Underwater bionic fish school communication method and system based on wireless optical communication

Abstract

The present invention belongs to the technical field of underwater bionic fish school communication, and discloses an underwater bionic fish school communication method and system based on wireless optical communication. The method uses bionic fish with communication function to establish an underwater bionic fish school hierarchical structure of a wireless optical communication network through a communication protocol. The underwater bionic fish school hierarchical structure of the wireless optical communication network is divided into a leadership layer, a coordination layer, and a perception layer; a communication network is established between the leadership layer and the coordination layer, and a communication network is established between the coordination layer and the perception layer. The present invention enables underwater bionic fish schools to quickly realize the construction of a wireless optical communication network, thereby performing wireless optical communication information interaction between each bionic fish, and facilitating the coordination work of the bionic fish school. In addition, the wireless optical communication network can realize a certain obstacle avoidance communication function, so that the communication link of the bionic fish school has higher robustness.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater bionic fish school communication, and in particular relates to an underwater bionic fish school communication method and system based on wireless optical communication. Background Art

[0002] Underwater environments are complex and changeable, including oceans, lakes, and rivers. Traditional underwater robots may face challenges in fluid dynamics, energy management, and navigation. Bionic fish research aims to learn from the ability of fish to swim efficiently in water and adapt to the environment to improve the performance and adaptability of underwater robots. The exploration of underwater resources is crucial for industries such as oil and gas. Research on bionic fish can help design more effective underwater robots for exploring and monitoring the distribution and status of underwater resources. In terms of ecological environment detection, monitoring of underwater ecosystems is crucial for environmental protection and scientific research. Bionic fish robots can integrate more naturally into underwater ecosystems and conduct long-term monitoring without disturbing the environment too much.

[0003] Underwater bionic fish swarms have a series of advantages over individual fish, which mainly come from the characteristics of group behavior and collaborative work. In terms of collaborative task execution, bionic fish swarms can perform complex tasks through collaborative work. Individuals in the group can share tasks and cooperate with each other to improve overall efficiency. This is very important for tasks that require large-scale collaborative operations in underwater environments, such as search and rescue, resource exploration, etc. At the same time, fish swarms show a strong adaptability and robustness. When faced with changes in the underwater environment, obstacles and complex terrain, bionic fish swarms can better adapt and respond to challenges by adjusting group behavior without relying on the capabilities of individual robots. In terms of distributed perception, individuals in bionic fish swarms can provide distributed perception and jointly perceive the surrounding environment. This distributed perception can be used to monitor underwater conditions, detect targets, collect data, etc. in real time, providing more comprehensive information. At the same time, individuals in the fish swarm can share resources, such as energy, sensor information, etc. This resource sharing can make the group more economical and efficient when performing tasks and extend the working time of the entire group. When faced with complex underwater environments, bionic fish swarms can achieve consistent movements and behaviors through group coordination, such as cluster dispersion and concentration. This coordination helps maintain the overall structure of the group, allowing it to cover a large underwater area while being able to quickly adapt to environmental changes. This is advantageous for large-scale underwater exploration, monitoring and search missions, enabling it to effectively cope with complex underwater environments.

[0004] Communication between bionic fish swarms is a key element in performing bionic fish tasks. Underwater bionic fish swarm communication needs to take into account the particularity of the underwater environment, including the limitation of signal propagation and factors such as water absorption and scattering. Underwater wireless optical communication is a way of communicating using light waves and is suitable for underwater environments. In underwater communication between bionic fish swarms, optical communication can be designed as an effective way.

[0005] The problems and defects of the existing technology are as follows: Communication between bionic fish schools is a key element in achieving group collaborative behavior and collaborative tasks. In an underwater environment, optical signals may be interfered with by other light sources, including natural light, other underwater optical communication systems, or light sources from light-sensitive organisms. This may affect the communication signal and affect the group's coordination. How to establish a wireless optical communication network for underwater fish schools is the key to ensuring their efficient coordination. Summary of the invention

[0006] In order to overcome the problems existing in the related art, the disclosed embodiments of the present invention provide an underwater bionic fish school communication method and system based on wireless optical communication.

[0007] The technical solution is as follows: An underwater bionic fish school communication method based on wireless optical communication comprises:

[0008] S1, the bionic fish with communication function establishes the underwater bionic fish school hierarchy structure of wireless optical communication network through communication protocol, and divides the structure into: leadership layer, coordination layer, and perception layer;

[0009] S2, establishing a communication network between the leadership layer and the coordination layer, wherein the coordination layer includes a plurality of coordination fishes, and a coordination layer communication network is established between the plurality of coordination fishes;

[0010] S3, establish a communication network between the coordination layer and the perception layer, the perception layer is divided into multiple sub-perception layers that communicate with each coordination fish in the coordination layer, each sub-perception layer includes multiple perception fish, and establish a perception layer communication network.

[0011] In step S1, the bionic fish comprises: a laser, a detector and a control module for wireless optical communication;

[0012] The detector is used to detect single-photon-level signals to achieve signal reception; the detector is a single-photon detector, and the detector includes a forward detector and a backward detector; the laser includes a forward laser and a backward laser, and the laser is used to send modulated signals, and the direction of the laser is controlled by a control module and rotates in two dimensions;

[0013] The bionic fish is also used for sending and receiving wireless optical communication. The forward laser of the bionic fish is controlled by the control module to complete the sending of the forward communication information of the bionic fish, and the backward laser is controlled by the control module to complete the sending of the backward communication information; the forward detector completes the reception of the forward communication information from the bionic fish, and the backward detector completes the reception of the backward communication information from the bionic fish.

[0014] In step S1, the leadership layer is used to coordinate the communication of the entire underwater bionic fish school, is responsible for communicating with the coordination layer, and communicates with the perception layer through the coordination layer;

[0015] The coordination layer is responsible for coordinating and managing the data transmission of the optical communication network, sending command information to communicate with the sensing fish; when a coordination fish in the same layer loses connection with the upper network, the coordination fish in the same layer is dispatched to communicate with the lost fish;

[0016] The perception layer exchanges information with the coordination fish through the optical communication network. When a perception fish in the same layer loses connection with the upper network, the perception fish in the same layer are scheduled to communicate with the lost fish.

[0017] In step S1, the bionic fish establishes an underwater bionic fish school hierarchical structure of a wireless optical communication network through a communication protocol, including: the laser of the transmitting end performs scanning, and sends information frames during the scanning process. After receiving the information from the transmitting end, the receiving end parses the information and extracts different information bits in the information frame. After the parsing is completed, the receiving end scans and sends feedback information. After receiving the feedback information, the transmitting end parses it, and the position information of both parties is determined, and a communication link is established.

