Mobile monitoring system and method for ocean vehicles

Abstract

The present invention provides a mobile monitoring system and method for ocean vehicles, including: a mobile monitoring software system for ocean vehicles and a mobile monitoring device for ocean vehicles. The mobile monitoring device is composed of an industrial computer, a display device, a control device, an electronic control device, a power supply device and a communication device; the mobile monitoring software system includes an interface interaction layer, a functional logic layer, an intermediate data layer and a communication transmission layer. The present invention decouples and hierarchically modularizes the software as a whole, and each layer operates independently. It adopts a dual-screen collaborative display mode, has sufficient expansion interfaces, can more intuitively and comprehensively grasp the operating status of ocean vehicles, has high versatility, and effectively realizes the monitoring of different types of ocean vehicles; constructs a single-frame and data packet fusion transmission mode, has a frame loss retransmission mechanism, realizes multi-channel communication function, improves communication selectivity and reliability, and meets the debugging and testing needs of ocean vehicles.

Description

Technical Field

[0001] The present invention belongs to the field of marine vehicle monitoring, and in particular, relates to a mobile monitoring system and method for marine vehicles, and in particular to a universal mobile monitoring system for monitoring and controlling marine vehicles. Background Art

[0002] Ocean vehicles are a type of vehicle that has its own energy system and power system, and relies on its autonomous ability to manage and control itself to complete its intended mission. The monitoring system of ocean vehicles can monitor the body status, control system, and payload equipment of ocean vehicles in real time, and perform motion control, mission planning, and system configuration of ocean vehicles. It plays a vital role in the entire life cycle of ocean vehicle system development, comprehensive testing, and delivery and use.

[0003] In general, most of the existing marine vehicle monitoring systems are designed and developed for a certain type of marine vehicle, and do not have the universal function of controlling marine vehicles of different models and categories; in terms of communication, most monitoring systems have a single communication channel and do not have multi-channel communication capabilities, and the communication reliability needs to be improved; in terms of user interactivity, most monitoring systems use a single-screen design and a fixed control panel, which is poor in the multi-level UI interface deployment of the monitoring software, user operation convenience, real-time status presentation of the vehicle, and interactive visual expression. At the same time, the problem of fewer expansion interfaces is not conducive to the on-site debugging and use of marine vehicles, and the monitoring software generally does not have the ability to switch the monitoring object in real time and monitor the vehicle through multiple channels.

[0004] Therefore, developing a universal ocean vehicle monitoring system with complete functions and easy use can shorten the development cycle of ocean vehicles and reduce development costs to a large extent. It is crucial and critical for the development process and routine deployment of ocean vehicles. It has important practical significance and engineering value and has broad application prospects. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a mobile monitoring system and method for ocean vehicles.

[0006] A mobile monitoring system for ocean vehicles provided according to the present invention includes a mobile monitoring device and mobile monitoring software;

[0007] The mobile monitoring device controls the mobile monitoring software to transmit data through the communication channel.

[0008] The mobile monitoring software includes an interface interaction layer, a functional logic layer, an intermediate data layer and a communication transmission layer.

[0009] Based on UDP for data transmission, the interface interaction layer obtains user input and forwards it to the functional logic layer.

[0010] The functional logic layer receives user input, converts it into corresponding instructions through logical processing, and transmits it to the intermediate data layer.

[0011] The intermediate data layer receives the corresponding instructions, parses and packages the data through the standard communication protocol for ocean vehicles and sends it to the communication transmission layer.

[0012] After the communication transmission layer extracts the complete data frame, it is decoded by the intermediate data layer and then sent to the interface interaction layer.

[0013] The interface interaction layer abstracts the presentation part of the data and updates the display in the interface.

[0014] Preferably, the mobile monitoring device includes an industrial computer, a display device, a control device, an electric control device, a power supply device and a communication device.

[0015] It adopts a movable box-type integrated mechanical structure, which is divided into an upper box and a lower box.

[0016] The control device is connected to the industrial computer via USB to control the mobile monitoring software.

[0017] The electric control device, the power supply device and the communication device are integrated inside the lower box and connected to the industrial computer through a bus.

[0018] The display device adopts a dual-screen collaborative display mode, including a main screen and a sub-screen.

