Return bin access detection system and method, rental cabinet and medium

Abstract

The invention discloses a return bin access detection system and method, a rental cabinet and a medium, which are applied to the technical field of intelligent sharing and are used for solving the problem that the cabinet body capacity of the existing underwater propeller rental cabinet is difficult to adapt to the site demand, and the method comprises the following steps: a communication processing unit sends a broadcast detection data packet; when the address of the broadcast detection data packet is a broadcast address and the type of the data packet is topology discovery, the return bin communication unit generates a detection response data packet based on the equipment identification information of the return bin and sends the detection response data packet to the communication processing unit; when the data packet type of the detection response data packet is a new warehouse response, the communication processing unit determines a return warehouse represented by equipment identification information in the detection response data packet as a new warehouse, and sends a new warehouse access data packet to the central unit; and the central unit distributes a network layer address for the new warehouse and marks the network layer address as online so as to complete registration of the new warehouse. Through a new warehouse access detection mechanism, any number of return warehouses can be accessed to the underwater propeller rental cabinet to adapt to site requirements.

Description

Technical Field

[0001] This application relates to the field of intelligent sharing technology, and in particular to a return warehouse access detection system, method, rental cabinet and medium. Background Technology

[0002] With the booming development of the sharing economy, various shared rental equipment has emerged. Underwater propulsion rental cabinets are a type of shared rental equipment that has gradually risen in recent years due to the increasing demand for underwater activities. They mainly serve water sports and scientific research activities such as snorkeling, scuba diving, underwater photography, and underwater scientific research. They are usually placed at the beach, beside swimming pools, or in diving centers for convenient rental by users at any time. In practical applications, underwater propulsion rental cabinets are usually of fixed capacity. However, in the underwater propulsion rental business, different sites require different cabinet capacities. For example, when the site area is large and the traffic is high, a larger cabinet capacity is needed, and fixed-capacity underwater propulsion rental cabinets are difficult to adapt to the needs of different sites. Summary of the Invention

[0003] This application provides a return bay access detection system, method, rental cabinet, and medium to solve the problem that the cabinet capacity of existing underwater thruster rental cabinets is difficult to adapt to site requirements. The technical solution provided in this application is as follows: On one hand, this application provides a return bay access detection system applied to an underwater thruster rental cabinet, wherein the underwater thruster rental cabinet is connected to a return bay; wherein, the return bay access detection system includes a central unit, a communication processing unit, and a return bay communication unit; the central unit and the communication processing unit are both located inside the underwater thruster rental cabinet, and the central unit is communicatively connected to the communication processing unit; the return bay communication unit is located inside the return bay, and the return bay communication unit is connected to the communication processing unit through a communication bus; The communication processing unit is used to periodically send broadcast probe data packets, wherein the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery; when receiving a probe response data packet sent by the return warehouse communication unit in response to the broadcast probe data packet, the probe response data packet is parsed. When the source address of the probe response data packet is the default address and the data packet type is new warehouse response, the return warehouse represented by the device identification information in the probe response data packet is determined to be a newly accessed return warehouse, and a new warehouse access data packet including at least the device identification information of the newly accessed return warehouse is sent to the central unit. The return warehouse communication unit is used to parse the broadcast probe data packet when it receives the broadcast probe data packet. When the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery, it generates a probe response data packet based on the device identification information of the return warehouse and sends the probe response data packet to the communication processing unit. The source address of the probe response data packet is the default address and the data packet type is new warehouse response. The central unit, upon receiving a new warehouse access data packet, assigns a network layer address to the new access return warehouse represented by the device identification information in the new warehouse access data packet, and sends an address unicast data packet containing at least the network layer address to the return warehouse communication unit inside the new access return warehouse through the communication processing unit; upon receiving an address confirmation data packet returned by the return warehouse communication unit inside the new access return warehouse through the communication processing unit, it marks the return warehouse communication unit inside the new access return warehouse as online so that the new access return warehouse can complete the registration.

[0004] Optionally, the communication processing unit is configured to generate a new warehouse access data packet based on the device identification information and default address of the newly accessed return warehouse, and send the new warehouse access data packet to the central unit; upon receiving an address unicast data packet sent by the central unit, the unit parses the address unicast data packet; when the destination address of the parsed address unicast data packet is the default address and the data packet type is address allocation, the unit sends the address unicast data packet to the return warehouse communication unit represented by the device identification information in the address unicast data packet; upon receiving an address confirmation data packet returned by the return warehouse communication unit represented by the device identification information in the address unicast data packet, the unit reports the address confirmation data packet to the central unit. The return warehouse communication unit is used to parse the address unicast data packet when it receives the address unicast data packet. When the destination address of the address unicast data packet is the default address and the data packet type is address allocation, it determines that the device identification information in the address unicast data packet matches its own device identification information, updates the default address to the network layer address in the address unicast data packet, and returns an address confirmation data packet to the communication processing unit. The central unit, upon receiving a new warehouse access data packet, parses the packet to obtain device identification information and a default address; allocates a network layer address to the new access warehouse represented by the device identification information; generates an address unicast data packet based on the network layer address; and sends the address unicast data packet to the communication processing unit. The destination address of the address unicast data packet is the default address, and the data packet type is address allocation. The address unicast data packet includes at least device identification information and a network layer address. Upon receiving an address confirmation data packet, the central unit marks the warehouse communication unit as online to enable the new access warehouse to complete its registration.