[0018] Among them, the information structure in the communication protocol includes: the frame header is a fixed sequence used for synchronization during communication and the calibration of the start of the information sequence; the priority bit is used to specify the priority of the instruction, which is divided into three levels. The information sent by the leader fish has the highest priority of level 1, the information sent by the coordination fish is level 2, and the information sent by the perception fish is level 3. The receiving end determines which layer of the network layer the received signal comes from through the received priority bit. After receiving the information, the receiving end parses and extracts the priority bit. If the priority bit is level 1, it is determined that the information comes from the leadership layer, if the priority bit is level 2, it is determined that the information comes from the coordination layer, and if the priority bit is level 3, it is determined that the information comes from the perception layer.

[0019] The number bit is used to distinguish different bionic fish at the same network level. The own position information is the direction of the own laser, the opponent's position information is the direction of the opponent's laser, and the instruction bit is the instruction sent to the opponent.

[0020] In step S2, the communication network between the leadership layer and the coordination layer is established, including: the leader fish of the leadership layer communicates with the coordination fish 1 of the coordination layer, and the leader fish laser rotates and scans while sending information. The instruction contained in the instruction bit of the sent information frame is:

[0021] The coordinating fish 1 feeds back the position information to the leading fish. When only the forward detector of the coordinating fish 1 receives the instruction, the forward laser rotates and sends the feedback information. After the detector of the leading fish receives the feedback information from the coordinating fish 1, the position information of both parties is determined, and the communication connection between the leading fish and the coordinating fish 1 is completed.

[0022] Afterwards, the leader fish of the leadership layer attempts to establish a communication connection with the coordination fish 2 of the coordination layer. The leader fish laser rotates while sending information. The instruction contained in the instruction bit in the sent information frame is: the coordination fish 2 feeds back position information to the leader fish. Then, only when the forward detector of the coordination fish 2 receives the instruction, the forward laser rotates and the feedback information is sent. After the leader fish's detector receives the feedback information from the coordination fish 2, the position information of both parties has been determined, and the communication connection between the leader fish and the coordination fish 2 is completed.

[0023] Finally, the leader fish of the leadership layer communicates with the coordinating fish 3 of the coordination layer. The leader fish laser rotates while sending information. The instruction contained in the instruction bit in the sent information frame is: the coordinating fish 3 feeds back position information to the leader fish. Then, only when the forward detector of the coordinating fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the leader fish's detector receives the feedback information from the coordinating fish 3, the position information of both parties has been determined, and the communication connection between the leader fish and the coordinating fish 3 is completed. After completing the above process, the communication network between the leadership layer and the coordination layer is established.

[0024] In step S2, a coordination layer communication network is established between the plurality of coordination fish, including: the leader fish sends instructions to the three coordination fish, the coordination fish 1 rotates and scans the rear laser to send information, and the instruction contained in the instruction bit in the sent information frame is: coordination fish 2 feeds back position information to coordination fish 1, then only when the forward detector of coordination fish 2 receives the instruction, the forward laser rotates and sends feedback information, after the detector of coordination fish 1 receives the feedback information from coordination fish 2, the position information of both parties is determined, and the communication connection between coordination fish 1 and coordination fish 2 is completed; coordination fish 1 rotates and scans the rear laser to send information, and the instruction contained in the instruction bit in the sent information frame is: coordination fish 3 feeds back position information to coordination fish 1 Information, then when only the forward detector of coordinating fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordinating fish 1 receives the feedback information from coordinating fish 3, the position information of both parties is determined, and the communication connection between coordinating fish 1 and coordinating fish 3 is completed; the backward laser of coordinating fish 2 rotates and scans to send information, and the instruction bit in the sent information frame contains the instruction: coordinating fish 3 feeds back position information to coordinating fish 2, then when only the forward detector of coordinating fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordinating fish 2 receives the feedback information from coordinating fish 3, the position information of both parties is determined, and the communication connection between coordinating fish 2 and coordinating fish 3 is completed.

[0025] In step S3, the communication network between the coordination layer and the perception layer is established, including: the leader fish sends information to the coordination fish 1 to establish a communication network with the three perception fish of the perception layer that it is responsible for; the coordination fish 1 of the coordination layer attempts to establish a communication connection with the perception fish 1 of the perception layer, and the coordination fish 1 sends information while rotating and scanning with a backward laser. The instruction contained in the instruction bit in the sent information frame is: the perception fish 1 feeds back the position information to the coordination fish 1. When only the forward detector of the perception fish 1 receives the instruction, the forward laser rotates and sends the feedback information. The detector of the coordination fish 1 receives the information. After receiving the feedback information from perception fish 1, the position information of both parties has been determined, and the communication connection between coordinating fish 1 and perception fish 1 is completed; after completing the above process with perception fish 2 and perception fish 3, coordinating fish 1 feeds back information to leading fish 1, and the leading fish confirms that it communicates with perception fish 1, perception fish 2, and perception fish 3 through coordinating fish 1; in the same process, coordinating fish 2 establishes a communication link with perception fish 4, perception fish 5, and perception fish 6, and feeds back to the leading fish; coordinating fish 3 establishes a communication link with perception fish 7, perception fish 8, and perception fish 9, and feeds back to the leading fish; at this point, the leadership layer has established a communication link with the coordination layer and the perception layer.

[0026] In step S3, a perception layer communication network is established, including: the leader fish sends instructions to the three coordination fish, and the coordination fish returns instructions to the three perception fish; the perception fish 1 rotates and scans the rear laser to send information, and the instruction contained in the instruction bit in the sent information frame is: the perception fish 2 feeds back position information to the perception fish 1, then when only the forward detector of the perception fish 2 receives the instruction, the forward laser rotates and will send the feedback information, after the detector of the perception fish 1 receives the feedback information from the perception fish 2, the position information of both parties has been determined, and the communication connection between the perception fish 1 and the perception fish 2 is completed; the perception fish 1 rotates and scans the rear laser to send information, and the instruction contained in the instruction bit in the sent information frame is: the perception fish 3 feeds back position information to the perception fish 1, then when only the forward detector of the perception fish 3 receives the instruction, the forward laser rotates and will send the feedback information, after the detector of the perception fish 1 receives the feedback information from the perception fish 3, the position information of both parties has been determined, and the communication connection between the perception fish 1 and the perception fish 3 is completed;

[0027] The backward laser of perception fish 2 rotates and scans to send information. The instruction contained in the instruction bit in the sent information frame is: perception fish 3 feeds back position information to perception fish 2. Then, only when the forward detector of perception fish 3 receives the instruction, the forward laser rotates and sends the feedback information. After the detector of perception fish 2 receives the feedback information from perception fish 3, the position information of both parties is determined, and the communication connection between perception fish 2 and perception fish 3 is completed. After the communication network between the three groups is established, information is fed back to the leading fish through the coordinating fish.