[0019] The main screen is embedded in the upper box, the auxiliary screen is fixed above the main screen through a damping hinge, and communication antenna interfaces are arranged on both sides;

[0020] The main screen and the sub-screen are connected to the power supply device in the lower box through the DP interface and the HDMI interface respectively by means of behind-the-scenes wiring.

[0021] Preferably, the electronic control device adopts a master-slave control architecture, including a master controller and a slave controller.

[0022] The communication devices include digital radio, 4G radio, Beidou radio, switch, underwater acoustic communication machine, WIFI module, network switch and power carrier board.

[0023] The slave controller adopts an Arduino microcontroller, which is connected to a temperature and humidity sensor, a voltage and current detection module, a power display module and a relay control board.

[0024] The main controller runs the mobile monitoring software through the industrial computer and establishes a data transmission link with the ocean vehicle through the communication device.

[0025] The communication device is connected to the main controller, converts the network signal into an electrical signal through a power carrier board, and is connected to the ocean vehicle by wire or wireless;

[0026] Through six communication channels including 900MHz channel, 4G channel, Ethernet channel, Beidou channel, hydroacoustic channel and WIFI channel, it can carry out two-way real-time communication with ocean vehicles, encapsulate sending data and parse receiving data.

[0027] Preferably, the control device adopts a manual lifting method and includes a control panel.

[0028] The control panel is equipped with a wireless handle, an industrial keyboard and a mouse, and is connected to the industrial computer via USB;

[0029] The expandable interfaces include USB port, network port, serial multi-core connector and self-locking button, which are connected to the industrial computer through the bus.

[0030] The back side of the lower box is provided with 5V and 12V power supply interfaces.

[0031] The power supply device adopts an uninterruptible power supply mode, providing a 15-25.2V DC uninterruptible power supply, allocating voltage and power according to power demand, controlling the relay and collecting the switch status of the button.

[0032] The bus is an RS-232 bus for information exchange.

[0033] Preferably, the interface interaction layer includes a main system interface, an information monitoring interface, a control interface, a map and mission planning interface, a device and power management interface, a system status and communication interface and an auxiliary interface, providing interface display and interactive operation functions.

[0034] The functional logic layer includes a monitoring and control unit, a system management unit and an expandable unit, which encapsulates data related to business application logic and the operation process of the data.

[0035] The monitoring and control unit includes a shore station control module, a navigation status monitoring module, a system equipment monitoring and management module, a map display and mission planning module, a debugging and underlying configuration module, and a fault alarm and emergency module.

[0036] The platform management unit includes a communication management module and a data monitoring module.

[0037] The expandable unit includes a semi-physical simulation interface module.

[0038] The intermediate data layer includes an inter-layer information transceiver module and a protocol encapsulation module, which isolates the functional logic layer from the underlying communication function, and uses the ocean vehicle standard communication protocol to receive data for parsing and packaging to process and send data.

[0039] The communication transmission layer includes an inter-layer information transceiver module, which configures and changes the power switching status and communication status of each channel, and simultaneously transmits, receives and extracts data from six communication channels: 900MHz channel, 4G channel, Ethernet channel, Beidou channel, underwater acoustic channel and WIFI channel.

[0040] Preferably, the interface interaction layer obtains external user input through the control interface and forwards it to the functional logic layer through the Signal-Slot mechanism.

[0041] The functional logic layer processes user input into string data instructions and sends them to the intermediate data layer through the standard inter-layer protocol within the system.

[0042] After the inter-layer information transceiver module of the intermediate data layer receives the string instruction data of the functional logic layer, it is converted into hexadecimal data through the protocol encapsulation module and sent to the communication transmission layer through the inter-layer information transceiver module.

[0043] The communication transport layer sends hexadecimal data to the outside through the communication channel. After receiving the external complete data frame, it sends it to the intermediate data layer through the inter-layer information transceiver module.

[0044] The intermediate data layer decodes the data through the protocol parsing module to convert the external complete data frame into string type data, and sends it to the functional logic layer for processing and application through the inter-layer information transceiver module.

[0045] After the functional logic layer completes the processing, it sends an update notification to the interface interaction layer.