[0005] Optionally, the central unit is also used to reallocate storage logical blocks based on the number of online return warehouse communication units, and send the logical address information of the reallocated storage logical blocks to the communication processing unit; The communication processing unit is also used to broadcast the logical address information of the reallocated storage logical block to each online return warehouse communication unit when it receives the logical address information of the reallocated storage logical block.

[0006] Optionally, the communication processing unit is also configured to send heartbeat detection data packets to each return warehouse communication unit; if a heartbeat response data packet is received from the return warehouse communication unit, it is determined that the return warehouse communication unit is in an online state; if no heartbeat response data packet is received from the return warehouse communication unit, it is determined that the return warehouse communication unit is in an offline state.

[0007] Optionally, there are multiple communication links between the communication processing unit and the communication units of each return warehouse; The communication processing unit is used to determine that the return warehouse communication unit is offline when no heartbeat response data packet is received from the return warehouse communication unit after sending heartbeat detection data packets through each communication link.

[0008] On the other hand, this application provides a return warehouse access detection method, applied to the communication processing unit of the aforementioned return warehouse access detection system, comprising: Periodically send broadcast probe packets, wherein the destination address of the broadcast probe packets is the broadcast address and the packet type is topology discovery; The return warehouse communication unit receives a probe response data packet sent in response to a broadcast probe data packet. The probe response data packet is generated by the return warehouse communication unit based on the device identification information of the return warehouse when the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery. The source address of the probe response data packet is the default address and the data packet type is new warehouse response. The probe response data packet is parsed. When the source address of the probe response data packet is the default address and the data packet type is new warehouse response, the return warehouse represented by the device identification information in the probe response data packet is determined to be a new access return warehouse. Send a new warehouse access data packet, which includes at least the device identification information of the newly accessed warehouse, to the central unit to trigger the central unit to allocate a network layer address to the newly accessed warehouse represented by the device identification information, and send an address unicast data packet, which includes at least the network layer address, to the communication processing unit. When the address unicast data packet is received from the central unit, the address unicast data packet is sent to the return warehouse communication unit inside the newly accessed return warehouse; When an address confirmation data packet is received from the communication unit of the newly accessed return warehouse, the address confirmation data packet is sent to the central unit to trigger the central unit to mark the communication unit of the newly accessed return warehouse as online so that the newly accessed return warehouse can complete the registration.

[0009] On the other hand, this application provides a return warehouse access detection method, applied to the return warehouse communication unit in the aforementioned return warehouse access detection system, comprising: Receive broadcast probe data packets sent by the communication processing unit, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery; The broadcast probe data packet is parsed. When the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery, a probe response data packet is generated based on the device identification information of the return warehouse. The source address of the probe response data packet is the default address and the data packet type is new warehouse response. The probe response data packet is sent to the communication processing unit to trigger the communication processing unit to determine that the return warehouse represented by the device identification information in the probe response data packet is a new access return warehouse when the source address of the probe response data packet is the default address and the data packet type is new warehouse response. The communication processing unit then sends a new warehouse access data packet containing at least the device identification information of the new access return warehouse to the central unit. When the central unit allocates a network layer address for the new access return warehouse represented by the device identification information and sends an address unicast data packet containing at least the network layer address of the new access return warehouse, the address unicast data packet is sent to the return warehouse communication unit inside the new access return warehouse. Upon receiving an address unicast data packet, the communication processing unit sends an address confirmation data packet to the central unit to trigger the central unit to mark the communication unit of the newly accessed return warehouse as online, so that the newly accessed return warehouse can complete its registration.

[0010] On the other hand, this application provides a return warehouse access detection method, applied to the central unit of the aforementioned return warehouse access detection system, comprising: When a new warehouse access data packet containing at least device identification information is received from the communication processing unit, a network layer address is assigned to the new access return warehouse represented by the device identification information in the new warehouse access data packet. The new warehouse access data packet is sent by the communication processing unit after periodically sending broadcast probe data packets. When a probe response data packet sent by the return warehouse communication unit in response to the broadcast probe data packet is received, the probe response data packet is parsed. If the source address of the probe response data packet is the default address and the data packet type is new warehouse response, the return warehouse represented by the device identification information in the probe response data packet is determined to be a new access return warehouse before it is sent. The communication processing unit sends address unicast data packets, including at least the network layer address, to the communication unit inside the newly accessed return warehouse. When the address confirmation data packet is received from the communication processing unit of the newly accessed return warehouse, the communication unit of the newly accessed return warehouse is marked as online so that the newly accessed return warehouse can complete the registration.

[0011] On the other hand, this application provides an underwater thruster rental cabinet, including: a return compartment, and a detection system for accessing the aforementioned return compartment.

[0012] On the other hand, this application provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the above-described return warehouse access detection method.