[0028] Further, the leader fish attempts to communicate with the coordinating fish 2. According to the above-mentioned network structure, the leader fish directly communicates with the coordinating fish 2, and also sends the information frame structure during communication. The instruction bit is for the coordinating fish 2 to provide feedback after receiving the information. Since the obstacle between the leader fish and the coordinating fish 2 blocks the communication optical link, after the leader fish rotates the laser to scan and sends the information instruction, if no feedback information is received from the coordinating fish after a period of time, the leader fish attempts to connect to other coordinating fish in the coordination layer for communication. The instruction bit is for the coordinating fish 1 to communicate with the coordinating fish 2 and provide feedback. The coordinating fish 1 then attempts to communicate with the coordinating fish 2. After receiving the feedback information from the coordinating fish 2, it feeds the information back to the leader fish, completing the communication process of avoiding obstacles between the leader fish and the coordinating fish 2, and sending instructions to command the coordinating fish 2 to move to avoid the obstacle.

[0029] Another object of the present invention is to provide an underwater bionic fish school communication system based on wireless optical communication, the system implements the underwater bionic fish school communication method based on wireless optical communication, and the system comprises:

[0030] An underwater bionic fish school hierarchical structure establishment module for a wireless optical communication network is used for bionic fish with communication functions to establish an underwater bionic fish school hierarchical structure for a wireless optical communication network through a communication protocol, and the structure is divided into: a leadership layer, a coordination layer, and a perception layer;

[0031] A leadership layer and coordination layer communication module, used to establish a communication network between the leadership layer and the coordination layer, wherein the coordination layer includes a plurality of coordination fishes, and a coordination layer communication network is established between the plurality of coordination fishes;

[0032] The coordination layer and perception layer communication module is used to establish a communication network between the coordination layer and the perception layer. The perception layer is divided into multiple sub-perception layers that communicate with each coordination fish in the coordination layer. Each sub-perception layer includes multiple perception fish, and a perception layer communication network is established.

[0033] Combining all the above technical solutions, the beneficial effects of the present invention are as follows: In the prior art, in order to realize the collaborative behavior and collaborative tasks of underwater bionic fish groups, it is necessary to establish a communication network in the underwater bionic fish group, and it is necessary to combine laser scanning technology and single-photon communication technology to design a complete underwater bionic fish group wireless optical communication solution, but it is difficult to overcome the above problems in actual operation. In order to overcome the above difficulties, the present invention proposes an underwater bionic fish group communication method based on wireless optical communication. The significance of solving the above problems and defects is to realize the rapid establishment and stable maintenance of the communication network of underwater bionic fish groups, and promote the continuous innovation and development of underwater robots and communication systems.

[0034] The present invention realizes the establishment of an underwater bionic fish school optical communication network, and further realizes the underwater bionic fish school group collaborative communication and collaborative tasks. In the existing bionic fish school wireless optical communication technology, there is a problem of difficulty in building a communication network. The present invention provides an underwater wireless optical communication network structure and establishment method for bionic fish schools, so that underwater bionic fish schools can quickly realize the construction of a wireless optical communication network, thereby performing wireless optical communication information interaction between each bionic fish, and facilitating the coordination of the bionic fish school. In addition, the wireless optical communication network can realize a certain obstacle avoidance communication function, so that the communication link of the bionic fish school has higher robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the principles of the present disclosure;

[0036] Figure 1 is a flow chart of an underwater bionic fish school communication method based on wireless optical communication provided by an embodiment of the present invention;

[0037] Figure 2 is a schematic diagram of a bionic fish provided by an embodiment of the present invention;

[0038] Figure 3 It is a hierarchical structure diagram of an underwater bionic fish school of a wireless optical communication network provided by an embodiment of the present invention;

[0039] Figure 4 is a flow chart of establishing an underwater bionic fish school hierarchical structure of a wireless optical communication network provided by an embodiment of the present invention;

[0040] Figure 5 It is a schematic diagram of establishing a communication network at the same network layer provided by an embodiment of the present invention;

[0041] Figure 6 It is a schematic diagram of the obstacle avoidance communication function of the communication network provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0043] The innovation of the present invention is that the present invention uses bionic fish with communication functions to establish a hierarchical structure of underwater bionic fish schools through communication protocols, divides the communication network into a leadership layer, a coordination layer and a perception layer, and realizes efficient communication between the leadership layer, the coordination layer and the perception layer through wireless optical communication technology. In addition, the design of the communication information frame of each network layer has different priority bits, so as to quickly realize the intelligence and coordination of underwater bionic fish schools. The communication network of the bionic fish school is used to realize a certain obstacle avoidance communication function, ensure the stability of the communication network, fill the gap in the traditional underwater bionic fish school communication network rapid establishment technology, and provide a new solution for resource exploration, scientific research and monitoring in underwater environments.

[0044] Embodiment 1, as Figure 1 As shown, the present invention provides an underwater bionic fish school communication method based on wireless optical communication, the method comprising:

[0045] S1, the bionic fish with communication function establishes the underwater bionic fish school hierarchy structure of wireless optical communication network through communication protocol, and divides the structure into: leadership layer, coordination layer, and perception layer;

[0046] S2, establishing a communication network between the leadership layer and the coordination layer, wherein the coordination layer includes a plurality of coordination fishes, and a coordination layer communication network is established between the plurality of coordination fishes;

[0047] S3, establish a communication network between the coordination layer and the perception layer, the perception layer is divided into multiple sub-perception layers that communicate with each coordination fish in the coordination layer, each sub-perception layer includes multiple perception fish, and establish a perception layer communication network.

[0048] The present invention also provides an underwater bionic fish school communication system based on wireless optical communication, comprising:

[0049] An underwater bionic fish school hierarchical structure establishment module for a wireless optical communication network is used for bionic fish with communication functions to establish an underwater bionic fish school hierarchical structure for a wireless optical communication network through a communication protocol, and the structure is divided into: a leadership layer, a coordination layer, and a perception layer;

[0050] A leadership layer and coordination layer communication module, used to establish a communication network between the leadership layer and the coordination layer, wherein the coordination layer includes a plurality of coordination fishes, and a coordination layer communication network is established between the plurality of coordination fishes;

[0051] The coordination layer and perception layer communication module is used to establish a communication network between the coordination layer and the perception layer. The perception layer is divided into multiple sub-perception layers that communicate with each coordination fish in the coordination layer. Each sub-perception layer includes multiple perception fish, and a perception layer communication network is established.

[0052] Embodiment 2, the underwater bionic fish school communication method based on wireless optical communication provided by the embodiment of the present invention includes: having hierarchical bionic fish, such as Figure 2 As shown in FIG. 1 , and the communication protocol between the bionic fish structures at each level, the underwater bionic fish school hierarchical structure of the wireless optical communication network established based on the above communication protocol and the hierarchical bionic fish is as follows: Figure 3 shown.

[0053] Bionic fish used to establish underwater bionic fish school wireless optical communication network: based on the bionic fish capable of coordinated operation, it includes a laser for wireless optical communication, a single photon detector and a corresponding control module. The detector is a single photon detector, including a forward detector and a backward detector, and the laser includes a forward laser and a backward laser;

[0054] The wavelength of the laser is 488nm, and it can send modulated signals. Its direction is controlled by the relevant control module and can perform two-dimensional rotation at a certain angle.

