Unmanned ship data transmission method, communication device and storage medium

Abstract

The application discloses an unmanned ship data transmission method, a communication device and a computer readable storage medium. The method is applied to any unmanned ship communication node in an unmanned ship networking network, and the method comprises the following steps: determining a network routing table of the unmanned ship networking network, wherein the network routing table is used for recording the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network and the real-time communication parameters of all adjacent unmanned ship communication nodes, and the communication link between any adjacent unmanned ship communication nodes is more than one; in the case that there is a to-be-transmitted message, determining a target transmission path according to the destination address of the to-be-transmitted message and the network routing table, wherein the destination address of the to-be-transmitted message is directed to other unmanned ship communication nodes except the unmanned ship communication node; and transmitting the to-be-transmitted message to the next-hop unmanned ship communication node indicated by the target transmission path. The application scheme can guarantee the smooth communication of different unmanned ship communication nodes in the unmanned ship networking network.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned ship communication, and particularly relates to an unmanned ship data transmission method, an unmanned ship data transmission device, a communication device and a computer readable storage medium. BACKGROUND

[0002] In the field of unmanned ships, the devices carried by the unmanned ships and the devices carried by the control center can establish an unmanned ship networking network through a communication device such as a gateway, so as to realize remote control of the control center on the unmanned ship or data interaction between the devices. Since the unmanned ship mainly operates on the water surface or in the ocean, the communication environment is relatively complex, and the communication quality is difficult to guarantee. In addition, in the case that the unmanned device is far away from the control center and the number of devices is large, the unmanned ship communication nodes in the unmanned ship networking network also increase correspondingly. Therefore, how to guarantee the smooth communication of different unmanned ship communication nodes in a long distance has become a problem to be solved at present. SUMMARY

[0003] The application provides an unmanned ship data transmission method, an unmanned ship data transmission device, a communication device and a computer readable storage medium, which can guarantee the smooth communication of different unmanned ship communication nodes in the unmanned ship networking network.

[0004] In a first aspect, the application provides an unmanned ship data transmission method, which is applied to any unmanned ship communication node in an unmanned ship networking network. The unmanned ship data transmission method comprises the following steps.

[0005] A network routing table of the unmanned ship networking network is determined. The network routing table is used to record the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network and the real-time communication parameters of all adjacent unmanned ship communication nodes. The communication link between any adjacent unmanned ship communication nodes is more than one.

[0006] In the case that there is a to-be-transmitted message, a target transmission path is determined according to the destination address of the to-be-transmitted message and the network routing table. The destination address of the to-be-transmitted message is directed to other unmanned ship communication nodes except the unmanned ship communication node.

[0007] The to-be-transmitted message is transmitted to the next-hop unmanned ship communication node indicated by the target transmission path.

[0008] In a second aspect, the application provides an unmanned ship data transmission device, which is applied to any unmanned ship communication node in an unmanned ship networking network. The unmanned ship data transmission device comprises the following steps.

[0009] The first determining module is configured to determine a network routing table of the unmanned ship networking network, the network routing table being configured to record a connection relationship between unmanned ship communication nodes in the unmanned ship networking network and real-time communication parameters of all adjacent unmanned ship communication nodes, wherein a communication link between any adjacent unmanned ship communication nodes is more than one;

[0010] The second determining module is configured to, in a case where there is a to-be-transmitted message, determine a target transmission path according to a destination address of the to-be-transmitted message and the network routing table, wherein the destination address of the to-be-transmitted message is directed to other unmanned ship communication nodes except for the unmanned ship communication node.

[0011] The transmission module is configured to transmit the to-be-transmitted message to a next-hop unmanned ship communication node indicated by the target transmission path.

[0012] In a third aspect, the present application provides a communication device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method of the first aspect when executing the computer program.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program implements the steps of the method of the first aspect when executed by a processor.

[0014] In a fifth aspect, the present application provides a computer program product, which comprises a computer program, and the computer program implements the steps of the method of the first aspect when executed by one or more processors.

[0015] The beneficial effects of the present application compared with the prior art are: in order to guarantee smooth communication between any unmanned ship communication nodes in the unmanned ship networking network, the following optimization is made for the transmission process of the message: the unmanned ship communication node first needs to determine the network routing table of the unmanned ship networking network, the network routing table is used to record the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network and the real-time communication parameters of all adjacent unmanned ship communication nodes, wherein the communication link between any adjacent unmanned ship communication nodes is more than one; in the case that the unmanned ship communication node has a to-be-transmitted message, the target transmission path is determined according to the destination address of the to-be-transmitted message and the network routing table, and the to-be-transmitted message is transmitted to the next hop unmanned ship communication node indicated by the target transmission path, wherein the destination address of the to-be-transmitted message points to other unmanned ship communication nodes except the current unmanned ship communication node. It can be understood that the communication quality between adjacent unmanned ship communication nodes is dynamic, so that the unmanned ship communication node can update the target transmission path according to the network routing table which has summarized various information, so as to determine the next hop unmanned ship communication node with relatively optimal communication quality; and the number of communication links between any adjacent unmanned ship communication nodes is more than one, which can provide more link selection space for data transmission between adjacent unmanned ship communication nodes, and further guarantee smooth communication.