[0013] The beneficial effects of this application are as follows: This application, through the periodic transmission of broadcast probe data packets by the communication processing unit, can trigger the return warehouse communication unit to generate a probe response data packet based on the device identification information of the return warehouse when the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery. This response data packet is then sent to the communication processing unit. Consequently, when the source address of the probe response data packet is a default address and the data packet type is new warehouse response, the communication processing unit can determine that the return warehouse represented by the device identification information in the probe response data packet is a newly accessed return warehouse. This allows the communication processing unit to trigger the central unit by sending a new warehouse access data packet containing at least the device identification information of the newly accessed return warehouse. The system assigns a network layer address to the newly accessed return warehouse, representing the device identification information, and sends it to the return warehouse communication unit inside the new access warehouse through the communication processing unit. This enables the central unit to mark the return warehouse communication unit inside the new access warehouse as online when it receives the address confirmation data packet returned by the return warehouse communication unit inside the new access warehouse through the communication processing unit, thus enabling the new access warehouse to complete its registration. This achieves automatic discovery of the new access warehouse, allowing it to be quickly and accurately identified and incorporated into the underwater thruster rental cabinet. This greatly improves the scalability and flexibility of the underwater thruster rental cabinet and provides strong support for adapting to the needs of different deployment sites.

[0014] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the system composition of the return warehouse access detection system in this application embodiment; Figure 2 This is a schematic diagram illustrating the data field composition of a communication data packet in an embodiment of this application; Figure 3 This is a schematic diagram illustrating the generation and transmission process of heartbeat detection data packets in an embodiment of this application; Figure 4 This is a schematic diagram of the online and link detection process of the return warehouse communication unit in the embodiments of this application; Figure 5 This is a schematic diagram outlining the general process of the return warehouse access detection method in this application embodiment. Detailed Implementation

[0016] To make the objectives, technical solutions, and beneficial effects of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] This application provides a return bay access detection system, applied to underwater thruster rental cabinets, where return bays are connected to the underwater thruster rental cabinets; see reference. Figure 1 As shown, the return bay access detection system includes a central unit, a communication processing unit, and a return bay communication unit; both the central unit and the communication processing unit are located inside the underwater thruster rental cabinet, and the central unit is communicatively connected to the communication processing unit; the return bay communication unit is located inside the return bay, and the return bay communication unit is connected to the communication processing unit via a communication bus. The communication processing unit is used to periodically send broadcast probe data packets, wherein the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery; when receiving a probe response data packet sent by the return warehouse communication unit in response to the broadcast probe data packet, the probe response data packet is parsed. When the source address of the probe response data packet is the default address and the data packet type is new warehouse response, the return warehouse represented by the device identification information in the probe response data packet is determined to be a newly accessed return warehouse, and a new warehouse access data packet including at least the device identification information of the newly accessed return warehouse is sent to the central unit. The return warehouse communication unit is used to parse the broadcast probe data packet when it receives the broadcast probe data packet. When the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery, it generates a probe response data packet based on the device identification information of the return warehouse and sends the probe response data packet to the communication processing unit. The source address of the probe response data packet is the default address and the data packet type is new warehouse response. The central unit, upon receiving a new warehouse access data packet, assigns a network layer address to the new access return warehouse represented by the device identification information in the new warehouse access data packet, and sends an address unicast data packet containing at least the network layer address to the return warehouse communication unit inside the new access return warehouse through the communication processing unit; upon receiving an address confirmation data packet returned by the return warehouse communication unit inside the new access return warehouse through the communication processing unit, it marks the return warehouse communication unit inside the new access return warehouse as online so that the new access return warehouse can complete the registration.

[0018] In this embodiment, the underwater thruster rental cabinet includes a main cabinet and multiple return compartments. The main cabinet houses a central unit, a communication processing unit, a power management unit, and a shared DC bus. Each return compartment is a hot-swappable extended storage cabinet for storing underwater thrusters and their batteries. Each return compartment contains multiple return compartments, and each compartment has a return compartment communication unit. The power management unit provides power and management to the central unit, communication processing unit, and return compartment communication units via the shared DC bus. The central unit and communication processing unit are connected via one of the following communication methods: network cable, RS485, RS232, or CAN. The communication processing unit and each return compartment communication unit are connected via at least one of the following communication methods: network cable, RS485, RS232, or CAN. The communication connection includes a hardware component with multiple communication interfaces and a software component with built-in drivers for various communication protocols to support connections with return warehouse communication units using different communication methods. The communication processing unit comprises a multi-interface module and a first communication protocol adapter. The multi-interface module integrates multiple communication interface modules, each supporting one of the following communication methods: Ethernet, RS485, RS232, or CAN. The first communication protocol adapter converts and adapts data from different communication methods, ensuring seamless data transmission between different communication links. The first communication protocol adapter can be implemented in software (e.g., by implementing multiple protocol stacks in the operating system) or in hardware (e.g., using a dedicated communication interface chip). The hardware of the return bin communication unit is equipped with at least one communication interface, and the software has a built-in driver for at least one communication protocol to achieve connection with the communication processing unit. The return bin communication unit includes at least one communication interface module and a second communication protocol adapter. Preferably, the return bin communication unit can include at least two communication interface modules, each supporting one of the following communication methods: network cable (e.g., Ethernet), RS485, RS232, and CAN. This redundant link design allows for better adaptation to different network environments, improving the reliability and fault tolerance of data transmission between the communication processing unit and the return bin communication unit. The second communication protocol adapter decodes and converts the received data to ensure correct transmission to the processing module of the return bin communication unit. The second communication protocol adapter can be implemented in software (e.g., by implementing multiple protocol stacks in the operating system) or in hardware (e.g., by using a dedicated communication interface chip).In this way, the central unit and the communication processing unit are connected via one of the following communication links: wired communication link, RS485 communication link, RS232 communication link, and CAN communication link. The communication processing unit and each return warehouse communication unit are connected via at least two of the following communication links: wired communication link, RS485 communication link, RS232 communication link, and CAN communication link, and the communication link is automatically switched according to the network status, which can realize fast and stable communication data packet transmission.

