minimum value;

[0084] when dBm / s and the change amplitude remains less than 1 dBm / s for three consecutive cycles. , and there is a path with no more than 3 hops for the intelligent operation equipment. If the conditions are met, the cluster wireless self-organizing network is determined to be completed.

[0085] Since there is a path with no more than 3 hops in the intelligent operation equipment, all possible communication links (such as Figure 2 As shown) includes: control center, wireless base station, terminal device, control center, wireless base station, cluster head node, terminal device, control center, wireless base station, cluster head node, cluster head node, terminal device, control center, wireless base station, cluster head node, cluster head node, cluster head node, terminal device, but in order to distinguish it from the control link composed of the control center, wireless base station and terminal device, it is collectively referred to as the target communication link composed of the control center, wireless base station, cluster head node and terminal device.

[0086] After determining that the cluster wireless self-organizing network is completed, the control center sends a cluster wireless self-organizing network completion instruction to officially enable the target communication link.

[0087] Step 5: Multi-path construction and backup path cache. Details are as follows:

[0088] Step 5.1: The communication link constructed with the highest score in step 3 is used as the primary path, and the communication links constructed second and third in step 3 according to the score ranking are used as backup paths.

[0089] Step 5.2: Each path The evaluation function is shown in formula (4):

[0090] (4)

[0091] in, Indicates the number of path hops; The successful delivery rate of path packets, calculated according to the IETF-RFC standard; is the average round-trip delay of the path, measured by ICMP; is the path stability, which is defined as the link survival rate of the path in three consecutive cycles.

[0092] Step 5.3: When the signal strength of a certain intelligent operation device on the main path is dBm and lasts longer than the time window s, it is determined that the link quality of the main path has deteriorated.

[0093] When the quality of the main path link deteriorates, All backup paths are scored and sorted in real time, and the backup path with the highest score is selected to replace the main path.

[0094] Step 6: Seamless switching mechanism of primary and backup paths. Details are as follows:

[0095] Step 6.1: When the primary path switches to the backup path, the cluster head node in the local cluster structure composed of cluster head nodes and terminal devices changes, for example, from cluster head node A to relay node B.

[0096] The cluster head node A is one of the cluster head nodes in the target communication link of the primary path. The relay node B is one of the cluster head nodes in the communication link of the backup path.

[0097] When relay node B has not completely taken over the information, cluster head node A notifies relay node B to enter the listening state. The intelligent operation device sends data to both at the same time, and the control center uses the maximum ratio combining algorithm to perform signal fusion, as shown in formula (5):

[0098] (5)

[0099] Among them, when When it is A, For the control center receiving signal through the main path, when When B, receiving signals for the control center via alternate paths; is the weight: bit error rate The lower it is, the higher the weight; is the fused signal.

[0100] Step 6.2: When the successful delivery rate of the backup path where relay node B is located is greater than 98% for three consecutive cycles, the main path can be switched to the backup path.

[0101] In step 6.3, after the primary path switches to the backup path, relay node B completely takes over the information, updates the cluster head node to relay node B, and seamlessly completes the communication link switch.

[0102] The above is a specific implementation of a cluster wireless ad hoc networking method for intelligent port operation equipment of the present invention. During implementation, parameters can be adjusted according to factors such as port area, operation density, and equipment type.

[0103] The above-described embodiments merely express the implementation methods of the present invention, but should not be understood as limiting the scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, which all fall within the scope of protection of the present invention.