[0046] After receiving the update notification, the interface interaction layer abstracts the presentation part of the data and displays it on the foreground interface.

[0047] Preferably, the ocean vehicle standard communication protocol is divided into a header message, a message length, a message flow direction, a message package number, a message category identifier, a message content, a message check and a tail message.

[0048] The address bits are divided into a sender ID and a receiver ID.

[0049] The transmission mode is a combination of single frame communication mode and data packet communication mode.

[0050] Periodically obtain data in the cache in a polling manner and move the data to the first self-built container;

[0051] Find the frame header and frame tail in the self-built container by searching in reverse order, and extract the data frames of the frame header and frame tail to the second self-built container;

[0052] Compare the frame length and check bit to determine the integrity and correctness of the data frame;

[0053] The receiver code in the data frame is matched with the ocean vehicle code itself. If it is correct, the data frame data bit content is extracted and analyzed. If it is incorrect, the data frame is discarded.

[0054] Preferably, the single-frame communication mode is a simplified processing of the data packet communication mode. If the single-frame data transmission is normal, the data transmission is realized based on a single response method. If the single-frame data transmission is abnormal, the retransmission sending mechanism is integrated through the stop-and-wait mechanism to resend the data in a cyclic redundancy manner.

[0055] The anomalies include data frame errors and losses.

[0056] In the data packet communication mode, data is split into different data frames and sent in batches in the data packet mode.

[0057] If the communication channel is normal, the two communicating parties will perform an ACK data packet handshake. After the handshake is successful, the data frames in the data packet are sent in batches according to the labels. The receiving party does not give any feedback response. After the transmission is completed, an ACK handshake is performed to end the transmission. If the communication channel is abnormal, the abnormal situation is determined;

[0058] If an exception occurs during the handshake process of data packet transmission, a single frame data retransmission mechanism is used;

[0059] If an abnormality occurs during data packet transmission, the receiver will fill the received data frames into the data frame queue and mark the missing frame numbers for retransmission;

[0060] If the final analyzed data packet is smaller than the actual data packet size, the retransmission mechanism is triggered, and the receiver sends a retransmission instruction to request the sender to resend the missing data frame. After receiving the retransmission request, the sender quickly locates the retransmission packet and resends it in single-frame sending mode.

[0061] Preferably, state machines under the data packet communication mode are established inside the communication transport layer of the mobile monitoring software system and inside the external communication node, including NONE, START, REC, WORK, CLEAR and RET states, and a retransmission timer is maintained.

[0062] The WORK state includes two sub-states: CHECK and PARSE.

[0063] According to a mobile monitoring method for ocean-going vehicles provided by the present invention, the ocean-going vehicles are monitored by using the mobile monitoring system for ocean-going vehicles.

[0064] Compared with the prior art, the present invention has the following beneficial effects:

[0065] 1. The present invention decouples and modularizes the software as a whole, each layer runs independently, and data transmission is based on UDP, which effectively realizes the monitoring of different types of marine vehicles.

[0066] 2. The present invention constructs a single-frame and data packet fusion transmission mode, has a frame loss retransmission mechanism, realizes multi-channel communication function, and improves communication selectivity and reliability.

[0067] 3. The present invention adopts a dual-screen collaborative display mode, which increases user interaction friendliness, has a better visual expression effect, and can more intuitively and comprehensively grasp the operating status of the ocean vehicle.

[0068] 4. The present invention has sufficient expansion interfaces, rich and diverse functions, and high versatility of monitoring software. After agile configuration, it can realize monitoring of different types of ocean vehicles and meet the debugging and testing needs of ocean vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0070] Figure 1 This is a schematic diagram of the monitoring system software architecture;

[0071] Figure 2 It is a schematic diagram of the operation flow of starting the monitoring system;

[0072] Figure 3 It is the overall structure diagram of the monitoring system;

[0073] Figure 4 This is a schematic diagram of the power supply composition of the monitoring system;

[0074] Figure 5 It is a schematic diagram of the overall electronic control architecture of the monitoring system;

[0075] Figure 6 Schematic diagram of the architecture of standardized communication protocols for ocean vehicles;

[0076] Figure 7 A schematic diagram of the parsing process for standardized communication protocols for ocean vehicles;

[0077] Figure 8 It is a schematic diagram of a single frame data communication mode;

[0078] Fig. 9 It is a schematic diagram of a multi-frame communication mode of a data packet;

[0079] Fig.10 This is a schematic diagram of the state machine of the data packet multi-frame communication mode. DETAILED DESCRIPTION

[0080] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0081] A mobile monitoring system for ocean vehicles provided by the present invention is multifunctional, universal, and portable, and includes: a mobile monitoring software system for ocean vehicles and a mobile monitoring device for ocean vehicles.