[0019] In practical applications, communication data packets are mainly divided into broadcast probe data packets, probe response data packets, new warehouse access data packets, address unicast data packets, address acknowledgment data packets, heartbeat detection data packets, and heartbeat response data packets, etc. (See also...) Figure 2 As shown, the data field of a communication message includes address, data packet type, link type, and data packet; the address includes source address and destination address; the data packet is the actual data; the data packet type is used to reflect the purpose of the data packet, including but not limited to topology discovery type, probe response type, address allocation type, address acknowledgment type, heartbeat data type, heartbeat response type, etc.; the link type is used to reflect the current physical connection form between the two communicating parties, that is, the current communication link, including but not limited to wired network communication link, RS232 communication link, RS485 communication link, and CAN communication link, etc. In this way, by periodically generating broadcast probe packets based on the packet type (i.e., topology discovery type), destination address (i.e., broadcast address), and the current link type of each return warehouse communication unit, and sending them to each return warehouse communication unit, the return warehouse communication unit can be triggered to generate probe response packets based on the device identification information of the return warehouse when it resolves that the destination address of the broadcast probe packet is a broadcast address and the packet type is topology discovery. This allows the communication processing unit to determine that the return warehouse represented by the device identification information in the probe response packet is a newly accessed return warehouse when it resolves that the source address of the probe response packet is the default address and the packet type is new warehouse response. This enables the communication processing unit to send the probe response packet to the central unit. The new warehouse access data packet, which includes the device identification information of the newly accessed return warehouse, triggers the central unit to assign a network layer address to the new accessed return warehouse represented by the device identification information. This address is then sent to the return warehouse communication unit inside the new accessed return warehouse through the communication processing unit. Consequently, when the central unit receives the address confirmation data packet returned by the return warehouse communication unit inside the new accessed return warehouse through the communication processing unit, it marks the return warehouse communication unit inside the new accessed return warehouse as online, thus enabling the new accessed return warehouse to complete its registration. This achieves automatic discovery of new accessed return warehouses, allowing them to be quickly and accurately identified and incorporated into the underwater thruster rental cabinet. This greatly improves the scalability and flexibility of the underwater thruster rental cabinet, providing strong support for adapting to the needs of different deployment sites.

[0020] In one possible implementation, the communication processing unit is configured to generate a new warehouse access data packet based on the device identification information and default address of the newly accessed return warehouse, and send the new warehouse access data packet to the central unit; upon receiving an address unicast data packet sent by the central unit, the unit parses the address unicast data packet; when the destination address of the parsed address unicast data packet is the default address and the data packet type is address allocation, the unit sends the address unicast data packet to the return warehouse communication unit represented by the device identification information in the address unicast data packet; upon receiving an address confirmation data packet returned by the return warehouse communication unit, the unit reports the address confirmation data packet to the central unit; upon receiving an address confirmation data packet returned by the return warehouse communication unit represented by the device identification information in the address unicast data packet, the unit reports the address confirmation data packet to the central unit. The return warehouse communication unit is used to parse the address unicast data packet when it receives the address unicast data packet. When the destination address of the address unicast data packet is the default address and the data packet type is address allocation, it determines that the device identification information in the address unicast data packet matches its own device identification information, updates the default address to the network layer address in the address unicast data packet, and returns an address confirmation data packet to the communication processing unit. The central unit, upon receiving a new warehouse access data packet, parses the packet to obtain device identification information and a default address; allocates a network layer address to the new access warehouse represented by the device identification information; generates an address unicast data packet based on the network layer address; and sends the address unicast data packet to the communication processing unit. The destination address of the address unicast data packet is the default address, and the data packet type is address allocation. The address unicast data packet includes at least device identification information and a network layer address. Upon receiving an address confirmation data packet, the central unit marks the warehouse communication unit as online to enable the new access warehouse to complete its registration.

[0021] In this embodiment, after the communication processing unit detects a new access return bay to the underwater thruster rental cabinet, it reports the device identification information and default address of the new access return bay to the central unit in the form of a new bay access data packet. The central unit can then allocate a network layer address to the return bay communication unit inside the new access return bay and generate an address unicast data packet with the destination address being the default address of the new access return bay, the data packet type being address allocation, and the data packet containing at least the device identification information and network layer address of the new access return bay. This data packet is then forwarded by the communication processing unit to the communication bus connected to the return bay communication unit inside the new access return bay. This allows the return bay communication unit inside the new access return bay to update its default address to the network layer address in the address unicast data packet after listening to the address unicast data packet, thereby enabling it to interact and communicate with the return bay communication unit inside the new access return bay using the network layer address, thus completing the registration operation of the new access return bay.

[0022] In one possible implementation, the central unit is also used to reallocate storage logical blocks based on the number of online return warehouse communication units, and send the logical address information of the reallocated storage logical blocks to the communication processing unit. The communication processing unit is also used to broadcast the logical address information of the reallocated storage logical block to each online return warehouse communication unit when it receives the logical address information of the reallocated storage logical block.

