A multi-network integration method for remote control scenarios of coastal and inland river ships

Abstract

The present invention relates to a multi-network integration method for the scenario of remote driving and control of coastal inland ships, belongs to the field of ship technology, and solves the problems of high delay and poor reliability in the communication of remote driving and control of coastal inland ships in the prior art. The method includes configuring the link information of the link under each network interface in the multi-network integration network based on the business data transmitted by the remote driving and control of the ship; wherein the link information includes the corresponding network interface information of the link and the link priority information; during the ship-shore data transmission process, the link status of each link is monitored, and the available link routing table and the priority information of each link therein are dynamically adjusted based on the monitoring results; wherein the link status includes online and offline; the available link routing table stores all links in the network whose link status is online; based on the adjusted available link routing table and the priority information of each link, a link is selected for business data transmission to realize two-way communication between the ship and the shore under multi-network integration.

Description

Technical Field

[0001] The present invention relates to the field of ship communication technology, and in particular to a multi-network integration method for remote control scenarios of coastal inland river ships. Background Art

[0002] With the continuous development of ship communication technology, the types of services carried by coastal and inland ship communication networks are gradually expanding from the original traditional narrow bandwidth, non-real-time monitoring data return and other services to new hybrid services represented by "large bandwidth, low latency, and giant links" represented by real-time communication and multi-ship collaborative scheduling. As a typical new hybrid service, remote driving and control has put forward higher requirements on the communication network. Remote driving and control requires a large amount of real-time data to be transmitted between the ship and the shore, such as video streams, control instructions, etc., so sufficient bandwidth is required to ensure the data transmission rate. Data real-time performance is crucial for remote driving and control. Any delay may lead to operational errors or safety accidents. Therefore, low-latency transmission must be guaranteed to ensure instant response between the ship and the shore. Remote driving and control involves remote control of ships, and has extremely high requirements for the stability and security of data transmission. It is necessary to ensure the integrity, accuracy and non-tampering of data during transmission to ensure the safety of ship navigation.

[0003] There are many forms of ship-to-shore communication networks in coastal inland rivers, such as 4G, 5G, Beidou, and satellite. 4G and 5G networks have fast speeds, high bandwidth, and support dense user access, but there are signal coverage blind spots in some waters far from the shore. Beidou and satellite can cover the entire inland river, but Beidou short message communication has the disadvantages of limited bandwidth resources, a small number of links that can be accessed simultaneously per unit area, and slow transmission rate, while satellite communication has the disadvantages of high cost and large return delay. AIS and VHF / UHF self-built digital radio stations are important navigation aids for collision avoidance and automatic exchange of information between existing ships. Although in most cases they are only used as auxiliary communication means for shore-based one-way ship management and have limited business carrying capacity, they can still be used as emergency management communication means for coastal inland river ship-to-shore communication networks due to their high installation rate and strong reliability.

[0004] Therefore, a multi-network fusion method is urgently needed to solve the problems of high latency and poor reliability of the existing multi-network fusion method in remote control of coastal and inland ships, so as to meet the growing demand for remote control ship-shore communication. Summary of the invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide a multi-network integration method for the remote control scenario of coastal inland ships, so as to solve the problems of high communication delay and poor reliability in the existing remote control of coastal inland ships.

[0006] On the one hand, an embodiment of the present invention provides a multi-network integration method for a remote control scenario of a coastal inland river vessel, including:

[0007] Based on the service data transmitted by the ship remote control, the link information of the link under each network interface in the multi-network convergence network is configured; wherein the link information includes the corresponding network interface information of the link and the priority information of the link;

[0008] During the ship-shore data transmission process, the link status of each link is monitored, and the available link routing table and the priority information of each link therein are dynamically adjusted based on the monitoring results; wherein the link status includes online and offline; the available link routing table stores all the links in the network whose link status is online;

[0009] Based on the adjusted available link routing table and the priority information of each link, a link is selected for business data transmission to achieve two-way communication between ship and shore under multi-network integration.