[0082] According to the present invention, a mobile monitoring device for ocean vehicles has the following mechanical structure:

[0083] The overall system adopts a movable box-type architecture and an integrated box-type mechanical architecture with a compact structure and high portability. It is suitable for deployment in multiple scenarios such as shore, cabin, and rubber boat, and has the ability to be deployed in multiple scenarios.

[0084] by Figure 3 For example, the monitoring system display device adopts a dual-screen collaborative display mode, including a main screen and a sub-screen. The main screen is embedded in the upper box, and the sub-screen is fixed above the main screen through a damping hinge. It can be folded inside the box when not working. The main and sub-screens are connected to the power distribution unit of the main controller of the lower box monitoring system through the DP interface and HDMI interface respectively, and communication antenna interfaces are arranged on both sides of the sub-screen. It increases user interaction friendliness, has a better visual expression effect, and can more intuitively and comprehensively grasp the operating status of the ocean vehicle.

[0085] The control device adopts manual lifting mode, including control panel, nitrogen spring assembly and plunger button, which moves vertically under the support of nitrogen springs on four sides, and the control panel is locked by the plunger buttons on both sides of the system. The control panel is equipped with an industrial keyboard and mouse for monitoring software operation, and a wireless handle for manual control of the ocean vehicle.

[0086] The control panel is equipped with USB port, network port, and serial multi-core socket for signal transmission between the monitoring system and other external devices, a power display module for checking the internal power and power consumption of the monitoring system, and a self-locking button for power switching and control of the monitoring system. 5V and 12V power supply interfaces are arranged on the back of the lower box for other devices to draw power from the monitoring system. There are sufficient expansion interfaces and rich and diverse functions to meet the debugging and testing needs of marine vehicles.

[0087] by Figure 2For example, when the monitoring system needs to be turned on to the working state, open the upper box cover, fold up the secondary screen at the same time, and press the panel slightly downward to open the plunger on the operation panel assembly in the box. At this time, the operation panel assembly in the box automatically and slowly rises under the action of the nitrogen spring assembly until the plunger reaches the uppermost limit hole of the limit column, and press the plunger to complete the locking of the operation panel assembly in the box. The height of the operation panel assembly in the box is just ergonomic, which is convenient for users to operate the mouse and keyboard. Then fold up the rotating keyboard assembly, take out the required antenna, handle and other necessities from the storage box, and complete the preparation for the working state.

[0088] In terms of electrical structure:

[0089] by Figure 5 For example, the electronic control device adopts a master-slave control architecture, which is composed of a master controller and a slave controller. The two controllers exchange information based on the RS-232 bus. The internal data acquisition, electrical control and ocean vehicle monitoring functions of the system are isolated at the electrical level, which effectively increases the reliability of the monitoring system and the versatility of the internal electronic control system.

[0090] The main controller uses an industrial computer to run the monitoring software and establishes a data transmission link with the ocean vehicle through various communication devices inside the system. It is mainly responsible for the monitoring and control of the ocean vehicle. The slave controller uses an Arduino microcontroller connected to a temperature and humidity sensor, a voltage and current detection module, a power display module and a relay control board. It is used to collect sensor data inside the monitoring system and control the power status of each electrical device. It realizes data upload and command reception between the main controller through the RS-232 serial interface.