[0023] In this embodiment, after a new return bay is registered, the central unit reallocates storage logic blocks to each online return bay communication unit based on the number of online return bay communication units. This adapts to changes in network topology, optimizes data storage and management, and ensures the efficient operation of the underwater thruster rental cabinet. Furthermore, after reallocating storage logic blocks based on the number of online return bay communication units, the central unit broadcasts the logical address information of the reallocated storage logic blocks to all online return bay communication units. This allows each return bay communication unit to be aware of the latest network layout in a timely manner, thereby ensuring the coordinated operation of the entire underwater thruster rental cabinet.

[0024] In one possible implementation, the communication processing unit is further configured to send heartbeat detection data packets to each return warehouse communication unit; if a heartbeat response data packet is received from a return warehouse communication unit, the return warehouse communication unit is determined to be online; if no heartbeat response data packet is received from a return warehouse communication unit, the return warehouse communication unit is determined to be offline.

[0025] In the embodiments of this application, see the following: Figure 3 As shown, the communication processing unit periodically determines the network layer address of each return warehouse communication unit as the destination address, generates a heartbeat detection data packet including the destination address, data packet type, and link type, and sends it to each return warehouse communication unit. When a heartbeat response data packet is received from a return warehouse communication unit within a set time range, the return warehouse communication unit is determined to be online. When no heartbeat response data packet is received from a return warehouse communication unit within the set time range, the return warehouse communication unit is determined to be offline. Thus, by periodically generating heartbeat detection data packets and sending them to each return warehouse communication unit, the online status of each return warehouse communication unit can be detected based on the response results of each return warehouse communication unit to the heartbeat detection data packet, thereby realizing the status detection of each return warehouse communication unit.

[0026] In one possible implementation, there are multiple communication links between the communication processing unit and each return bin communication unit; wherein, the multiple communication links include, but are not limited to, wired communication links (e.g., Ethernet communication links), RS232 communication links, RS485 communication links and CAN communication links; The communication processing unit is used to determine that the return warehouse communication unit is offline when no heartbeat response data packet is received from the return warehouse communication unit after sending heartbeat detection data packets through each communication link.

[0027] In this embodiment, the communication processing unit sequentially generates heartbeat detection data packets of different link types and sends them to each return warehouse communication unit. If a return warehouse communication unit returns a heartbeat response data packet after sending a heartbeat detection data packet of a certain link type, the communication processing unit determines that the link type is the current communication link type of the return warehouse communication unit and reports it to the central unit. This allows the central unit to generate corresponding communication messages for the communication link when it receives application data or upgrade data. If all return warehouse communication units do not respond after sending heartbeat detection data packets of all link types, the communication processing unit determines that the return warehouse communication unit is offline and reports it to the central unit. This allows the central unit to filter out the return warehouse communication unit when responding to user rental operations. Thus, by periodically generating heartbeat detection data packets and sending them to each return warehouse communication unit, the online status and current link type of each return warehouse communication unit can be detected based on their response to the heartbeat detection data packets, thereby achieving the detection of the online status and link type of each return warehouse communication unit.

[0028] For specific implementation, please refer to Figure 4 As shown, the overview process of the online and communication link detection method for the return warehouse communication unit based on heartbeat detection data packets is as follows: Step 101: The communication processing unit periodically uses the network layer address of each return warehouse communication unit as the destination address.

[0029] Step 102: The communication processing unit selects one communication link from multiple communication links as the target communication link; wherein, the multiple communication links include wired communication links, RS232 communication links, RS485 communication links and CAN communication links; the selection order of the multiple communication links is a priority order based on reliability and transmission rate predetermined, and the priority order from high to low is wired communication links, RS485 communication links, CAN communication links and RS232 communication links.

[0030] Step 103: The communication processing unit generates a heartbeat detection data packet based on the destination address, the link type of the target communication link, and the data packet type.

[0031] Step 104: The communication processing unit sends the heartbeat detection data packet to the communication units of each return warehouse through the target communication link.

[0032] Step 105: The communication processing unit determines whether it has received a heartbeat response data packet from the return warehouse communication unit within the set time range. If yes, proceed to step 106; otherwise, proceed to step 107.

[0033] Step 106: The communication processing unit determines that the return warehouse communication unit is online and that the current link type of the return warehouse communication unit is the target communication link, and reports the current status (i.e., online status) and current link type of the return warehouse communication unit to the central unit.

[0034] Step 107: The communication processing unit determines whether all multiple communication links have been selected as the target communication link. If yes, proceed to step 108; otherwise, return to step 102.

[0035] Step 108: The communication processing unit determines that the return warehouse communication unit is offline and reports the current status (i.e., offline status) of the return warehouse communication unit to the central unit.

[0036] It is worth mentioning that, in addition to the above-mentioned communication processing unit sequentially generating heartbeat detection data packets of different link types and sending them to each return warehouse communication unit for heartbeat detection, heartbeat detection data packets of different link types can also be generated first and sent to each return warehouse communication unit in parallel through different communication links for heartbeat detection. For each return warehouse communication unit, when a heartbeat response data packet returned by the return warehouse communication unit through any communication link is received within a set time range, it is determined that the return warehouse communication unit is online and that the current link type of the return warehouse communication unit is that communication link. The current status (i.e., online status) and current link type of the return warehouse communication unit are reported to the central unit. If no heartbeat response data packet is received from the return warehouse communication unit within the set time range, the process is retried through steps 101 to 108 above. This ensures both rapid discovery of the current communication link and the robustness of progressive degradation.