[0010] Furthermore, the link priority information includes the number of hops and weights of the link for different service data types; wherein the service data types include control instruction class, perception class, ship-side video class, and ship-side export network traffic class.

[0011] Furthermore, the link status of each link is monitored in the following manner:

[0012] S21, sending a Ping request to the public network IP address at a first time interval set, and executing:

[0013] If no Ping response is received within the set time limit, the system enters fault judgment mode:

[0014] Send a Ping request to the public network IP address based on the second time interval. If no Ping response is received within the set time limit for the set first number of times, the link status is determined to be offline, and the first restart mode is entered; otherwise, the fault judgment mode is exited, and the execution is returned to step S21;

[0015] If a Ping response is received within the set time limit, a judgment is made based on the delay and packet loss rate in the Ping response. If the delay is greater than or equal to the set first threshold or the packet loss rate is greater than or equal to the set second threshold, the link status is offline and enters the second restart mode; otherwise, return to step S21 to continue execution.

[0016] Furthermore, the first restart mode is:

[0017] A Ping request is sent to the public IP address based on the second time interval. If a Ping response is received within the set time limit for the set first number of times in succession, the link is determined to be connected, and the process returns to step S21 to continue execution; otherwise, the process repeats this step until the link is connected.

[0018] Furthermore, the second restart mode is:

[0019] A Ping request is sent to the public IP address at a first time interval set. If the delay in the Ping response is less than the set third threshold and the packet loss rate is less than the set fourth threshold, the state of the link is determined to be connected, and the process returns to step S21 to continue execution; otherwise, the process repeats this step until the link is connected.

[0020] Furthermore, the available link routing table is adjusted in the following manner:

[0021] If the link status of a link is detected to change from online to offline, the link is deleted from the available link routing table;

[0022] If it is monitored that the link status of the link changes from offline to online, the link is added to the available link routing table.

[0023] Furthermore, the priority information of the link is updated in the following manner:

[0024] SA1, obtain the delay, packet loss rate and priority information of the current link;

[0025] SA2: Based on the delay, packet loss rate, and priority information of the current link, obtain the evaluation score of the current link and perform the following operations:

[0026] If the evaluation score is greater than the set first score threshold and less than the set second score threshold, the priority information of the current link is not updated;

[0027] Otherwise, the priority information of the current link is adjusted and used as the priority information of the current link, and the process returns to step SA2.

[0028] Furthermore, link selection is performed in the following manner:

[0029] According to the type of the service data, obtaining the link with the minimum number of hops for the type of service data in the adjusted available link routing table;

[0030] If the acquired link is unique, the link is selected for service data transmission;

[0031] Otherwise, the service data is distributed to each link according to the weight of each acquisition link for service data transmission.

[0032] Furthermore, for the same link, if service data of different service types are received, they are transmitted according to the priority order corresponding to the different service data set in the link.

[0033] Furthermore, each network interface is also provided with service data of a designated exclusive network interface; and the link selection further includes:

[0034] Sa1. If the service data is service data of an exclusive network interface, all links under the network interface are obtained;

[0035] Sa2: Determine whether all the acquired links do not exist in the adjusted available link routing table. If none of them exist, suspend the transmission of the service data and re-enter step Sa2 for determination; otherwise, obtain the link with the smallest number of hops for the service data of this type:

[0036] If the acquired link is unique, the link is selected for service data transmission;

[0037] Otherwise, the service data is distributed to each link according to the weight of each acquisition link for service data transmission.