Claims

1. A cluster wireless ad hoc networking method for port intelligent operation equipment, characterized in that: The cluster wireless ad hoc network method comprises the following steps: Step 1: Initialize the hierarchical architecture of the port communication system; Through the process of systematic deployment and access to the control center, the initialization of the layered architecture of the port communication system is completed; specifically: Deploy wireless base stations in the control center and throughout the port area. After being powered on, intelligent operating devices send registration requests to the wireless base stations, completing the process of intelligent operating devices accessing the control center and establishing a primary downlink communication link. Step 2: Neighbor discovery of port intelligent operation equipment; specifically: Step 2.1: After completing the initialization of the port communication system layered architecture, the intelligent operation equipment periodically broadcasts access information packets through the narrow channel; Step 2.2: The intelligent operation device records the neighboring device access information packets and channel quality index information, and builds the intelligent operation device Local initial connection topology matrix ; Step 3: Election of cluster head node with the highest score first; specifically: Step 3.1: All intelligent operation devices calculate the adaptability score of the cluster head node ; Step 3.2: Cluster head node election is performed using the maximum score priority rule: Each intelligent operation device compares the cluster head node adaptability scores of neighboring devices in different communication areas within its communication area. The intelligent operation device with the highest score is elected as the cluster head node, forming a local cluster structure consisting of cluster head nodes and terminal devices. The communication link constructed with the maximum score priority is used as the primary path. Step 4: Cluster wireless ad hoc network completion judgment mechanism; After completing the election of the cluster head node of the intelligent operation equipment, the cluster wireless self-organizing network completion judgment mechanism is introduced; Step 5: Multi-path construction and backup path caching; After the cluster wireless ad hoc network is completed, the information of each intelligent operation device is transmitted through the target communication link, and a path redundancy mechanism is introduced; specifically: Step 5.1, construct an alternative path according to the second largest score; Step 5.2: The primary path and backup paths are collectively referred to as paths, and the evaluation function values ​​of the primary path and all backup paths are calculated; Step 5.3: When the signal strength of a certain intelligent operation device on the main path is , and the duration exceeds the set time window , then the link quality of the primary path is determined to have deteriorated; all backup paths are scored and sorted in real time based on the value of the evaluation function, and the backup path with high score and meeting the cluster wireless ad hoc network completion judgment mechanism is selected to replace the primary path; Step 6: Seamless switching mechanism of primary and backup paths. Specifically: Step 6.1: When the primary path switches to the backup path, the cluster head node in the local cluster structure changes from cluster head node A to relay node B. Step 6.2: When the relay node B is on the backup path for multiple consecutive cycles, the successful delivery rate of the path packet is , then the primary path can be switched to the backup path; is the set threshold; In step 6.3, after the primary path switches to the backup path, relay node B completely takes over the information, updates the cluster head node to relay node B, and seamlessly completes the communication link switch.

2. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 1, characterized in that: The step 1 is specifically as follows: Step 1.1: Deploy a control center and wireless base stations covering the entire port area based on the distribution density, movement trajectory, and wireless communication technology of the port's intelligent operating equipment; Step 1.2: After completing the deployment of wireless base stations in the control center and throughout the port area, power on and activate the dual-mode communication units of the port's intelligent operation equipment. The port intelligent operation equipment includes intelligent loading and unloading operation equipment and intelligent horizontal transportation equipment; the dual-mode communication unit includes a narrowband channel and a broadband channel; In step 1.3, the powered-on intelligent operating device sends a registration request to the wireless base station and obtains a temporary logical address assigned by the wireless base station, completing the process of the intelligent operating device accessing the control center and forming a primary downlink communication link consisting of the control center, the wireless base station, and the terminal device; the terminal device is the intelligent operating device. In step 1.4, a target communication link consisting of the control center, wireless base stations, cluster head nodes, and terminal devices is reserved, where the cluster head nodes are dynamically generated by election.

3. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 2, characterized in that: In step 2: In step 2.1: The content of the access information package includes the current intelligent operation device Unique number, current remaining power of smart operation equipment , physical location , mobility indicators and the number of neighboring devices ; The neighbor device is defined as: Set the time window , if intelligent operation equipment Successfully received the smart operation equipment within the time window Broadcast access packets times, then define intelligent operation equipment For intelligent operation equipment Neighbor equipment, intelligent operation equipment Also for intelligent operation equipment Neighbor devices and smart operation devices In smart working equipment within the communication area; In step 2.2: the channel quality indicators include received signal strength and channel propagation delay.

4. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 3 is characterized in that: In step 2.2, the intelligent operation equipment Local initial connection topology matrix As shown in formula (1): （1）； Among them, j is the intelligent operation equipment Neighboring devices; Indicates intelligent operation equipment Receive from intelligent operation equipment The average signal strength of is the one-way signal propagation delay; Q is the set of neighboring devices.

5. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 3 is characterized in that: In step 3.1: According to the neighbor device access information packet and channel quality index information recorded in step 2, all intelligent operation devices calculate the cluster head node adaptability score , as shown in formula (2): （2）； in, Indicates intelligent operation equipment Remaining power; For intelligent operation equipment The maximum value of the power; Scheduling mobility indicators for intelligent operation equipment; To avoid division by zero constants; The average signal strength between the smart device and all neighboring devices; is the number of neighboring devices; The maximum number of neighboring devices in the entire network; are weighted coefficients, which are the weights of controlling energy consumption, stability, signal strength, and connectivity respectively.

6. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 5, characterized in that: The step 4 is specifically as follows: The cluster wireless ad hoc network completion judgment mechanism is: when all the intelligent operation equipment connectivity indicators At the same time: ,continuous cycle hold , and the intelligent operation equipment has a path with hops not exceeding , it is determined that the cluster wireless ad hoc network is completed; Indicates the connectivity threshold, ranging from 3 to 15; Indicates the connectivity fluctuation judgment period, ranging from 2 to 5; Indicates the connectivity fluctuation tolerance threshold, ranging from 0.5 to 3; Indicates the maximum allowed path hops, ranging from 2 to 5; Connectivity indicators of the intelligent operation equipment The definition of is shown in formula (3): （3）； in, Indicates taking the minimum value; After determining that the cluster wireless self-organizing network is completed, the control center sends a cluster wireless self-organizing network completion instruction to officially enable the target communication link.

7. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 5, characterized in that: In step 4: the target communication link is A way of expression, wherein the communication process includes a control center, a wireless base station, a terminal device, a control center, a wireless base station, a cluster head node, a terminal device, a control center, a wireless base station, a cluster head node, a cluster head node, and a terminal device, and the corresponding path hop numbers are 0, 1, and 2 respectively.

8. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 6, characterized in that: In step 5.2: Each path The evaluation function value of is calculated by formula (4): （4）； in, Indicates the number of path hops; The successful delivery rate of the path package is calculated according to the existing standards; The average round-trip delay of the path is measured according to existing technology; Path stability is defined as the path in continuous Link survival rate within a cycle; are adjustment factors, which are the weights of controlling the number of path hops, delivery rate, delay, and stability.

9. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 1, characterized in that: In step 5.3, is the minimum signal strength threshold set, The range is -95~-75dBm.

10. The cluster wireless ad hoc networking method for port intelligent operation equipment according to claim 8, characterized in that: In step 6: In step 6.1, the cluster head node A is one of the cluster head nodes in the primary path target communication link; the relay node B is one of the cluster head nodes in the backup path communication link, and the relay node B replaces the cluster head node A. For example, the local cluster structure consisting of the cluster head node A and the terminal device will become a local cluster structure consisting of the relay node B and the terminal device; When relay node B has not completely taken over the information, cluster head node A notifies relay node B to enter the monitoring state. The intelligent operation device sends data to both nodes at the same time. The control center uses the maximum ratio combining algorithm to perform signal fusion, as shown in formula (5): （5）； Among them, when When it is A, For the control center receiving signal through the main path, when When B, receiving signals for the control center via alternate paths; is the weight: the lower the bit error rate, the higher the weight; is the fused signal; In step 6.2: the threshold The range is 90%~100%.

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