[0016] It can be understood that the beneficial effects of the above-mentioned second aspect to fifth aspect can be referred to the related description in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 is an architecture example diagram of the unmanned ship networking network provided by the embodiments of the present application;

[0019] Figure 2 is an implementation flow diagram of the unmanned ship data transmission method provided by the embodiments of the present application;

[0020] Figure 3 is a structure block diagram of the unmanned ship data transmission device provided by the embodiments of the present application;

[0021] Figure 4 is a structure diagram of the communication device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0022] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0023] An unmanned ship data transmission method is provided in the embodiments of the present application. The unmanned ship data transmission method is applied to any unmanned ship communication node in an unmanned ship networking network. To facilitate the understanding of the unmanned ship data transmission method, the unmanned ship networking network is briefly introduced as follows.

[0024] In an unmanned ship networking network, there are multiple unmanned ship communication nodes. Each unmanned ship communication node comprises a communication device and one or more service devices mounted on the communication device, wherein the service device is the initial sender or the final receiver of a message, and the communication device is the transit station of the message; that is, the communication between the unmanned ship communication nodes can realize the transmission of the message in the unmanned ship networking network. For example, the communication device can be an intelligent communication gateway, and the service device can be a personal computer (PC), which are not limited herein.

[0025] It should be noted that the unmanned ship communication node can be deployed on the unmanned ship or on the control center on the shore, and the unmanned ship networking network can have multiple unmanned ship communication nodes deployed on the unmanned ship or multiple unmanned ship communication nodes deployed on the control center on the shore, which are not limited herein.

[0026] For any two adjacent unmanned ship communication nodes (i.e., two unmanned ship communication nodes directly connected in the unmanned ship networking network) in the unmanned ship networking network, the number of communication links between the two unmanned ship communication nodes is more than one; that is, there are more than one communication link between the communication devices corresponding to the adjacent unmanned ship communication nodes. It should be noted that when there are more than two communication links between the adjacent unmanned ship communication nodes, the types of the more than two communication links can be the same or different, and the embodiments of the present application do not limit the types of the communication links.

[0027] Please refer to Figure 1 , Figure 1 An example of the network architecture of the unmanned ship networking network is given. For example, Figure 1The adjacent unmanned ship communication nodes in the unmanned ship networking network are taken as examples, and the communication device A1 of the unmanned ship communication node A is mounted with the service devices A2-An, and the communication device B1 of the unmanned ship communication node B is mounted with the service devices B2-Bn. There are three communication links between the communication device A1 and the communication device B1. For example, the three communication links are respectively a private network communication link N1, a private network communication link N2 and a public network communication link N3.

[0028] Based on the unmanned ship networking network described above, the unmanned ship data transmission method proposed in the embodiments of the present application is described below. The unmanned ship data transmission method is specifically applied to the communication device of any unmanned ship communication node in the unmanned ship networking network. Please refer to Figure 2 The implementation process of the unmanned ship data transmission method is described in detail as follows:

[0029] Step 201, determining the network routing table of the unmanned ship networking network.

[0030] Firstly, for any communication device in the unmanned ship networking network, it can know the various service devices mounted by itself through the internal communication port; at the same time, it can also know the communication devices of other unmanned ship communication nodes directly connected to itself through the external communication port, and can also know the real-time communication parameters between itself and the communication devices of other unmanned ship communication nodes. Based on the above, the communication device can construct and store the local routing table for the unmanned ship communication node where it is located, and the local routing table includes the internal connection relationship and the external connection relationship of the unmanned ship communication node where it is located, and the real-time communication parameters with the adjacent unmanned ship communication nodes.

[0031] For example, the real-time communication parameters include a real-time communication quality score and a real-time communication performance parameter. The real-time communication quality score is used to describe the communication quality of the communication link, which can be calculated from the real-time communication performance parameter. The real-time communication performance parameter includes but is not limited to the following parameters: real-time packet loss rate, real-time available bandwidth, real-time transmission rate and / or real-time signal-to-noise ratio, which are not described here. In the embodiments of the present application, it is provided that the higher the real-time communication quality score is, the better the communication quality of the communication link is; the lower the real-time communication quality score is, the worse the communication quality of the communication link is.

[0032] After that, since all the unmanned ship communication nodes in the unmanned ship networking network are directly or indirectly connected, each communication device can synchronize its own local routing table to other communication devices, so that each communication device can obtain the local routing table of each communication device in the unmanned ship networking network.

[0033] Finally, each communication device can merge all the obtained local routing tables of the respective communication devices to obtain a total routing table for the whole unmanned ship networking network, denoted as a network routing table. It can be understood that the network routing table records the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network, the connection relationship between the communication devices and the service devices inside the unmanned ship communication nodes, and the real-time communication parameters of all adjacent unmanned ship communication nodes.

[0034] It can be understood that during the existence of the unmanned ship networking network, the local routing tables of the respective unmanned ship communication nodes are updated in real time and synchronized in the unmanned ship networking network; that is, the network routing table obtained by each unmanned ship communication node is also updated in real time and synchronized. Through the network routing table, each unmanned ship communication node can construct a real-time network topology graph for the unmanned ship networking network, and the real-time network topology graphs constructed by different unmanned ship communication nodes are the same.