[0038] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0039] The present invention provides a multi-network integration method for the scenario of remote control of coastal inland ships. The link information of the link under each network interface in the multi-network integration network is configured based on the business data transmitted by the remote control of the ship. The link information includes the corresponding network interface information of the link and the link priority information. Then, during the ship-to-shore data transmission process, the link status of each link is monitored, and the available link routing table and the priority information of each link therein are dynamically adjusted based on the monitoring results. Therefore, based on the adjusted available link routing table and the priority information of each link, a link is selected for business data transmission, so as to realize two-way communication between the ship and the shore under the multi-network integration, and complete the seamless integration and intelligent integration of multiple networks. It can optimize routing, dynamically monitor and adaptively adjust network status, and efficiently transmit and intelligently dispatch data in a hierarchical manner, providing a highly reliable and low-latency communication solution for the remote control of coastal and inland ships. It can flexibly select and switch the optimal communication link to fully utilize the advantages of various network resources, avoid technical confusion and conflicts, and provide clear guidance for the construction and application of coastal and inland ship-shore communication systems to meet the growing demand for remote control ship-shore communication. It also enhances the remote control capability of ships, and can maintain real-time communication with the shore in different waterway areas and complex environments, ensuring the smooth progress of remote control operations and improving the intelligence level and autonomy of ship transportation.

[0040] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0042] Figure 1 The figure is a flowchart of the multi-network integration method for the remote control scenario of coastal and inland ships. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0044] A specific embodiment of the present invention discloses a multi-network integration method for remote control scenarios of coastal inland waterways ships, such as Figure 1 As shown, the following steps are included:

[0045] S1. Based on the service data transmitted by the ship remote control, configure the link information of the link under each network interface in the multi-network convergence network; wherein the link information includes the corresponding network interface information of the link and the priority information of the link;

[0046] Specifically, in the scenario of remote control of ships, various types of communication networks are connected to form a multi-network convergence network. That is to say, in the multi-network convergence network, diversified network interface configurations are supported; among them, communication network types include 4G / 5G mobile communications, satellite communications, Beidou short messages and wireless data radio communications.

[0047] More specifically, 4G / 5G access is to perform identity authentication and access management, routing and communication services through user tokens to achieve interaction and data transmission with 4G and 5G network equipment networks; Beidou short message access is to connect with the terminal communication module to achieve interaction and data transmission with Beidou short message equipment; satellite communication access is to connect with the terminal communication module to achieve interaction and data transmission of satellite broadband services; digital radio access is to connect with wireless digital radio communication equipment to achieve connection and data transmission of wireless data radio.

[0048] Specifically, one or more members are configured under each network interface to provide link redundancy and load balancing capabilities; the members are link entities, physical entities corresponding to the links, such as mobile communication wide area network interfaces, RJ45 ports for satellites, 232 ports for Beidou, and 485 ports for digital radio stations.

[0049] Exemplarily, the network interface is 4G / 5G, and its member links include message data transmission, video transmission, and traffic monitoring transmission.

[0050] Specifically, the link priority information includes the number of hops and weights of the link for different service data types; wherein the service data types include control instruction class, perception class, ship-side video class, and ship-side export network traffic class.

[0051] More specifically, the hop count of the link is set according to the network interface type and the priorities of different service data types. The smaller the hop count, the higher the priority of the link. The weight of the member is set according to demand for load balancing.

[0052] More specifically, in the business data transmission in the remote control scenario of coastal and inland ships, the business data types include control instruction class, perception class, ship-side video class and ship-side export network traffic class; among them, the control instruction class includes navigation control instructions, decision setting instructions, and berthing planning instructions sent from the shore to the ship; the perception class includes comprehensive navigation information, comprehensive environmental information, and fused target information sent from the ship to the shore; the ship-side video class includes ship-side video data; and the ship-side export network traffic includes ship-side export network traffic data.

[0053] Specifically, control instruction-type service data has a higher priority than perception-type service data, perception-type service data has a higher priority than ship-side video-type service data, and ship-side video-type service data has a higher priority than ship-side export network traffic-type service sequence number.