[0055] The detector can detect signals at the single photon level and is used for receiving signals.

[0056] The bionic fish includes the sending function and the receiving function of wireless optical communication. The forward laser of the bionic fish is controlled by the control module (controller) to complete the communication information sending within a certain angle range of the bionic fish forward, and the backward laser is controlled by the control module (controller) to complete the communication information sending within a certain angle range of the backward.

[0057] The forward detector completes the reception of communication information within a certain range forward from the bionic fish, and the backward detector completes the reception of communication information within a certain range backward from the bionic fish.

[0058] Underwater bionic fish school hierarchy for establishing wireless optical communication networks, such as Figure 3 As shown, the underwater bionic fish school hierarchy of the wireless optical communication network is divided into three layers, namely the leadership layer for communication, the coordination layer, and the perception layer.

[0059] In the underwater bionic fish school hierarchy of the wireless optical communication network, the leadership layer plays the role of coordinating and managing the entire group. The leadership layer is held by a special bionic fish with a higher status or decision-making ability. It is responsible for coordinating the communication activities of the entire underwater bionic fish school, communicating with the coordination layer, and can communicate with the perception layer through the coordination layer.

[0060] The coordination layer is composed of three bionic fish, which are responsible for coordinating and managing the data transmission activities of the optical communication network. This layer is designed to optimize communication efficiency, schedule resources and handle various problems in the communication process. It sends command information to communicate with the perception fish. At the same time, when a coordinating fish on the same layer loses connection with the upper network, it communicates with the lost fish by scheduling the coordinating fish on the same layer.

[0061] The perception layer is a basic component of the underwater bionic fish hierarchy, including all individuals in the entire bionic fish school. The design of the perception layer enables each bionic fish node to perform specific tasks. Multiple perception fish schools can expand the working area and exchange information with the coordination fish through the optical communication network. At the same time, when a perception fish in the same layer loses connection with the upper network, the perception fish in the same layer are dispatched to communicate with the lost fish. The overall structure diagram is shown in the figure below. Figure 3 As shown in the figure, the leader fish is responsible for establishing optical communication links with the three coordination fish, and the coordination fish is responsible for establishing communication links with the three perception fish under its charge. By building the above communication links, the wireless optical communication network of the entire underwater bionic fish school can be established and maintained.

[0062] The process of establishing the hierarchical structure of underwater bionic fish schools in wireless optical communication networks: First, the initial positions of all bionic fish are obtained. Each bionic fish communicates by sending specific information frames. The specific process is as follows: the laser at the transmitter scans a certain range and sends information frames during the scanning process. After receiving the information from the transmitter, the receiver parses the information and extracts different information bits in the information frame. After the parsing is completed, it also scans and sends feedback information. After receiving the feedback information, the transmitter parses it. Then the position information of both parties is determined and a communication link is established. The information structure is shown in Table 1. The frame header is a fixed sequence used for synchronization during communication and calibration of the start of the information sequence. The priority bit is used to specify the priority of the instruction, which is divided into three levels. The information sent by the leader fish has the highest priority of level 1, the information sent by the coordination fish is level 2, and the information sent by the perception fish is level 3. The receiving end uses the received priority bit to determine which layer of the network layer the received signal comes from. After receiving the information, the receiving end parses and extracts the priority bit. If the priority bit is level 1, it is determined that the information comes from the leadership layer, the priority bit is level 2, it is determined that the information comes from the coordination layer, and the priority bit is level 3, it is determined that the information comes from the perception layer. The number bit is used to distinguish different bionic fish at the same network level. The position information of one's own side is the direction of one's own laser, and the other party's information is the direction of the other party's laser. The instruction bit is the instruction sent to the other party.

[0063] Table 1 Information structure used by bionic fish for communication

[0064]

[0065] In the embodiment of the present invention, as another implementation, a schematic diagram of establishing an underwater bionic fish school hierarchical structure of a wireless optical communication network is shown in FIG. Figure 4 As shown, first, the communication network between the leadership layer and the coordination layer is established. The leader fish of the leadership layer controls the laser to rotate and sends information including its own position information to the coordination layer. After the forward detectors of the three coordination fishes in the coordination layer receive the information of the leadership layer, their forward lasers send their own position information to the leader fish, thereby establishing a communication link between the leadership layer and the coordination layer. Then, after the coordination layer and the leadership layer establish a communication link, the communication network between the coordination layer and the perception layer is established. The three coordination fishes respectively send information including their own positions to the perception layer. After receiving the position information of the coordination fish, the detectors of the perception fish send their own position information to the coordination fish. When the position information of all the perception fishes is determined, the coordination layer and the perception layer establish a communication link.

[0066] Exemplarily, a communication network is first established between the leadership layer and the coordination layer. The leader fish of the leadership layer attempts to establish a communication connection with the coordination fish 1 of the coordination layer. The leader fish laser rotates and scans while sending information. The instruction contained in the instruction bit in the sent information frame is: "Coordination fish 1 feeds back position information to the leader fish". When only the forward detector of the coordination fish 1 receives the instruction, the forward laser rotates and sends feedback information. After the leader fish's detector receives the feedback information from the coordination fish 1, the position information of both parties is determined, and the communication connection between the leader fish and the coordination fish 1 is completed. Afterwards, the leader fish of the leadership layer attempts to establish a communication connection with the coordination fish 2 of the coordination layer. The leader fish laser rotates and sends information. The instruction contained in the instruction bit in the sent information frame is: "Coordination fish 2 feeds back position information to the leader fish". When only the forward detector of the coordination fish 2 receives the instruction, the forward laser rotates and sends feedback information. After the leader fish's detector receives the feedback information from the coordination fish 2, the position information of both parties is determined, and the communication connection between the leader fish and the coordination fish 2 is completed. Finally, the leader fish of the leadership layer attempts to establish a communication connection with the coordination fish 3 of the coordination layer. The leader fish laser rotates while sending information. The instruction contained in the instruction bit in the sent information frame is: "Coordination fish 3 feeds back position information to the leader fish". Then, only when the forward detector of the coordination fish 3 receives the instruction, the forward laser rotates and the feedback information is sent. After the leader fish's detector receives the feedback information from the coordination fish 3, the position information of both parties has been determined, and the communication connection between the leader fish and the coordination fish 3 is completed. After completing the above process, the communication network between the leadership layer and the coordination layer is established.