[0035] In some embodiments, considering that the communication link of the adjacent unmanned ship communication node is more than one, the real-time communication parameters of each communication link of the adjacent unmanned ship communication node can be retained in the local routing table of the respective unmanned ship communication node stored by each communication device. At the same time, in order to reduce information redundancy, only the real-time communication parameters of the optimal communication link of all adjacent unmanned ship communication nodes are retained in the network routing table stored by each communication device. In addition, in order to facilitate distinction, the real-time communication parameters recorded by the network routing table can also include identification information of the optimal communication link, which is used to indicate which communication link of the more than one communication links of the corresponding adjacent unmanned ship communication node the optimal communication link is. Specifically, in the case where the real-time communication parameters include real-time communication quality scores, the optimal communication link refers to the communication link with the highest real-time communication quality score of the adjacent unmanned ship communication node.

[0036] Step 202, in the case where there is a to-be-transmitted message, determining a target transmission path according to the destination address of the to-be-transmitted message and the network routing table.

[0037] When the communication device in the unmanned ship communication node receives a message, it will determine whether the message is a to-be-transmitted message, wherein the to-be-transmitted message refers to a message whose destination address points to other unmanned ship communication nodes except the current unmanned ship communication node.

[0038] It can be understood that if the destination address of the message points to the current unmanned ship communication node, specifically to a certain service device of the current unmanned ship communication node, the communication device does not need to forward the message to other unmanned ship communication nodes, but only needs to transmit the message to the corresponding service device according to the destination address of the message, that is, the transmission of the message is completed.

[0039] Conversely, if the destination address of the packet does not point to the current unmanned ship communication node, the communication device still needs to perform the forwarding operation for the packet. The packet is a to-be-transmitted packet, and the communication device needs to determine a target transmission path for the to-be-transmitted packet. The determination of the target transmission path directly or indirectly depends on the destination address of the to-be-transmitted packet and a network routing table.

[0040] In step 203, the to-be-transmitted packet is transmitted to the next-hop unmanned ship communication node indicated by the target transmission path.

[0041] The target transmission path plans an overall transmission path, that is, a path from the current unmanned ship communication node to a destination unmanned ship communication node (an unmanned ship communication node pointed to by the destination address of the to-be-transmitted packet). In the target transmission path, there is a possibility of involving multiple unmanned ship communication nodes. However, the operation that the communication device of the current unmanned ship communication node can perform is only to push the to-be-transmitted packet out to realize the forwarding of the to-be-transmitted packet. Therefore, the communication device of the current unmanned ship communication node is actually most concerned about the next-hop unmanned ship communication node indicated by the target transmission path, that is, where the to-be-transmitted packet is to be forwarded from the current unmanned ship communication node. Based on this, after determining the target transmission path, the communication device of the current unmanned ship communication node can transmit the to-be-transmitted packet to the communication device of the next-hop unmanned ship communication node indicated by the target transmission path.

[0042] In some embodiments, when there are more than two communication links between adjacent unmanned ship communication nodes, the data interaction between the adjacent unmanned ship communication nodes has a certain selection space on the communication links. Based on this, to further guarantee smooth communication between unmanned ship communication nodes, step 203 can specifically be that, in the case that there are more than two communication links between the unmanned ship communication node (the current unmanned ship communication node) and the next-hop unmanned ship communication node, the to-be-transmitted packet is transmitted to the next-hop unmanned ship communication node through the optimal communication link between the unmanned ship communication node (the current unmanned ship communication node) and the next-hop unmanned ship communication node. Through this step, the communication quality and communication efficiency when the data interaction is performed between adjacent unmanned ship communication nodes can be guaranteed.

[0043] In some embodiments, to improve the processing efficiency of the to-be-transmitted packet and avoid unnecessary operations of the communication device of the current unmanned ship communication node, step 202 can specifically include:

[0044] In step 2021, it is detected whether there is a previous-hop unmanned ship communication node for the to-be-transmitted packet.

[0045] The to-be-transmitted message can be transmitted by a business device of the current unmanned ship communication node to a communication device of the current unmanned ship communication node, that is, the current unmanned ship communication node can be a starting unmanned ship communication node of the to-be-transmitted message; or the to-be-transmitted message can also be transmitted by a communication device of another unmanned ship communication node to the communication device of the current unmanned ship communication node, that is, the current unmanned ship communication node can also be a non-starting unmanned ship communication node of the to-be-transmitted message.

[0046] To distinguish the above two different cases, the communication device of the current unmanned ship communication node can detect whether there is a previous hop unmanned ship communication node through a source address of the to-be-transmitted message: in the case that the source address of the to-be-transmitted message points to another unmanned ship communication node other than the current unmanned ship communication node (that is, the source address of the to-be-transmitted message does not point to the current unmanned ship communication node), it is determined that there is a previous hop unmanned ship communication node; otherwise, in the case that the source address of the to-be-transmitted message points to the current unmanned ship communication node, it is determined that there is no previous hop unmanned ship communication node.

[0047] In step 2022, whether the unmanned ship networking network is stable is detected according to real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table.

[0048] Since there are many unmanned ship communication nodes in the unmanned ship networking network, and the distance between the unmanned ship communication nodes can be far, the unmanned ship networking network can have certain fluctuations in the performance of data transmission. In the case that the network routing table has recorded the real-time communication parameters of all adjacent unmanned ship communication nodes, whether the unmanned ship networking network is stable can be detected according to the real-time communication parameters.

[0049] In step 2023, in the case that the unmanned ship networking network is unstable and / or there is no previous hop unmanned ship communication node, a target transmission path is determined according to the destination address of the to-be-transmitted message and the network routing table.