[0054] Exemplarily, for the link under the 4G / 5G network interface, various control instructions such as navigation control instructions, decision setting instructions, berthing planning instructions, etc. sent from the shore to the ship have a higher priority, and the number of hops can be set to 100; various perception data such as comprehensive navigation information, comprehensive environmental information, fused target information, etc. sent from the ship to the shore have a relatively low priority, and the number of hops can be set to 300; the ship-side video data transmission priority is second, and the number of hops can be set to 500; the ship-side export network traffic data transmission priority is the lowest, and the number of hops can be set to 700.

[0055] It can be understood that the weight of the link achieves load balancing between links with the same number of hops. By adjusting the weight ratio, the traffic of each link is reasonably distributed to avoid overloading of a single link.

[0056] Preferably, the link information is represented by a link identifier, and the link identifier includes the number of the corresponding network interface of the link, and the hop number and weight of the link for different business data.

[0057] For example, wan1_m100_w30 indicates a link with a hop count of 100 and a weight of 30 for control instruction type business data under network interface 1, and wan2_m100_w70 indicates a link with a hop count of 100 and a weight of 70 for control instruction type business data under network interface 2.

[0058] S2. During the ship-to-shore data transmission process, the link status of each link is monitored, and the available link routing table and the priority information of each link therein are dynamically adjusted based on the monitoring results; wherein the link status includes online and offline; the available link routing table stores all links in the network whose link status is online.

[0059] It should be noted that at the beginning of multi-network integration, the initial link state of each link is connected.

[0060] During implementation, the link status of each link is monitored in the following ways:

[0061] S21, sending a Ping request to the public network IP address at a first time interval set, and executing:

[0062] If no Ping response is received within the set time limit, the system enters fault judgment mode:

[0063] Send a Ping request to the public network IP address based on the second time interval. If no Ping response is received within the set time limit for the set first number of times, the link status is determined to be offline, and the first restart mode is entered; otherwise, the fault judgment mode is exited, and the execution is returned to step S21;

[0064] If a Ping response is received within the set time limit, a judgment is made based on the delay and packet loss rate in the Ping response. If the delay is greater than or equal to the set first threshold or the packet loss rate is greater than or equal to the set second threshold, the link status is offline and enters the second restart mode; otherwise, return to step S21 to continue execution.

[0065] In specific implementation, the first restart mode is:

[0066] A Ping request is sent to the public IP address based on the second time interval. If a Ping response is received within the set time limit for the set first number of times in succession, the link is determined to be connected, and the process returns to step S21 to continue execution; otherwise, the process repeats this step until the link is connected.

[0067] In specific implementation, the second restart mode is:

[0068] A Ping request is sent to the public IP address at a first time interval set. If the delay in the Ping response is less than the set third threshold and the packet loss rate is less than the set fourth threshold, the state of the link is determined to be connected, and the process returns to step S21 to continue execution; otherwise, the process repeats this step until the link is connected.

[0069] Specifically, if in the second restart mode, the sent Ping request does not receive a Ping response within the set time limit, the fault judgment mode is executed.

[0070] Specifically, the first time interval is set to 10s, the time limit for receiving a Ping response is set to 4s, the second time interval is set to 5s, the first number is set to 5, the second number is set to 5, the first threshold is set to 1000ms, the second threshold is set to 40%, the third threshold is set to 500ms, and the fourth threshold is set to 10%.

[0071] Exemplarily, the public IP addresses are predefined 223.5.5.5 and 101.226.4.6.

[0072] It is understandable that the above method can monitor the link status of each link in real time, which is simple and efficient, and can quickly identify whether the link is online, effectively reducing the possibility of misjudgment and missed judgment, improving the accuracy and reliability of the system, and providing basic data support for subsequent routing selection. Based on the monitoring data, the system can intelligently adjust the data transmission strategy and automatically switch between high-speed networks and stable but lower-speed communication networks to ensure that the reliability and real-time performance of communication can be maintained under adverse conditions such as signal interference or obstruction.