[0067] In the embodiment of the present invention, a communication network between the coordination layer and the perception layer is established. The leader fish sends information to the coordination fish 1 to try to establish a communication network with the three perception fish in the perception layer that it is responsible for. The coordination fish 1 of the coordination layer attempts to establish a communication connection with the perception fish 1 of the perception layer. The coordination fish 1 rotates and scans the backward laser while sending information. The instruction contained in the instruction bit in the sent information frame is: "Perception fish 1 feeds back position information to the coordination fish 1". When only the forward detector of the perception fish 1 receives the instruction, the forward laser rotates and the feedback information is sent. After the detector of the coordination fish 1 receives the feedback information from the perception fish 1, the position information of both parties has been determined, and the communication connection between the coordination fish 1 and the perception fish 1 is completed. After completing the above process with the perception fish 2 and 3, the coordination fish 1 feeds back information to the leader fish 1, and the leader fish confirms that it can communicate with the perception fish 1, 2, and 3 through the coordination fish 1. In the same process, the coordination fish 2 establishes a communication link with the perception fish 4, 5, and 6, and feeds back to the leader fish. The coordination fish 3 establishes a communication link with the perception fish 7, 8, and 9, and feeds back to the leader fish. At this point, the leadership layer has established a communication link with the coordination layer and the perception layer.

[0068] By establishing the above communication network, the leadership layer can communicate with the coordination layer and the perception layer. After the establishment is completed, the leadership layer sends instructions to the coordination layer and the network layer to establish a communication network between the three coordination fish in the coordination layer and the three perception fish in the perception layer. The communication link between the three bionic fish in the same network layer is completed, as shown in the schematic diagram. Figure 5 As shown; Different from the existing technology, this network structure is hierarchical, and the communication between the same level is realized through different instructions, and the instructions are set at different levels according to different network layers to distinguish different layers.

[0069] In the embodiment of the present invention, a coordination layer communication network is established. Specifically, the communication connection between the coordination fish 1, 2, and 3 is realized. The leading fish sends instructions to the three coordination fish. The coordination fish 1 rotates and scans the laser to send information. The instruction contained in the instruction bit in the sent information frame is: "Coordination fish 2 feeds back position information to coordination fish 1". When only the forward detector of coordination fish 2 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordination fish 1 receives the feedback information from coordination fish 2, the position information of both parties is determined, and the communication connection between coordination fish 1 and coordination fish 2 is completed. The coordination fish 1 rotates and scans the laser to send information. The instruction contained in the instruction bit in the sent information frame is: "Coordination fish 3 feeds back position information to coordination fish 1". When only the forward detector of coordination fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordination fish 1 receives the feedback information from coordination fish 3, the position information of both parties is determined, and the communication connection between coordination fish 1 and coordination fish 3 is completed. The backward laser of coordinating fish 2 rotates and scans to send information. The instruction contained in the instruction bit in the sent information frame is: "Coordinating fish 3 feeds back position information to coordinating fish 2". Then, only when the forward detector of coordinating fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordinating fish 2 receives the feedback information from coordinating fish 3, the position information of both parties has been determined, and the communication connection between coordinating fish 2 and coordinating fish 3 is completed.

[0070] In the embodiment of the present invention, a perception layer communication network is established. Specifically, the communication connection between each group of perception fish 1, 2, 3, 4, 5, 6, 7, 8, 9 is realized, and the leader fish sends instructions to the three coordination fish, and the coordination fish returns instructions to the three perception fish. The backward laser of perception fish 1 rotates and scans to send information. The instruction contained in the instruction bit in the sent information frame is: "Perception fish 2 feeds back position information to perception fish 1". Then, when only the forward detector of perception fish 2 receives the instruction, the forward laser rotates and the feedback information is sent. After the detector of perception fish 1 receives the feedback information from perception fish 2, the position information of both parties has been determined, and the communication connection between perception fish 1 and perception fish 2 is completed. After sensing fish 1, the laser rotates and scans to send information. The instruction contained in the instruction bit in the information frame sent is: "Sensing fish 3 feeds back position information to sensing fish 1". When only the forward detector of sensing fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of sensing fish 1 receives the feedback information from sensing fish 3, the position information of both parties is determined, and the communication connection between sensing fish 1 and sensing fish 3 is completed. After sensing fish 2, the laser rotates and scans to send information. The instruction contained in the instruction bit in the information frame sent is: "Sensing fish 3 feeds back position information to sensing fish 2". When only the forward detector of sensing fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of sensing fish 2 receives the feedback information from sensing fish 3, the position information of both parties is determined, and the communication connection between sensing fish 2 and sensing fish 3 is completed. In the same process, after the communication network between the three groups is established, the coordination fish feeds back information to the leading fish.

[0071] Obstacle avoidance communication function: The above communication network can be used to realize obstacle avoidance communication and lost fish finding functions, such as Figure 6 As shown in the schematic diagram of the obstacle avoidance communication function of the communication network, the leader fish attempts to communicate with the coordination fish 2. When there is an obstacle in front of the coordination fish that blocks the signal directly from the leader fish, the leader fish first tries to communicate with other bionic fish in the coordination layer, such as first establishing a communication link with the coordination fish 2, and then trying to establish a communication link with the coordination fish 2 by controlling the coordination fish 1, thereby realizing the obstacle avoidance communication function of the communication network.

[0072] In the communication network, the leader fish attempts to communicate with the coordination fish 2. According to the network structure established above, the leader fish should be able to communicate directly with the coordination fish 2. The information frame structure is also sent during communication, and the instruction bit is "coordination fish 2 provides feedback after receiving the information". Because the obstacle between the leader fish and the coordination fish 2 blocks the communication optical link, after the leader fish rotates the laser to scan and sends the information instruction, it does not receive the feedback information from the coordination fish after a period of time. Then the leader fish attempts to connect to other coordination fish in the coordination layer for communication. The instruction bit is "coordination fish 1 communicates with coordination fish 2 and provides feedback". Coordination fish 1 attempts to communicate with coordination fish 2. After receiving the feedback information from coordination fish 2, it feeds the information back to the leader fish, completing the communication process of avoiding obstacles between the leader fish and coordination fish 2, and sending instructions to command coordination fish 2 to move to avoid obstacles.

[0073] Example 3: The established bionic fish school wireless optical communication network structure is as follows: Figure 4 As shown, a wireless optical communication network is established using 16 bionic fish with wireless optical communication modules, including the following process steps:

[0074] The communication link between the leadership layer and the coordination layer is established. The leader fish sends directional information to the three coordination fish by rotating the laser. After receiving the information from the leader fish, the coordination fish rotates its own forward laser to send information to the leader fish. When the leader fish establishes communication links with the three coordination fish respectively, the communication network between the leadership layer and the coordination layer is established.