[0050] The instability of the unmanned ship networking network means that the optimal communication link between adjacent unmanned ship communication nodes often changes, which also leads to the optimal path of the to-be-transmitted message from the starting unmanned ship communication node to the destination unmanned ship communication node often changing. In addition, even in the case of network stability, if there is no previous hop unmanned ship communication node, it is known that the current unmanned ship communication node is the starting unmanned ship communication node of the to-be-transmitted message, which means that no unmanned ship communication node in the unmanned ship networking network before this has given the optimal path from the starting unmanned ship communication node to the destination unmanned ship communication node for the to-be-transmitted message. In the above two cases, the determination strategy of the target transmission path can be set as follows: for the to-be-transmitted message, the current unmanned ship communication node will determine a new target transmission path according to the destination address of the to-be-transmitted message and the network routing table. That is, each time the to-be-transmitted message is transmitted to a new unmanned ship communication node, the unmanned ship communication node will determine a new target transmission path according to the destination address of the to-be-transmitted message and the network routing table.

[0051] In some embodiments, if it is detected through steps 2021 and 2022 that the unmanned ship networking network is stable and there is also a previous hop unmanned ship communication node, the determination strategy of the target transmission path can be set as follows: for the to-be-transmitted message, the current unmanned ship communication node can determine the target transmission path through the previous hop unmanned ship communication node, specifically: receiving the target transmission path sent by the previous hop unmanned ship communication node. It can be understood that in the case of stable unmanned ship networking network, since the starting unmanned ship communication node is the previous hop unmanned ship communication node of the second unmanned ship communication node, and the starting unmanned ship communication node has no previous hop unmanned ship communication node, therefore, through the determination strategy, each time the to-be-transmitted message is transmitted to a new unmanned ship communication node, the unmanned ship communication node will also synchronously receive the target transmission path sent by its previous hop unmanned ship communication node, and the target transmission path is actually determined by the starting unmanned ship communication node according to the starting unmanned ship communication node, the destination unmanned ship communication node and the network routing table at that time.

[0052] For example only, in the case of an unstable unmanned ship networking network: assuming that the starting unmanned ship communication node of the message is A, and the destination unmanned ship communication node is B; after the communication device of the unmanned ship communication node A receives the message sent by the service device thereof, the communication device of the unmanned ship communication node A determines the target transmission path, and obtains the target transmission path A-C-D-B, so that the communication device of the unmanned ship communication node A can send the message to the communication device of the unmanned ship communication node C according to the target transmission path; after the communication device of the unmanned ship communication node C receives the message, the communication device of the unmanned ship communication node C determines the target transmission path again, and obtains a new target transmission path C-E-B due to the unstable unmanned ship networking network, so that the communication device of the unmanned ship communication node C can send the message to the communication device of the unmanned ship communication node E according to the target transmission path; after the communication device of the unmanned ship communication node E receives the message, the communication device of the unmanned ship communication node E determines the target transmission path again, and obtains the target transmission path E-B which is not changed, so that the communication device of the unmanned ship communication node E can send the message to the communication device of the unmanned ship communication node B according to the target transmission path; at this time, the communication device of the unmanned ship communication node B as the destination unmanned ship communication node has received the message, and the message will be distributed to the corresponding service device by the communication device.

[0053] It can be seen that, in this example, the target transmission path can be updated during the transmission of the message.

[0054] For example only, in the case of a stable unmanned ship networking network: assuming that the starting unmanned ship communication node of the message is A, and the destination unmanned ship communication node is B; after the communication device of the unmanned ship communication node A receives the message sent by the service device thereof, the communication device of the unmanned ship communication node A determines the target transmission path, and obtains the target transmission path A-C-D-B, so that the communication device of the unmanned ship communication node A can send the message and the target transmission path A-C-D-B to the communication device of the unmanned ship communication node C according to the target transmission path; after the communication device of the unmanned ship communication node C receives the message and the target transmission path, the communication device of the unmanned ship communication node C can send the message and the target transmission path A-C-D-B to the communication device of the unmanned ship communication node D according to the target transmission path A-C-D-B; after the communication device of the unmanned ship communication node D receives the message and the target transmission path, the communication device of the unmanned ship communication node D can send the message to the communication device of the unmanned ship communication node B according to the target transmission path A-C-D-B; at this time, the communication device of the unmanned ship communication node B as the destination unmanned ship communication node has received the message, and the message will be distributed to the corresponding service device by the communication device.

[0055] It can be seen that, in this example, the target transmission path is generally not updated once determined.

[0056] In some embodiments, step 2022 can include:

[0057] A1, for each pair of adjacent unmanned ship communication nodes, according to the real-time communication parameters of the adjacent unmanned ship communication nodes, determine the alternation frequency of the optimal communication link between the adjacent unmanned ship communication nodes, and determine the alternation frequency of the real-time communication performance parameters of the optimal communication link.

[0058] The real-time communication parameters of the adjacent unmanned ship communication nodes in the unmanned ship networking network have been recorded in the network routing table, including: identification information of the optimal communication link, real-time communication quality score of the optimal communication link, and real-time communication performance parameters of the optimal communication link. For any pair of adjacent unmanned ship communication nodes, based on the real-time communication parameters of the adjacent unmanned ship communication nodes recorded in the network routing table, by analyzing the change of the identification information of the optimal communication link between the adjacent unmanned ship communication nodes within a specified time period (such as the last half hour), the alternation frequency of the optimal communication link between the adjacent unmanned ship communication nodes can be determined; and by analyzing the change of the real-time communication performance parameters of the optimal communication link between the adjacent unmanned ship communication nodes within the specified time period, the alternation frequency of the real-time communication performance parameters of the optimal communication link between the adjacent unmanned ship communication nodes can be determined.