[0073] When implemented, the available link routing table is adjusted in the following ways:

[0074] If the link status of a link is detected to change from online to offline, the link is deleted from the available link routing table;

[0075] If it is monitored that the link status of the link changes from offline to online, the link is added to the available link routing table.

[0076] During implementation, the link priority information is updated in the following ways:

[0077] SA1, obtain the delay, packet loss rate and priority information of the current link;

[0078] SA2: Based on the delay, packet loss rate, and priority information of the current link, obtain the evaluation score of the current link and perform the following operations:

[0079] If the evaluation score is greater than the set first score threshold and less than the set second score threshold, the priority information of the current link is not updated;

[0080] Otherwise, the priority information of the current link is adjusted and used as the priority information of the current link, and the process returns to step SA2.

[0081] Specifically, a first score threshold and a second score threshold are set for each link according to actual needs.

[0082] Specifically, the evaluation score Score of the current link is obtained in the following way:

[0083]

[0084] Where N represents the number of service data types corresponding to the current link, L and P represent the delay and packet loss rate of the current link respectively, and L th , P th Represent the first threshold and the second threshold respectively, W i 、M i Respectively represent the weight and hop number of the current link for service data type i, M max 、M min Respectively represent the maximum and minimum hop counts of each service data type in the current link, W max , W min Respectively represent the maximum and minimum weights of each service data type in the current link.

[0085] Specifically, the priority information of the current link is adjusted as follows:

[0086] If the evaluation score is less than or equal to the set first score threshold, the priority information is adjusted by increasing the number of hops of each business data type or reducing the weight of each business data type;

[0087] If the evaluation score is greater than or equal to the set second score threshold, the priority information is adjusted by reducing the number of hops of each service data type or increasing the weight of each service data type.

[0088] Preferably, when increasing or decreasing the number of hops, the hops of all business data types are adjusted by increasing or decreasing the set first value; when increasing or decreasing the weight, the hops of all business data types are adjusted by increasing or decreasing the set second value;

[0089] Preferably, when adjusting the hop count and weight of each service data type, the adjustments may be made simultaneously or step by step according to the service type.

[0090] Specifically, the first value and the second value are set according to actual needs.

[0091] It can be understood that the priority information of the link should be positively correlated with the network situation. In this embodiment, the relationship between the current priority information and the network situation is reflected by the evaluation score. When the evaluation score is within a certain range, it is judged that the current priority information can reflect the link network situation and no adjustment is made; when the delay or packet loss rate increases and the network situation deteriorates, the evaluation score decreases at this time. If the evaluation score is less than or equal to the set first score threshold, it is judged that the current priority information cannot reflect the link network situation well. At this time, it is adjusted by increasing the number of hops (reducing the priority) or reducing the weight; when the delay or packet loss rate decreases and the network situation improves, the evaluation score increases at this time. If the evaluation score is greater than or equal to the set second score threshold, it is judged that the current priority information cannot reflect the link network situation well. At this time, it is adjusted by reducing the number of hops (increasing the priority) or increasing the weight; through this adjustment, the priority information of the link can be adjusted according to the network situation, so that the subsequent route selection is more accurate and reliable. S3, based on the adjusted available link routing table and the priority information of each link, select the link for business data transmission to realize ship-shore two-way communication under multi-network integration.

[0092] When implemented, link selection is performed in the following manner:

[0093] According to the type of the service data, obtaining the link with the minimum number of hops for the type of service data in the adjusted available link routing table;

[0094] If the acquired link is unique, the link is selected for service data transmission;

[0095] Otherwise, the service data is distributed to each link according to the weight of each acquisition link for service data transmission.

[0096] Preferably, the link selection further includes:

[0097] For the same link, if service data of different service types are received, they are transmitted according to the priority order corresponding to the different service data set in the link.

[0098] It can be understood that by giving priority to high-priority data and reasonably processing low-priority data, the requirements of real-time response and high accuracy of remote control ship-shore communication can be met.