[0075] Establish a coordination layer communication network. Specifically realize the communication connection between coordination fish 1, coordination fish 2, and coordination fish 3. The leader fish sends instructions to the three coordination fish. The coordination fish 1 rotates and scans the laser to send information. The instruction contained in the instruction bit in the sent information frame is: "Coordination fish 2 feeds back position information to coordination fish 1". When only the forward detector of coordination fish 2 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordination fish 1 receives the feedback information from coordination fish 2, the position information of both parties has been determined, and the communication connection between coordination fish 1 and coordination fish 2 is completed. The coordination fish 1 rotates and scans the laser to send information. The instruction contained in the instruction bit in the sent information frame is: "Coordination fish 3 feeds back position information to coordination fish 1". When only the forward detector of coordination fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordination fish 1 receives the feedback information from coordination fish 3, the position information of both parties has been determined, and the communication connection between coordination fish 1 and coordination fish 3 is completed. The backward laser of coordinating fish 2 rotates and scans to send information. The instruction contained in the instruction bit in the sent information frame is: "Coordinating fish 3 feeds back position information to coordinating fish 2". Then, only when the forward detector of coordinating fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordinating fish 2 receives the feedback information from coordinating fish 3, the position information of both parties has been determined, and the communication connection between coordinating fish 2 and coordinating fish 3 is completed.

[0076] The communication link between the coordination layer and the perception layer is established. Coordination fish 1, coordination fish 2, and coordination fish 3 respectively turn the backward laser to send information to the three perception fish they are responsible for. After receiving the information from the coordination fish, the perception fish turns the forward laser to send information to the controlled coordination fish. After the coordination fish 1, coordination fish 2, and coordination fish 3 establish communication links with the three perception fish they are responsible for, the communication network between the communication coordination layer and the perception layer is established.

[0077] Establish a communication network between the coordination layer and the perception layer. The leader fish sends information to the coordination fish 1 to try to establish a communication network with the three perception fish in the perception layer that it is responsible for. The coordination fish 1 in the coordination layer tries to establish a communication connection with the perception fish 1 in the perception layer. The coordination fish 1 rotates and scans the backward laser while sending information. The instruction contained in the instruction bit in the sent information frame is: "Perception fish 1 feeds back position information to the coordination fish 1". When only the forward detector of the perception fish 1 receives the instruction, the forward laser rotates and the feedback information is sent. After the detector of the coordination fish 1 receives the feedback information from the perception fish 1, the position information of both parties has been determined, and the communication connection between the coordination fish 1 and the perception fish 1 is completed. After completing the above process with the perception fish 2 and 3, the coordination fish 1 feeds back information to the leader fish 1, and the leader fish confirms that it can communicate with the perception fish 1, 2, and 3 through the coordination fish 1. In the same process, the coordination fish 2 establishes a communication link with the perception fish 4, 5, and 6, and feeds back to the leader fish. The coordination fish 3 establishes a communication link with the perception fish 7, 8, and 9, and feeds back to the leader fish. At this point, the leadership layer has established a communication link with the coordination layer and the perception layer.

[0078] The internal communication link of the coordination layer is established. After the leadership layer sends instructions to the coordination layer, the coordination fish 1, coordination fish 2, and coordination fish 3 send information to each other in pairs. After receiving the information, the other party sends feedback information to complete the establishment of the communication link between coordination fish 1, coordination fish 2, and coordination fish. (Supplement) Establish a coordination layer communication network. Specifically realize the communication connection between coordination fish 1, 2, and 3 in pairs. The leader fish sends instructions to the three coordination fish. The rear laser of coordination fish 1 rotates and scans to send information. The instruction contained in the instruction bit in the information frame sent is: "Coordination fish 2 feeds back position information to coordination fish 1". Then, when only the forward detector of coordination fish 2 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordination fish 1 receives the feedback information from coordination fish 2, the position information of both parties has been determined, and the communication connection between coordination fish 1 and coordination fish 2 is completed. The backward laser of coordination fish 1 rotates and scans to send information. The instruction contained in the instruction bit in the information frame sent is: "coordinating fish 3 feeds back position information to coordination fish 1". Then, when only the forward detector of coordination fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordination fish 1 receives the feedback information from coordination fish 3, the position information of both parties is determined, and the communication connection between coordination fish 1 and coordination fish 3 is completed. The backward laser of coordination fish 2 rotates and scans to send information. The instruction contained in the instruction bit in the information frame sent is: "coordinating fish 3 feeds back position information to coordination fish 2". Then, when only the forward detector of coordination fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordination fish 2 receives the feedback information from coordination fish 3, the position information of both parties is determined, and the communication connection between coordination fish 2 and coordination fish 3 is completed.

[0079] The internal communication network link of the perception layer is established. After the leadership layer sends instructions to the coordination layer, the coordination layer sends instructions to the perception layer. Perception fish 1, perception fish 2, and perception fish 3 are grouped together, perception fish 4, perception fish 5, and perception fish 6 are grouped together, and perception fish 7, perception fish 8, and perception fish 9 are grouped together. Communication links are established between each other to complete the establishment of the internal communication network of the perception layer.

[0080] Among them, the perception layer communication network is established, and the communication connection between each group of perception fish 1-perception fish 9 is specifically realized. The leader fish sends instructions to the three coordination fish, and the coordination fish returns instructions to the three perception fish. The perception fish 1 rotates the laser to scan and send information. The instruction contained in the instruction bit in the sent information frame is: "Perception fish 2 feeds back position information to perception fish 1". When only the forward detector of perception fish 2 receives the instruction, the forward laser rotates and sends feedback information. After the detector of perception fish 1 receives the feedback information from perception fish 2, the position information of both parties has been determined, and the communication connection between perception fish 1 and perception fish 2 is completed. The perception fish 1 rotates the laser to scan and send information. The instruction contained in the instruction bit in the sent information frame is: "Perception fish 3 feeds back position information to perception fish 1". When only the forward detector of perception fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of perception fish 1 receives the feedback information from perception fish 3, the position information of both parties has been determined, and the communication connection between perception fish 1 and perception fish 3 is completed. The backward laser of the sensing fish 2 rotates and scans to send information. The instruction contained in the instruction bit in the information frame sent is: "sensing fish 3 feeds back position information to sensing fish 2". Then, only when the forward detector of the sensing fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of the sensing fish 2 receives the feedback information from the sensing fish 3, the position information of both parties has been determined, and the communication connection between the sensing fish 2 and the sensing fish 3 is completed. In the same process, after the communication network between the three groups is established, the information is fed back to the leader fish through the coordination fish.

[0081] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0082] Since the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present invention, their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0083] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment.

[0084] An embodiment of the present invention further provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0085] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0086] An embodiment of the present invention further provides an information data processing terminal, which, when executed on an electronic device, provides a user input interface to implement the steps in the above method embodiments. The information data processing terminal is not limited to mobile phones, computers, and switches.

[0087] An embodiment of the present invention further provides a server, which is used to provide a user input interface to implement the steps in the above method embodiments when executed on an electronic device.

[0088] An embodiment of the present invention provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0089] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0090] When there are 13 bionic fish, the communication network only needs 24 handshakes to establish when the above-mentioned solution is adopted. When a one-to-one communication link handshake is adopted, C (13, 2) = 78 handshakes are required to establish a communication link between two groups. In addition, the bionic fish school network is layered, the leader fish is established, and the coordination fish and the perception fish can coordinate the work more conveniently. In order to further illustrate the advantages of the communication network method of the embodiment of the present invention, the present invention designs the following experiments:

[0091] Experimental purpose: By comparing the performance of the embodiments of the present invention and the traditional underwater communication technology in establishing a communication network, the superiority of the present invention in underwater bionic fish school communication is verified.