[0059] A2, according to the alternation frequency of the optimal communication link, the alternation frequency of the real-time communication performance parameters of the optimal communication link, and the preset stability screening condition, the target adjacent unmanned ship communication node is screened from all adjacent unmanned ship communication nodes.

[0060] For any pair of adjacent unmanned ship communication nodes, if the communication of the pair of adjacent unmanned ship communication nodes is relatively stable, the optimal communication link and the real-time communication performance parameters of the optimal communication link will generally remain stable. Based on this, the stability screening condition can be preset as: the alternation frequency of the optimal communication link is less than the preset first alternation frequency, and the alternation frequency of the real-time communication performance parameters of the optimal communication link is less than the preset second alternation frequency. It can be understood that if a pair of adjacent unmanned ship communication nodes meets the stability screening condition, the pair of adjacent unmanned ship communication nodes can be confirmed as a stable adjacent unmanned ship communication node, i.e. the target adjacent unmanned ship communication node.

[0061] In some application scenarios, the screening operation of the target adjacent unmanned ship communication node can be performed by the communication device of the most idle unmanned ship communication node in the unmanned ship networking network, and after the screening operation is completed, the screening result is synchronized to the communication devices of other unmanned ship communication nodes; or, the screening operation of the target adjacent unmanned ship communication node can also be performed by the communication device of each unmanned ship communication node, which is not limited here.

[0062] A3, determining whether the unmanned ship networking network is stable according to the number of target adjacent unmanned ship communication nodes.

[0063] According to the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network recorded by the network routing table, it can be determined how many pairs of adjacent unmanned ship communication nodes are in the unmanned ship networking network, that is, the total number of adjacent unmanned ship communication nodes in the unmanned ship networking network is determined, and the unit is "pair". It can be understood that in the case of relatively stable unmanned ship networking network, the number of target adjacent unmanned ship communication nodes should account for the majority. Based on this, the ratio of the number of target adjacent unmanned ship communication nodes to the total number of adjacent unmanned ship communication nodes in the unmanned ship networking network can be calculated, and whether the unmanned ship networking network is stable is determined according to the ratio: in the case that the ratio is greater than a preset ratio threshold, it is determined that the unmanned ship networking network is stable; otherwise, in the case that the ratio is less than or equal to the ratio threshold, it is determined that the unmanned ship networking network is unstable.

[0064] In some embodiments, the step of determining the target transmission path according to the destination address of the to-be-transmitted message and the network routing table can include:

[0065] B1, determining the candidate transmission path from the unmanned ship communication node to the destination unmanned ship communication node according to the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network recorded by the network routing table.

[0066] Since the network routing table has recorded the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network, according to the connection relationship, the communication device can determine all possible transmission paths from the current unmanned ship communication node to the destination unmanned ship communication node. Considering the transmission efficiency and other factors, in the case that the number of all possible transmission paths is relatively large, the communication device can only keep the shortest N transmission paths as candidate transmission paths, where N is a preset positive integer. Of course, in the case that the number of all possible transmission paths is less than N, the communication device can directly keep all possible transmission paths as candidate transmission paths.

[0067] B2, in the case that the number of candidate transmission paths is one, the candidate transmission path is determined as the target transmission path.

[0068] B3, in the case that the number of candidate transmission paths is more than two, the target transmission path is determined in the candidate transmission paths according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded by the network routing table.

[0069] It can be understood that when the number of candidate transmission paths is one, there is no selection space of transmission path, and the communication device can only determine the unique candidate transmission path as the target transmission path; when the number of candidate transmission paths is two or more, there is a selection space of transmission path, and the communication device can select from the candidate transmission paths according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table to find the candidate transmission path that is currently most suitable for transmitting the to-be-transmitted message as the target transmission path.

[0070] Specifically, the communication device of the current unmanned ship communication node can first calculate the quality scores of the candidate transmission paths according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table, and then determine the candidate transmission path with the highest quality score as the target transmission path. For any candidate transmission path, the quality score of the candidate transmission path can be the sum of the real-time communication quality scores of each pair of adjacent unmanned ship communication nodes on the candidate transmission path.

[0071] For example, it is assumed that the current unmanned ship communication node is the A unmanned ship communication node, the destination unmanned ship communication node is the B unmanned ship communication node, and there are three candidate transmission paths from the A unmanned ship communication node to the B unmanned ship communication node, which are A-C-D-B, A-C-E-B and A-F-D-B. According to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table, it is determined that the real-time communication quality score of A-C is a1, the real-time communication quality score of A-F is a2, the real-time communication quality score of C-D is a3, the real-time communication quality score of C-E is a4, the real-time communication quality score of F-D is a5, the real-time communication quality score of D-B is a6, and the real-time communication quality score of E-B is a7. Then, we have:

[0072] The quality score of A-C-D-B is a1+a3+a6=A1;

[0073] The quality score of A-C-E-B is a1+a4+a7=A2;

[0074] The quality score of A-F-D-B is a2+a5+a6=A3.

[0075] It is assumed that A2>A3>A1, so it is known that the quality score of A-C-E-B is the highest, and the candidate transmission path A-C-E-B can be determined as the target transmission path.