[0099] During implementation, each network interface is also provided with service data of a designated exclusive network interface; the link selection further includes:

[0100] Sa1. If the service data is service data of an exclusive network interface, all links under the network interface are obtained;

[0101] Sa2: Determine whether all the acquired links do not exist in the adjusted available link routing table. If none of them exist, suspend the transmission of the service data and re-enter step Sa2 for determination; otherwise, obtain the link with the smallest number of hops for the service data of this type:

[0102] If the acquired link is unique, the link is selected for service data transmission;

[0103] Otherwise, the service data is distributed to each link according to the weight of each acquisition link for service data transmission.

[0104] Specifically, if other business data is being transmitted on the selected link when the business data of the exclusive network interface is being transmitted, the link is paused and a link with a smaller number of hops for the business data of this type is obtained:

[0105] If the acquired link is unique, the link is selected for service data transmission;

[0106] Otherwise, the service data is distributed to each link according to the weight of each acquisition link for service data transmission.

[0107] Specifically, if the network interface is transmitting the designated service data that exclusively occupies the network interface, the network interface will no longer receive other service data for transmission until the designated service data that exclusively occupies the network interface is completely transmitted.

[0108] For example, malicious attack and anomaly detection requires the collection of ship-side export network traffic. The data volume is large and is transmitted to the shore regularly. The satellite communication network cannot be used and can only be transmitted when the 4G / 5G signal is good. Transmission is not allowed under other circumstances. Therefore, an exclusive 4G / 5G network interface is allocated for transmission of the business data.

[0109] It can be understood that the method in this embodiment provides user-specified and intelligent link optimization modes, allowing the user to directly specify the communication link, or automatically and intelligently select the best link based on the network status and characteristics of the information to be sent when the user does not specify, further improving the flexibility and efficiency of communication.

[0110] Compared with the prior art, this embodiment provides a multi-network integration method for the scenario of remote control of coastal inland ships. By configuring the link information of the link under each network interface in the multi-network integration network based on the business data transmitted by the remote control of the ship, the link information includes the corresponding network interface information of the link and the link priority information. Then, during the ship-shore data transmission process, the link status of each link is monitored, and the available link routing table and the priority information of each link therein are dynamically adjusted based on the monitoring results. Therefore, based on the adjusted available link routing table and the priority information of each link, a link is selected for business data transmission, so as to realize two-way communication between the ship and the shore under multi-network integration, and complete seamless communication between multiple networks. Integration, intelligent routing optimization, dynamic monitoring and adaptive adjustment of network status, efficient data hierarchical transmission and intelligent scheduling provide a high-reliability, low-latency communication solution for the remote control of coastal and inland ships; it can flexibly select and switch the optimal communication link to fully utilize the advantages of various network resources, avoid technical confusion and conflicts, and provide clear guidance for the construction and application of coastal and inland ship-shore communication systems to meet the growing demand for remote control ship-shore communication; and it enhances the remote control capability of ships, and can maintain real-time communication with the shore in different waterway areas and complex environments, ensuring the smooth progress of remote control operations, and improving the intelligence level and autonomy of ship transportation.

[0111] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0112] 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 changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-network integration method for remote control of coastal and inland river vessels, characterized in that: include: Based on the service data transmitted by the ship remote control, the link information of the link under each network interface in the multi-network convergence network is configured; wherein the link information includes the corresponding network interface information of the link and the priority information of the link; During the ship-shore data transmission process, the link status of each link is monitored, and the available link routing table and the priority information of each link therein are dynamically adjusted based on the monitoring results; wherein the link status includes online and offline; the available link routing table stores all the links in the network whose link status is online; Based on the adjusted available link routing table and the priority information of each link, a link is selected for business data transmission to achieve two-way communication between ship and shore under multi-network integration.