[0037] In one possible implementation, the main cabinet of the underwater thruster rental cabinet is also equipped with a lidar sensor, three UWB anchoring antennas and an ultra-wide-angle camera. The top cover of each return compartment contained in the newly connected and / or relocated return compartment is affixed with an AprilTag QR code and a UWB beacon. The central unit is also used to identify newly accessed and / or relocated return bins and reference planes (such as the ground) within the annular area surrounding the main cabinet (e.g., an annular area centered on the main cabinet with a radius of 0.5-5 meters) based on point cloud data collected by lidar sensors, to construct a digital twin map using the OBB (Oriented Bounding Box) in the global coordinate system. Based on the time difference of arrival of the three UWB anchored antennas measured during communication between the three UWB anchored antennas and the UWB beacons attached inside each return bin, the first three-dimensional coordinates of each return bin in the global coordinate system are determined. Based on the QR code images obtained from the AprilTag QR codes attached inside each return bin captured by the ultra-wide-angle camera, the AprilTag QR codes are recognized to obtain a unique code identifier for each return bin and its second three-dimensional coordinates in the camera coordinate system. After transforming the second three-dimensional coordinates of each return bin in the camera coordinate system to the global coordinate system, the coordinates of each return bin are... The second 3D coordinates in the global coordinate system are aligned with the first 3D coordinates to the reference plane and then weighted and fused to obtain the target 3D coordinates of each return bin in the global coordinate system. The target 3D coordinates and unique code identifier of each return bin in the global coordinate system are projected onto the digital twin map and bound to the corresponding return bin's orientation bounding box. The current status information (such as online or offline status), equipment usage frequency information (such as underwater thruster usage rate or battery usage rate), and logical address information of the return bin communication units reported by the communication processing unit are projected onto the digital twin map and bound to the corresponding return bin's orientation bounding box.

[0038] In this embodiment, three UWB anchor antennas are arranged in a right-angled triangle at the front left corner, front right corner, and midpoint of the rear edge of the main cabinet. The area enclosed by the three UWB anchor antennas is the 0.5–5m annular area that may appear in the return warehouse later. This ensures that each return warehouse in any newly added and / or relocated return warehouse falls within the annular area, thereby ensuring positioning accuracy. Simultaneously, the origin and direction of the UWB anchor antennas are configured to be completely consistent with the origin and axis used by the LiDAR sensor during scanning, making their coordinate systems identical—both global coordinate systems. This reduces one coordinate transformation operation and improves the efficiency of building the digital twin map. Furthermore, by constructing a digital twin map that records the unique coded identifier, orientation bounding box, target 3D coordinates, current status information (such as online or offline status), equipment usage frequency information (such as underwater thruster usage rate or battery usage rate), and logical address information for each return compartment, the AR glasses can interact with the central unit to visualize the digital twin map after maintenance personnel wear AR glasses connected to the central unit on the same communication network (such as a WiFi network). This allows maintenance personnel to view the unique coded identifier of each return compartment inside the underwater thruster rental cabinet through the AR glasses. The system displays information such as identification, orientation bounding box, target 3D coordinates, current status information (e.g., online or offline status), equipment usage frequency information (e.g., underwater thruster usage rate or battery usage rate), and logical address information. This facilitates maintenance personnel's understanding of the current status of each return compartment within the underwater thruster rental cabinet. Compared to displaying the current status of each return compartment through the human-machine interface provided by the central unit, it reduces the need for operations such as looking up / down at the screen → looking down / up to find the compartment → looking up / down again to confirm. It also avoids problems such as difficulty in performing maintenance operations due to carrying tools or thrusters in both hands during peak periods, thereby improving maintenance efficiency.

[0039] Based on the above embodiments, this application provides a return bay access detection method, applied to underwater thruster rental cabinets, see reference. Figure 5 As shown in the embodiments of this application, the interaction flow of the return warehouse access detection method is as follows: Step 201: The communication processing unit periodically sends broadcast probe data packets, wherein the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery.

[0040] Step 202: The return warehouse communication unit parses the broadcast probe data packet. When the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery, a probe response data packet is generated based on the device identification information of the return warehouse. The source address of the probe response data packet is the default address and the data packet type is new warehouse response.

[0041] Step 203: The return warehouse communication unit sends the probe response data packet to the communication processing unit.

[0042] Step 204: The communication processing unit parses the probe response data packet. When the source address of the probe response data packet is the default address and the data packet type is new warehouse response, it determines that the return warehouse represented by the device identification information in the probe response data packet is a new access return warehouse, and generates a new warehouse access data packet based on the device identification information of the new access return warehouse and the default address.

[0043] Step 205: The communication processing unit sends the new warehouse access data packet to the central unit.

[0044] Step 206: When the central unit receives a new warehouse access data packet, it parses the new warehouse access data packet to obtain the device identification information and the default address, then assigns a network layer address to the new access return warehouse represented by the device identification information, and generates an address unicast data packet based on the network layer address. The destination address of the address unicast data packet is the default address and the data packet type is address allocation. The address unicast data packet includes at least the device identification information and the network layer address.