[0076] As can be seen from the above, in the embodiment of the present application, the communication quality between adjacent unmanned ship communication nodes is dynamic, so that the unmanned ship communication node can update the target transmission path according to the network routing table of the summarized information to determine the next hop unmanned ship communication node with relatively optimal communication quality when there is a message to be transmitted; and the number of communication links between any adjacent unmanned ship communication nodes is more than one, which can make the data transmission between adjacent unmanned ship communication nodes have more link selection space, further guaranteeing smooth communication.

[0077] Corresponding to the unmanned ship data transmission method provided above, the embodiment of the present application also provides an unmanned ship data transmission device, which can be applied to any unmanned ship communication node in the unmanned ship networking network. As shown in Figure 3 The unmanned ship data transmission device 3 comprises:

[0078] A first determination module 301 is configured to determine a network routing table of the unmanned ship networking network, the network routing table being configured to record the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network and the real-time communication parameters of all adjacent unmanned ship communication nodes, wherein the number of communication links between any adjacent unmanned ship communication nodes is more than one;

[0079] A second determination module 302 is configured to determine a target transmission path according to the destination address of the message to be transmitted and the network routing table when there is a message to be transmitted, wherein the destination address of the message to be transmitted points to other unmanned ship communication nodes except the unmanned ship communication node;

[0080] A transmission module 303 is configured to transmit the message to be transmitted to the next hop unmanned ship communication node indicated by the target transmission path.

[0081] In some embodiments, the second determination module 302 comprises:

[0082] A first detection sub-module is configured to detect whether there is a previous hop unmanned ship communication node for the message to be transmitted;

[0083] A second detection sub-module is configured to detect whether the unmanned ship networking network is stable according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded by the network routing table;

[0084] A first determination sub-module is configured to determine the target transmission path according to the destination address of the message to be transmitted and the network routing table when the unmanned ship networking network is unstable and / or there is no previous hop unmanned ship communication node.

[0085] In some embodiments, the first determination sub-module comprises:

[0086] a candidate path determination unit configured to determine a candidate transmission path from the unmanned ship communication node to a destination unmanned ship communication node according to connection relationships between the unmanned ship communication nodes in the unmanned ship networking network recorded in the network routing table, wherein the destination unmanned ship communication node is an unmanned ship communication node pointed to by a destination address of the to-be-transmitted packet;

[0087] a first target path determination unit configured to determine the candidate transmission path as the target transmission path in a case where the number of the candidate transmission paths is one.

[0088] a second target path determination unit configured to determine the target transmission path from the candidate transmission paths according to real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table in a case where the number of the candidate transmission paths is more than two.

[0089] In some embodiments, the second target path determination unit comprises:

[0090] a score calculation subunit configured to calculate a quality score of each candidate transmission path according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table.

[0091] a path determination subunit configured to determine the candidate transmission path with the highest quality score as the target transmission path.

[0092] In some embodiments, the second detection sub-module comprises:

[0093] a change frequency determination unit configured to determine, for each pair of adjacent unmanned ship communication nodes, a change frequency of an optimal communication link between the adjacent unmanned ship communication nodes according to real-time communication parameters of the adjacent unmanned ship communication nodes, and determine a change frequency of real-time communication performance parameters of the optimal communication link.

[0094] an unmanned ship communication node screening unit configured to screen target adjacent unmanned ship communication nodes from all adjacent unmanned ship communication nodes according to the change frequency of the optimal communication link, the change frequency of the real-time communication performance parameters of the optimal communication link, and a preset stability screening condition.

[0095] a stability determination unit configured to determine whether the unmanned ship networking network is stable according to the number of the target adjacent unmanned ship communication nodes.

[0096] In some embodiments, the unmanned ship data transmission device 3 further comprises:

[0097] a third determination module configured to determine the target transmission path through the last-hop unmanned ship communication node in a case where the unmanned ship networking network is stable and the last-hop unmanned ship communication node exists.

[0098] In some embodiments, the transmission module 303 is specifically used to transmit the message to be transmitted to the next hop unmanned vessel communication node through the optimal communication link between the unmanned vessel communication node and the next hop unmanned vessel communication node when there are two or more communication links between the unmanned vessel communication node and the next hop unmanned vessel communication node.

[0099] In some embodiments, the first determining module 301 includes:

[0100] The submodule is used to determine the other unmanned surface vessel communication nodes directly connected to itself, as well as the real-time communication parameters between itself and each of the other directly connected unmanned surface vessel communication nodes, in order to build a local routing table.

[0101] The synchronization submodule is used to perform synchronization operations on the local routing table in the unmanned vessel network.

[0102] The receiving submodule is used to receive the local routing tables sent by all other unmanned surface vessel communication nodes through synchronization operations.

[0103] The merging submodule is used to merge the local routing tables of all unmanned surface vessel (USV) communication nodes to obtain the network routing table of the USV network.

[0104] As can be seen from the above, in this embodiment of the application, the communication quality between adjacent unmanned surface vessel (USV) communication nodes is dynamic. Therefore, when there is a message to be transmitted, the USV communication node can update the target transmission path according to the network routing table that has summarized various information, thereby determining the next-hop USV communication node with relatively better communication quality. Furthermore, the number of communication links between any two adjacent USV communication nodes is more than one, which allows for more link selection space for data transmission between adjacent USV communication nodes, further ensuring stable communication.