2. The multi-network integration method for the remote control scenario of coastal inland waterways vessels according to claim 1 is characterized in that: The link priority information includes the number of hops and weights of the link for different service data types; wherein the service data types include control instruction class, perception class, ship-side video class, and ship-side export network traffic class.

3. The multi-network integration method for the remote control scenario of coastal inland waterways vessels according to claim 1 is characterized in that: The link status of each link is monitored in the following ways: S21, sending a Ping request to the public network IP address at a first time interval set, and executing: If no Ping response is received within the set time limit, the system enters fault judgment mode: Sending a Ping request to the public network IP address based on the second time interval, if no Ping response is received within the set time limit for the set first number of times in a row, determining that the state of the link is offline, and entering the first restart mode; Otherwise, exit the fault judgment mode and return to step S21 to continue execution; If a Ping response is received within the set time limit, a judgment is made based on the delay and packet loss rate in the Ping response. If the delay is greater than or equal to the set first threshold or the packet loss rate is greater than or equal to the set second threshold, the link status is offline and enters the second restart mode; otherwise, return to step S21 to continue execution.

4. The multi-network integration method for the remote control scenario of coastal and inland waterway ships according to claim 3 is characterized in that: The first restart mode is: A Ping request is sent to the public IP address based on the second time interval. If a Ping response is received within the set time limit for the set first number of times in succession, the link is determined to be connected, and the process returns to step S21 to continue execution; otherwise, the process repeats this step until the link is connected.

5. The multi-network integration method for the remote control scenario of coastal inland waterways vessels according to claim 4 is characterized in that: The second restart mode is: A Ping request is sent to the public IP address at a first time interval set. If the delay in the Ping response is less than the set third threshold and the packet loss rate is less than the set fourth threshold, the state of the link is determined to be connected, and the process returns to step S21 to continue execution; otherwise, the process repeats this step until the link is connected.

6. The multi-network integration method for the remote control scenario of coastal inland waterways vessels according to claim 4 is characterized in that: Adjust the available link routing table by: If the link status of a link is detected to change from online to offline, the link is deleted from the available link routing table; If it is monitored that the link status of the link changes from offline to online, the link is added to the available link routing table.

7. The multi-network integration method for the remote control scenario of coastal inland waterways vessels according to claim 4 is characterized in that: Update the link priority information in the following ways: SA1, obtain the delay, packet loss rate and priority information of the current link; SA2: Based on the delay, packet loss rate, and priority information of the current link, obtain the evaluation score of the current link and perform the following operations: If the evaluation score is greater than the set first score threshold and less than the set second score threshold, the priority information of the current link is not updated; Otherwise, the priority information of the current link is adjusted and used as the priority information of the current link, and the process returns to step SA2.

8. The multi-network integration method for the remote control scenario of coastal inland waterways vessels according to claim 1 is characterized in that: Link selection is performed in the following ways: According to the type of the service data, obtaining the link with the minimum number of hops for the type of service data in the adjusted available link routing table; If the acquired link is unique, the link is selected for service data transmission; Otherwise, the service data is distributed to each link according to the weight of each acquisition link for service data transmission.

9. The multi-network integration method for the remote control scenario of coastal inland waterways vessels according to claim 8 is characterized in that: For the same link, if service data of different service types are received, they are transmitted according to the priority order corresponding to the different service data set in the link.

10. The multi-network integration method for the remote control scenario of coastal and inland river ships according to claim 9 is characterized in that: Each network interface is also provided with service data of a designated exclusive network interface; the link selection further includes: Sa1. If the service data is service data of an exclusive network interface, all links under the network interface are obtained; Sa2: Determine whether all the acquired links do not exist in the adjusted available link routing table. If none of them exist, suspend the transmission of the service data and re-enter step Sa2 for determination; otherwise, obtain the link with the smallest number of hops for the service data of this type: If the acquired link is unique, the link is selected for service data transmission; Otherwise, the service data is distributed to each link according to the weight of each acquisition link for service data transmission.

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