[0092] Experimental design:

[0093] 1. Experimental group: An underwater bionic fish school communication method and system based on wireless optical communication proposed in the present invention were used to establish an underwater bionic fish school communication network.

[0094] 2. Control group: Use traditional acoustic wave communication or electromagnetic wave communication technology to establish a one-to-one bionic fish communication link in the same underwater environment.

[0095] Experimental process:

[0096] 1. Set up a bionic fish school in an underwater environment and establish a communication network based on the communication methods of the experimental group and the control group.

[0097] 2. Test the time it takes to establish the communication network: record the time it takes for the experimental group and the control group to establish the communication network.

[0098] 3. Test the stability of the communication network: send a large number of data packets to communicate and observe the stability of the communication network and the success rate of data transmission.

[0099] 4. Test the scalability of the communication network: Test the performance of the communication network in bionic fish swarms of different sizes, test the coordination between the bionic fish, and evaluate its applicability at different scales.

[0100] Expected experimental results:

[0101] 1. The communication method of the embodiment of the present invention takes less time to establish an underwater bionic fish school communication network and is more efficient than traditional technologies.

[0102] 2. The communication network of the experimental group showed higher stability and a higher success rate of data transmission.

[0103] 3. The communication network of the experimental group has good scalability and can adapt to bionic fish schools of different sizes while maintaining communication efficiency and stability.

[0104] To sum up, the underwater bionic fish school communication method and system based on wireless optical communication of the embodiments of the present invention have obvious advantages in establishing an underwater bionic fish school communication network, showing higher efficiency, stability and scalability, and providing more reliable technical support for communication applications in underwater environments.

[0105] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the protection scope of the present invention.

Claims

1. An underwater bionic fish school communication method based on wireless optical communication, characterized in that: The method includes: S1, the bionic fish with communication function establishes the underwater bionic fish school hierarchy structure of wireless optical communication network through communication protocol, and divides the structure into: leadership layer, coordination layer, and perception layer; S2, establishing a communication network between the leadership layer and the coordination layer, wherein the coordination layer includes a plurality of coordination fishes, and a coordination layer communication network is established between the plurality of coordination fishes; S3, establishing a communication network between the coordination layer and the perception layer, wherein the perception layer is divided into a plurality of sub-perception layers that communicate with each coordination fish in the coordination layer, each sub-perception layer includes a plurality of perception fish, and establishing a perception layer communication network; In step S1, the bionic fish establishes an underwater bionic fish school hierarchical structure of a wireless optical communication network through a communication protocol, including: a laser at the transmitting end performs scanning, and sends an information frame during the scanning process; after receiving the information frame sent by the transmitting end, the receiving end parses the information frame, extracts different information bits in the information frame, scans and sends feedback information after the parsing is completed, and the transmitting end parses the feedback information after receiving it, so that the position information of both parties is determined and a communication link is established; Among them, the information frame in the communication protocol includes: the frame header is a fixed sequence used for synchronization during communication and the calibration of the start of the information sequence; the priority bit is used to specify the priority of the instruction contained in the instruction bit in the information frame, which is divided into three levels. The information sent by the leader fish has the highest priority of level 1, the information sent by the coordination fish is level 2, and the information sent by the perception fish is level 3. The receiving end determines which layer of the network layer the received signal comes from through the received priority bit. After receiving the information, the receiving end parses and extracts the priority bit. If the priority bit is level 1, it is determined that the information comes from the leadership layer, the priority bit is level 2, it is determined that the information comes from the coordination layer, and the priority bit is level 3, it is determined that the information comes from the perception layer. The number bit is used to distinguish different bionic fish at the same network level, the own position information bit is the direction of the own laser, the opponent's position information bit is the direction of the opponent's laser, and the instruction bit is the instruction sent to the opponent.

2. The underwater bionic fish school communication method based on wireless optical communication according to claim 1, characterized in that: In step S1, the bionic fish comprises: a laser, a detector and a control module for wireless optical communication; The detector is used to detect single-photon-level signals to achieve signal reception; the detector is a single-photon detector, and the detector includes a forward detector and a backward detector; the laser includes a forward laser and a backward laser, and the laser is used to send modulated signals, and the direction of the laser is controlled by a control module and rotates in two dimensions; The bionic fish is also used for sending and receiving wireless optical communication. The forward laser of the bionic fish is controlled by the control module to complete the sending of the forward communication information of the bionic fish, and the backward laser is controlled by the control module to complete the sending of the backward communication information; the forward detector completes the reception of the forward communication information from the bionic fish, and the backward detector completes the reception of the backward communication information from the bionic fish.

3. The underwater bionic fish school communication method based on wireless optical communication according to claim 1, characterized in that: In step S1, the leadership layer is used to coordinate the communication of the entire underwater bionic fish school, is responsible for communicating with the coordination layer, and communicates with the perception layer through the coordination layer; The coordination layer is responsible for coordinating and managing the data transmission of the optical communication network, sending information frames to communicate with the sensing fish; when a coordination fish in the same layer loses connection with the upper network, the coordination fish in the same layer is dispatched to communicate with the lost fish; The perception layer communicates information frames with the coordination fish through a wireless optical communication network. When a perception fish in the same layer loses connection with the upper network, the perception fish in the same layer is scheduled to communicate with the lost fish.

4. The underwater bionic fish school communication method based on wireless optical communication according to claim 1, characterized in that: In step S2, the communication network between the leadership layer and the coordination layer is established, including: the leader fish of the leadership layer communicates with the coordination fish 1 of the coordination layer, and the leader fish laser rotates and scans while sending information. The instruction contained in the instruction bit of the sent information frame is: The coordinating fish 1 feeds back the position information to the leading fish. When only the forward detector of the coordinating fish 1 receives the instruction, the forward laser rotates and sends the feedback information. After the detector of the leading fish receives the feedback information from the coordinating fish 1, the position information of both parties is determined, and the communication connection between the leading fish and the coordinating fish 1 is completed. Afterwards, the leader fish of the leadership layer attempts to establish a communication connection with the coordination fish 2 of the coordination layer. The leader fish laser rotates while sending information. The instruction contained in the instruction bit in the sent information frame is: the coordination fish 2 feeds back position information to the leader fish. When only the forward detector of the coordination fish 2 receives the instruction, the forward laser rotates and sends feedback information. After the leader fish's detector receives the feedback information from the coordination fish 2, the position information of both parties is determined, and the communication connection between the leader fish and the coordination fish 2 is completed. Finally, the leader fish of the leadership layer communicates with the coordinating fish 3 of the coordination layer. The leader fish laser rotates while sending information. The instruction contained in the instruction bit in the sent information frame is: the coordinating fish 3 feeds back position information to the leader fish. When only the forward detector of the coordinating fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the leader fish's detector receives the feedback information from the coordinating fish 3, the position information of both parties is determined, and the communication connection between the leader fish and the coordinating fish 3 is completed. After completing the above process, the communication network between the leadership layer and the coordination layer is established.