[0105] Corresponding to the unmanned surface vessel (USV) data transmission method provided above, this application also provides a communication device for forming any USV communication node in an USV network. Please refer to... Figure 4 The communication device 4 in this embodiment includes: a memory 401, and one or more processors 402. Figure 4 (Only one is shown) and a computer program stored in memory 401 and executable on the processor. Memory 401 stores software programs and units. The processor 402 executes various functional applications and data processing by running the software programs and units stored in memory 401 to obtain resources corresponding to the aforementioned preset events. Specifically, the processor 402 performs the following steps when running the aforementioned computer program stored in memory 401:

[0106] determine a network routing table of the unmanned ship networking network, the network routing table being used to record a connection relationship between the unmanned ship communication nodes in the unmanned ship networking network and real-time communication parameters of all adjacent unmanned ship communication nodes, wherein a communication link between any adjacent unmanned ship communication nodes is more than one;

[0107] in a case where there is a to-be-transmitted message, determine a target transmission path according to a destination address of the to-be-transmitted message and the network routing table, wherein the destination address of the to-be-transmitted message is directed to other unmanned ship communication nodes except the unmanned ship communication node;

[0108] transmit the to-be-transmitted message to a next-hop unmanned ship communication node indicated by the target transmission path.

[0109] assuming that the above is the first possible implementation, in a second possible implementation provided on the basis of the first possible implementation, determining the target transmission path according to the destination address of the to-be-transmitted message and the network routing table comprises:

[0110] for the to-be-transmitted message, detect whether there is a previous-hop unmanned ship communication node;

[0111] according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded by the network routing table, detect whether the unmanned ship networking network is stable;

[0112] in a case where the unmanned ship networking network is unstable and / or there is no previous-hop unmanned ship communication node, determine the target transmission path according to the destination address of the to-be-transmitted message and the network routing table.

[0113] in a third possible implementation provided on the basis of the second possible implementation, determining the target transmission path according to the destination address of the to-be-transmitted message and the network routing table comprises:

[0114] according to the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network recorded by the network routing table, determine a candidate transmission path from the unmanned ship communication node to a destination unmanned ship communication node, wherein the destination unmanned ship communication node is the unmanned ship communication node to which the destination address of the to-be-transmitted message is directed;

[0115] in a case where the number of candidate transmission paths is one, determine the candidate transmission path as the target transmission path;

[0116] in a case where the number of candidate transmission paths is more than one, determine the target transmission path in the candidate transmission paths according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded by the network routing table.

[0117] In a fourth possible implementation provided based on the third possible implementation, the target transmission path is determined from the candidate transmission paths according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table, including:

[0118] The quality score of each candidate transmission path is calculated according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table.

[0119] The candidate transmission path with the highest quality score is determined as the target transmission path.

[0120] In a fifth possible implementation provided based on the second possible implementation, whether the unmanned ship networking network is stable is detected according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table, including:

[0121] For each pair of adjacent unmanned ship communication nodes, the change frequency of the optimal communication link between the adjacent unmanned ship communication nodes is determined according to the real-time communication parameters of the adjacent unmanned ship communication nodes, and the change frequency of the real-time communication performance parameter of the optimal communication link is determined.

[0122] The target adjacent unmanned ship communication node is screened from all adjacent unmanned ship communication nodes according to the change frequency of the optimal communication link, the change frequency of the real-time communication performance parameter of the optimal communication link, and a preset stability screening condition.

[0123] Whether the unmanned ship networking network is stable is determined according to the number of target adjacent unmanned ship communication nodes.

[0124] In a sixth possible implementation provided based on the second possible implementation, the processor 402 further implements the following steps when running the above-mentioned computer program stored in the memory 401:

[0125] When the unmanned ship networking network is stable and there is a previous hop unmanned ship communication node, the target transmission path is determined through the previous hop unmanned ship communication node.

[0126] In a seventh possible implementation provided based on the first possible implementation, or the second possible implementation, or the third possible implementation, or the fourth possible implementation, or the fifth possible implementation, or the sixth possible implementation, the transmission of the to-be-transmitted message to the next hop unmanned ship communication node indicated by the target transmission path includes:

[0127] In the case that there are more than two communication links between the unmanned ship communication node and the next-hop unmanned ship communication node, the to-be-transmitted message is transmitted to the next-hop unmanned ship communication node through the optimal communication link between the unmanned ship communication node and the next-hop unmanned ship communication node.

[0128] In an eighth possible implementation provided on the basis of the first possible implementation, or on the basis of the second possible implementation, or on the basis of the third possible implementation, or on the basis of the fourth possible implementation, or on the basis of the fifth possible implementation, or on the basis of the sixth possible implementation, the network routing table of the unmanned ship networking network is determined, and includes:

[0129] The other unmanned ship communication nodes directly connected to the unmanned ship communication node itself and real-time communication parameters between the unmanned ship communication node itself and each directly connected other unmanned ship communication node are determined to construct a local routing table.

[0130] The local routing table is subjected to a synchronization operation in the unmanned ship networking network, and the local routing table of each other unmanned ship communication node transmitted by the synchronization operation is received.

[0131] The local routing tables of all unmanned ship communication nodes are merged to obtain the network routing table of the unmanned ship networking network.

[0132] It should be understood that, in the embodiments of the present application, the processor 402 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or can also be any conventional processor.

[0133] The memory 401 can include read-only memory and random access memory, and provide instructions and data to the processor 402. Part or all of the memory 401 can also include non-volatile random access memory. For example, the memory 401 can also store device category information.