[0045] Step 207: The central unit sends the address unicast data packet to the communication processing unit.

[0046] Step 208: The communication processing unit parses the address unicast data packet and finds that the destination address of the address unicast data packet is the default address and the data packet type is address allocation.

[0047] Step 209: The communication processing unit sends the address unicast data packet to the return warehouse communication unit represented by the device identification information in the address unicast data packet.

[0048] Step 210: The return warehouse communication unit parses the address unicast data packet. When the destination address of the parsed address unicast data packet is the default address and the data packet type is address allocation, after determining that the device identification information in the address unicast data packet matches its own device identification information, the default address is updated to the network layer address in the address unicast data packet.

[0049] Step 211: The return warehouse communication unit returns an address confirmation data packet to the communication processing unit.

[0050] Step 212: The communication processing unit reports the address confirmation data packet to the central unit.

[0051] Step 213: The central unit marks the newly connected return warehouse as online to complete the registration of the newly connected return warehouse.

[0052] Based on the above embodiments, this application provides an underwater thruster rental cabinet, including: a return compartment, and a detection system for accessing the return compartment.

[0053] It is worth noting that the central unit, communication processing unit, and return bay communication unit mentioned in the embodiments of this application can all implement their functions through a processor. Based on this, the embodiments of this application also provide a computer-readable storage medium storing computer instructions. When these computer instructions are executed by a processor, they implement the return bay access detection method provided in the embodiments of this application. Specifically, these computer instructions can be built into or installed in the processor, so that the processor can implement the return bay access detection method provided in the embodiments of this application by executing the built-in or installed computer instructions.

[0054] Furthermore, the return warehouse access detection method provided in this application embodiment can also be implemented as a program product, which includes program code. When the program code is executed by a processor, it implements the return warehouse access detection method provided in this application embodiment.

[0055] The program product provided in this application embodiment can be any combination of one or more readable media, wherein the readable media can be a readable signal medium or a readable storage medium, and the readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. Specifically, more specific examples of readable storage media (a non-exhaustive list) include electrical connections with one or more wires, portable disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0056] The program product provided in this application embodiment can be a CD-ROM and include program code, and can also run on an underwater thruster rental cabinet. However, the program product provided in this application embodiment is not limited to this. In this application embodiment, the readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, device, or apparatus.

[0057] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0058] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0059] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0060] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of the embodiments of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A return warehouse access detection system, characterized in that, An underwater thruster rental cabinet is used, which is connected to a return compartment. The return compartment access detection system includes a central unit, a communication processing unit, and a return compartment communication unit. Both the central unit and the communication processing unit are located inside the underwater thruster rental cabinet, and the central unit is communicatively connected to the communication processing unit. The return compartment communication unit is located inside the return compartment and is connected to the communication processing unit via a communication bus. The communication processing unit is configured to periodically send broadcast probe data packets, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery; when receiving a probe response data packet sent by the return warehouse communication unit in response to the broadcast probe data packet, the unit parses the probe response data packet; when the source address of the probe response data packet is a default address and the data packet type is new warehouse response, the unit determines that the return warehouse represented by the device identification information in the probe response data packet is a newly accessed return warehouse, and sends a new warehouse access data packet, which includes at least the device identification information of the newly accessed return warehouse, to the central unit; The return warehouse communication unit is used to parse the broadcast probe data packet when it receives the broadcast probe data packet. When it is found that the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, it generates a probe response data packet based on the device identification information of the return warehouse and sends the probe response data packet to the communication processing unit. The source address of the probe response data packet is a default address and the data packet type is new warehouse response. The central unit is configured to, upon receiving the new warehouse access data packet, assign a network layer address to the new access return warehouse represented by the device identification information in the new warehouse access data packet, and send an address unicast data packet, including at least the network layer address, to the return warehouse communication unit inside the new access return warehouse through the communication processing unit; upon receiving an address confirmation data packet returned by the return warehouse communication unit inside the new access return warehouse through the communication processing unit, mark the return warehouse communication unit inside the new access return warehouse as online so that the new access return warehouse completes registration.

2. The return warehouse access detection system as described in claim 1, characterized in that, The communication processing unit is configured to generate a new warehouse access data packet based on the device identification information and default address of the newly accessed return warehouse, and send the new warehouse access data packet to the central unit; upon receiving an address unicast data packet sent by the central unit, the unit parses the address unicast data packet; when the destination address of the parsed address unicast data packet is the default address and the data packet type is address allocation, the unit sends the address unicast data packet to the return warehouse communication unit represented by the device identification information in the address unicast data packet; upon receiving an address confirmation data packet returned by the return warehouse communication unit represented by the device identification information in the address unicast data packet, the unit reports the address confirmation data packet to the central unit. The return warehouse communication unit is used to parse the address unicast data packet when it receives the address unicast data packet. When it is found that the destination address of the address unicast data packet is the default address and the data packet type is address allocation, it determines that the device identification information in the address unicast data packet matches its own device identification information, updates the default address to the network layer address in the address unicast data packet, and returns an address confirmation data packet to the communication processing unit. The central unit is used to parse the new warehouse access data packet to obtain the device identification information and the default address when it receives the new warehouse access data packet; A network layer address is assigned to the new access return warehouse represented by the device identification information. An address unicast data packet is generated based on the network layer address, and the address unicast data packet is sent to the communication processing unit. The destination address of the address unicast data packet is the default address, and the data packet type is address allocation. The address unicast data packet includes at least the device identification information and the network layer address. When the address confirmation data packet is received, the return warehouse communication unit is marked as online to enable the new access return warehouse to complete registration.