5. The underwater bionic fish school communication method based on wireless optical communication according to claim 1, characterized in that: In step S2, a coordination layer communication network is established between the plurality of coordination fish, including: the leader fish sends instructions to the three coordination fish, the coordination fish 1 rotates and scans the rear laser to send information, and the instruction contained in the instruction bit in the sent information frame is: coordination fish 2 feeds back position information to coordination fish 1, then when only the forward detector of coordination fish 2 receives the instruction, the forward laser rotates and sends feedback information, after the detector of coordination fish 1 receives the feedback information from coordination fish 2, the position information of both parties is determined, and the communication connection between coordination fish 1 and coordination fish 2 is completed; coordination fish 1 rotates and scans the rear laser to send information, and the instruction contained in the instruction bit in the sent information frame is: coordination fish 3 feeds back position information to coordination fish 1 Information, then when only the forward detector of coordinating fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordinating fish 1 receives the feedback information from coordinating fish 3, the position information of both parties is determined, and the communication connection between coordinating fish 1 and coordinating fish 3 is completed; the backward laser of coordinating fish 2 rotates and scans to send information, and the instruction bit in the sent information frame contains the instruction: coordinating fish 3 feeds back position information to coordinating fish 2, then when only the forward detector of coordinating fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of coordinating fish 2 receives the feedback information from coordinating fish 3, the position information of both parties is determined, and the communication connection between coordinating fish 2 and coordinating fish 3 is completed.

6. The underwater bionic fish school communication method based on wireless optical communication according to claim 1, characterized in that: In step S3, the communication network between the coordination layer and the perception layer is established, including: the leader fish sends information to the coordination fish 1 to establish a communication network with the three perception fish of the perception layer that it is responsible for; the coordination fish 1 of the coordination layer attempts to establish a communication connection with the perception fish 1 of the perception layer, and the coordination fish 1 sends information while rotating and scanning with a backward laser. The instruction contained in the instruction bit in the sent information frame is: the perception fish 1 feeds back position information to the coordination fish 1. When only the forward detector of the perception fish 1 receives the instruction, the forward laser rotates and sends feedback information, and the detector of the coordination fish 1 receives the information from the forward detector. After the feedback information from the sensing fish 1, the position information of both parties has been determined, and the communication connection between the coordinating fish 1 and the sensing fish 1 is completed; after completing the above process with the sensing fish 2 and the sensing fish 3, the coordinating fish 1 feeds back information to the leading fish, and the leading fish confirms that it communicates with the sensing fish 1, the sensing fish 2, and the sensing fish 3 through the coordinating fish 1; in the same process, the coordinating fish 2 establishes a communication link with the sensing fish 4, the sensing fish 5, and the sensing fish 6, and feeds back to the leading fish; the coordinating fish 3 establishes a communication link with the sensing fish 7, the sensing fish 8, and the sensing fish 9, and feeds back to the leading fish; at this point, the leadership layer has established a communication link with the coordination layer and the sensing layer.

7. The underwater bionic fish school communication method based on wireless optical communication according to claim 1, characterized in that: In step S3, a perception layer communication network is established, including: the leader fish sends instructions to the three coordination fish, and the coordination fish returns instructions to the three perception fish; the perception fish 1 rotates the rear laser to scan and send information, and the instruction contained in the instruction bit in the sent information frame is: perception fish 2 feeds back position information to perception fish 1, then when only the forward detector of perception fish 2 receives the instruction, the forward laser rotates and sends feedback information, after the detector of perception fish 1 receives the feedback information from perception fish 2, the position information of both parties is determined, and the communication connection between perception fish 1 and perception fish 2 is completed; the perception fish 1 rotates the rear laser to scan and send information, and the instruction contained in the instruction bit in the sent information frame is: perception fish 3 feeds back position information to perception fish 1, then when only the forward detector of perception fish 3 receives the instruction, the forward laser rotates and sends feedback information, after the detector of perception fish 1 receives the feedback information from perception fish 3, the position information of both parties is determined, and the communication connection between perception fish 1 and perception fish 3 is completed; The backward laser of perception fish 2 rotates and scans to send information. The instruction contained in the instruction bit in the sent information frame is: perception fish 3 feeds back position information to perception fish 2. When only the forward detector of perception fish 3 receives the instruction, the forward laser rotates and sends feedback information. After the detector of perception fish 2 receives the feedback information from perception fish 3, the position information of both parties is determined, and the communication connection between perception fish 2 and perception fish 3 is completed. After the communication network between the three groups is established, information is fed back to the leading fish through the coordinating fish.

8. The underwater bionic fish school communication method based on wireless optical communication according to claim 7, characterized in that: The leader fish attempts to communicate with the coordination fish 2. According to the above-mentioned network structure, the leader fish directly communicates with the coordination fish 2, and also sends the information frame during communication. The instruction bit is for the coordination fish 2 to provide feedback after receiving the information. Since the obstacle between the leader fish and the coordination fish 2 blocks the communication optical link, after the leader fish rotates the laser to scan and sends the information instruction, if no feedback information is received from the coordination fish after a period of time, the leader fish attempts to connect to other coordination fish in the coordination layer for communication. The instruction bit is for the coordination fish 1 to communicate with the coordination fish 2 and provide feedback. The coordination fish 1 then attempts to communicate with the coordination fish 2. After receiving the feedback information from the coordination fish 2, it feeds the information back to the leader fish, completing the communication process of avoiding obstacles between the leader fish and the coordination fish 2, and sending instructions to command the coordination fish 2 to move to avoid the obstacles.

9. An underwater bionic fish school communication system based on wireless optical communication, characterized in that: The system implements the underwater bionic fish school communication method based on wireless optical communication as claimed in any one of claims 1 to 8, and the system comprises: An underwater bionic fish school hierarchical structure establishment module for a wireless optical communication network is used for bionic fish with communication functions to establish an underwater bionic fish school hierarchical structure for a wireless optical communication network through a communication protocol, and the structure is divided into: a leadership layer, a coordination layer, and a perception layer; A leadership layer and coordination layer communication module, used to establish a communication network between the leadership layer and the coordination layer, wherein the coordination layer includes a plurality of coordination fishes, and a coordination layer communication network is established between the plurality of coordination fishes; The coordination layer and perception layer communication module is used to establish a communication network between the coordination layer and the perception layer. The perception layer is divided into multiple sub-perception layers that communicate with each coordination fish in the coordination layer. Each sub-perception layer includes multiple perception fish, and a perception layer communication network is established.

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