[0134] As can be seen from the above, in the embodiment of the present application, the communication quality between adjacent unmanned ship communication nodes is dynamic, so that the unmanned ship communication node can update the target transmission path according to the network routing table of the collected information when there is a message to be transmitted, so as to determine the next hop unmanned ship communication node with relatively optimal communication quality; and the number of communication links between any adjacent unmanned ship communication nodes is more than one, which can make the data transmission between adjacent unmanned ship communication nodes have more link selection space, further guaranteeing smooth communication.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the above device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0136] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0137] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of external device software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0138] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the embodiments of the system described above are merely schematic. The division of the modules or units is merely logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0139] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0140] The integrated units, if implemented in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the above-mentioned embodiment methods can also be completed by computer programs instructing associated hardware, and the above-mentioned computer programs can be stored in a computer readable storage medium. The computer programs can implement the steps of the above-mentioned various method embodiments when executed by a processor. The computer programs include computer program codes, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable storage medium can include any entity or device capable of carrying the above-mentioned computer program codes, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer readable memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the contents of the above-mentioned computer readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable storage medium does not include electrical carrier signals and telecommunication signals.

[0141] The above examples are only used to illustrate the technical solutions of the present application, but not limit the same; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalent ones; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for transmitting data of an unmanned ship, characterized by, The unmanned ship data transmission method is applied to any unmanned ship communication node in an unmanned ship networking network, and comprises the following steps: A network routing table of the unmanned ship networking network is determined, which is used to record the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network and the real-time communication parameters of all adjacent unmanned ship communication nodes, wherein the communication link between any adjacent unmanned ship communication nodes is more than one; In the case that there is a to-be-transmitted message, a target transmission path is determined according to the destination address of the to-be-transmitted message and the network routing table, wherein the destination address of the to-be-transmitted message points to other unmanned ship communication nodes except the unmanned ship communication node; The to-be-transmitted message is transmitted to the next-hop unmanned ship communication node indicated by the target transmission path; The target transmission path is determined according to the destination address of the to-be-transmitted message and the network routing table, comprising the following steps: For the to-be-transmitted message, it is detected whether there is a last-hop unmanned ship communication node; It is detected whether the unmanned ship networking network is stable according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table; In the case that the unmanned ship networking network is unstable and / or there is no last-hop unmanned ship communication node, the target transmission path is determined according to the destination address of the to-be-transmitted message and the network routing table; It is detected whether the unmanned ship networking network is stable according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table, comprising the following steps: For each pair of adjacent unmanned ship communication nodes, the change frequency of the optimal communication link between the adjacent unmanned ship communication nodes is determined according to the real-time communication parameters of the adjacent unmanned ship communication nodes, and the change frequency of the real-time communication performance parameters of the optimal communication link is determined; According to the change frequency of the optimal communication link, the change frequency of the real-time communication performance parameters of the optimal communication link and a preset stability screening condition, a target adjacent unmanned ship communication node is screened from all adjacent unmanned ship communication nodes; Whether the unmanned ship networking network is stable is determined according to the number of target adjacent unmanned ship communication nodes.

2. The unmanned ship data transmission method of claim 1, wherein, The target transmission path is determined according to the destination address of the to-be-transmitted message and the network routing table, comprising the following steps: According to the connection relationship between the unmanned ship communication nodes in the unmanned ship networking network recorded in the network routing table, a candidate transmission path from the unmanned ship communication node to a destination unmanned ship communication node is determined, wherein the destination unmanned ship communication node is the unmanned ship communication node pointed to by the destination address of the to-be-transmitted message; In the case that the number of candidate transmission paths is one, the candidate transmission path is determined as the target transmission path; In the case that the number of candidate transmission paths is more than two, the target transmission path is determined in the candidate transmission paths according to the real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table.

3. The unmanned ship data transmission method of claim 2, wherein, The target transmission path is determined from the candidate transmission paths according to real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table, including: The quality score of each candidate transmission path is calculated according to real-time communication parameters of all adjacent unmanned ship communication nodes recorded in the network routing table; The candidate transmission path with the highest quality score is determined as the target transmission path.

4. The unmanned ship data transmission method of claim 1, wherein, The unmanned ship data transmission method further includes: In the case that the unmanned ship networking network is stable and the last-hop unmanned ship communication node exists, the target transmission path is determined through the last-hop unmanned ship communication node.

5. The unmanned ship data transmission method according to any one of claims 1 to 4, characterized in that, The target transmission path includes: In the case that there are more than two communication links between the unmanned ship communication node and the next-hop unmanned ship communication node, the optimal communication link between the unmanned ship communication node and the next-hop unmanned ship communication node is used to transmit the to-be-transmitted message to the next-hop unmanned ship communication node.

6. The unmanned ship data transmission method according to any one of claims 1 to 4, wherein, The network routing table of the unmanned ship networking network includes: The other unmanned ship communication nodes directly connected to itself and real-time communication parameters between itself and each directly connected other unmanned ship communication node are determined to construct a local routing table; The local routing table is subjected to a synchronization operation in the unmanned ship networking network, and local routing tables of all other unmanned ship communication nodes transmitted through the synchronization operation are received; The local routing tables of all unmanned ship communication nodes are merged to obtain the network routing table of the unmanned ship networking network.

7. A communication device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method of any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 7. The computer program is executed by the processor to implement the method of any one of claims 1 to 6.

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