3. The return warehouse access detection system as described in claim 2, characterized in that, The central unit is also used to reallocate storage logic blocks based on the number of online return warehouse communication units, and send the logical address information of the reallocated storage logic blocks to the communication processing unit. The communication processing unit is further configured to, upon receiving the logical address information of the reallocated storage logical block, broadcast the logical address information of the reallocated storage logical block to each of the online return warehouse communication units.

4. The return warehouse access detection system as described in any one of claims 1-3, characterized in that, The communication processing unit is further configured to send heartbeat detection data packets to each of the return warehouse communication units; if a heartbeat response data packet is received from the return warehouse communication unit, the return warehouse communication unit is determined to be online; if no heartbeat response data packet is received from the return warehouse communication unit, the return warehouse communication unit is determined to be offline.

5. The return warehouse access detection system as described in claim 4, characterized in that, There are multiple communication links between the communication processing unit and each of the return warehouse communication units; The communication processing unit is configured to determine that the return warehouse communication unit is offline if it does not receive a heartbeat response data packet returned by the return warehouse communication unit after sending a heartbeat detection data packet through each communication link.

6. A method for detecting access to a return warehouse, characterized in that, The communication processing unit applied in the return warehouse access detection system as described in any one of claims 1-5 includes: Periodically send broadcast probe data packets, wherein the destination address of the broadcast probe data packets is a broadcast address and the data packet type is topology discovery; The return warehouse communication unit receives a probe response data packet sent in response to the broadcast probe data packet. The probe response data packet is generated by the return warehouse communication unit based on the device identification information of the return warehouse when the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery. The source address of the probe response data packet is a default address and the data packet type is new warehouse response. The probe response data packet is parsed. When the source address of the probe response data packet is the default address and the data packet type is new warehouse response, the return warehouse represented by the device identification information in the probe response data packet is determined to be a newly accessed return warehouse. Send a new warehouse access data packet, which includes at least the device identification information of the newly accessed return warehouse, to the central unit to trigger the central unit to allocate a network layer address for the new access return warehouse represented by the device identification information, and send an address unicast data packet, which includes at least the network layer address, to the communication processing unit. When the address unicast data packet is received from the central unit, the address unicast data packet is sent to the return warehouse communication unit inside the newly accessed return warehouse; When an address confirmation data packet is received from the communication unit of the newly accessed return warehouse, the address confirmation data packet is sent to the central unit to trigger the central unit to mark the communication unit of the newly accessed return warehouse as online so that the newly accessed return warehouse can complete the registration.

7. A method for detecting access to a return warehouse, characterized in that, The return warehouse communication unit applied in the return warehouse access detection system as described in any one of claims 1-5 includes: Receive broadcast probe data packets sent by the communication processing unit, wherein the destination address of the broadcast probe data packets is a broadcast address and the data packet type is topology discovery; The broadcast probe data packet is parsed. When the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, a probe response data packet is generated based on the device identification information of the return warehouse. The source address of the probe response data packet is the default address and the data packet type is new warehouse response. The probe response data packet is sent to the communication processing unit to trigger the communication processing unit to determine that the return warehouse represented by the device identification information in the probe response data packet is a new access return warehouse when the source address of the probe response data packet is the default address and the data packet type is a new warehouse response. The communication processing unit then sends a new warehouse access data packet, which includes at least the device identification information of the new access return warehouse, to the central unit. When the central unit receives an address unicast data packet, which includes at least the network layer address of the new access return warehouse, after allocating a network layer address for the new access return warehouse represented by the device identification information, the address unicast data packet is sent to the return warehouse communication unit inside the new access return warehouse. Upon receiving the address unicast data packet, the communication processing unit sends an address confirmation data packet to the central unit to trigger the central unit to mark the communication unit of the newly accessed return warehouse as online, so that the newly accessed return warehouse can complete the registration.

8. A method for detecting access to a return warehouse, characterized in that, The central unit applied in the return warehouse access detection system as described in any one of claims 1-5 includes: When a new warehouse access data packet containing at least device identification information is received from the communication processing unit, a network layer address is allocated to the new access return warehouse represented by the device identification information in the new warehouse access data packet. The new warehouse access data packet is sent after the communication processing unit periodically sends broadcast probe data packets and receives a probe response data packet sent by the return warehouse communication unit in response to the broadcast probe data packet. The probe response data packet is parsed, and when the source address of the probe response data packet is the default address and the data packet type is new warehouse response, the return warehouse represented by the device identification information in the probe response data packet is determined to be a new access return warehouse before being sent. The communication processing unit sends an address unicast data packet, including at least the network layer address, to the return warehouse communication unit inside the newly accessed return warehouse. When the address confirmation data packet returned by the communication processing unit from the communication unit of the newly accessed return warehouse is received, the communication unit of the newly accessed return warehouse is marked as online so that the newly accessed return warehouse can complete the registration.

9. A rental cabinet for underwater thrusters, characterized in that, include: The return warehouse, and the return warehouse access detection system as described in any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the return warehouse access detection method as described in any one of claims 6-8.

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