[0091] The power supply device adopts uninterruptible power supply mode. Figure 4 For example, it consists of three parts: a power input unit, a power distribution unit and a power control unit. The power input unit consists of a lithium battery pack, a mains interface, a power display module and a UPS switching power supply, providing a 15-25.2V DC uninterruptible power supply to realize power switching between the mains and the internal lithium battery pack; when the mains is used for power supply, the lithium battery pack can be charged at the same time. When the mains is not available, it can automatically switch to the lithium battery pack for power supply to ensure normal power supply. The power distribution unit is mainly composed of an anti-reverse connection protection circuit and an isolated DC-DC power supply module, which realizes the distribution of voltage and power according to the power demand of each device. The power control unit realizes relay control and button switch status acquisition, and is mainly composed of an optocoupler isolation drive circuit and an acquisition circuit to realize the uploading and issuing of signals and instructions.

[0092] The communication devices include digital radio, 4G radio, Beidou radio, switch, hydroacoustic communication machine, WIFI module, network switch and power carrier board; all communication devices are connected to the main controller, and the network signal is converted into electrical signal through the power carrier board, and a wired connection is established with the ocean vehicle through the umbilical cable, and a wireless connection can be established with the ocean vehicle through the communication antenna of the upper box of the monitoring system and the external hydroacoustic transducer. Six communication channels, including 900MHz channel, 4G channel, Ethernet channel, Beidou channel, hydroacoustic channel and WIFI channel, are constructed to carry out two-way real-time communication with the ocean vehicle; each channel adopts the standard extensible communication protocol of ocean vehicles at the application layer to send data encapsulation and receive data parsing, and all ocean vehicles following this protocol can be connected to the monitoring system, which increases the versatility of the monitoring system; on this basis, the monitoring software running on the main controller can realize multi-channel simultaneous data transmission and reception, and has multi-channel communication capability. In terms of communication mode, a single-frame communication mode and a data packet fusion transmission communication mode are established, and a reliable processing mechanism is established, which improves the selectivity and reliability of communication.

[0093] The electric control device, power supply device and communication device are all integrated inside the lower box.

[0094] According to the mobile monitoring software system for ocean vehicles proposed by the present invention, Figure 1 For example, including:

[0095] The software is decoupled and layered and modularized as a whole, that is, the overall layering, low coupling, and modular processing. The mobile monitoring software system for ocean vehicles, that is, the ocean vehicle monitoring software, is specifically divided into an interface interaction layer, a functional logic layer, an intermediate data layer, and a communication transmission layer. The software functions include shore station control, navigation status monitoring, system equipment monitoring and management, map display and mission planning, debugging and bottom-level configuration, fault alarm and emergency, system communication management, system data monitoring, and semi-physical simulation functions. A multi-channel reliable communication mechanism with single-frame and data packet fusion encoding for frame loss retransmission is added. Each layer runs independently, and data transmission is based on UDP. It has high versatility and can effectively monitor different types of ocean vehicles after agile configuration.

[0096] The interface interaction layer mainly includes the main system interface, information monitoring interface, control interface, map and mission planning interface, equipment and power management interface, system status and communication interface and other auxiliary interfaces. In this layer, only interface display and interactive operation functions are provided; the background workflow of this layer is designed as follows: in this layer, user input will be obtained and forwarded to the functional logic layer through the Signal-Slot mechanism, and then the data update notification from the functional logic layer will be obtained. The complete data frame extracted by the communication transmission layer is forwarded to the interface interaction layer through the intermediate data layer, and the data presentation part is abstracted and the data is updated and displayed in the interface.

[0097] The functional logic layer mainly includes three parts: monitoring and control unit, system management unit and expandable unit. This layer is the core component of the entire architecture. It encapsulates data related to business application logic and data operation process. It is the actual implementer of all business logic of general ocean vehicle monitoring software. All user operations and data from the view are converted into corresponding instructions after logical processing in this layer, and transmitted to the middle data layer through the standard inter-layer protocol within the system.

[0098] Among them, the monitoring and control unit includes the shore station control module, the navigation status monitoring module, the system equipment monitoring and management module, the map display and mission planning module, the debugging and underlying configuration module, the fault alarm and emergency module; the platform management unit includes the communication management module and the data monitoring module; the expandable unit includes the semi-physical simulation interface module.

[0099] As the middleware of the entire software architecture, the intermediate data layer is the data hub of the background of the ocean vehicle monitoring software, and plays the role of data isolation, encapsulation, parsing and storage. In the design of this layer, the functional logic is isolated from the underlying communication function, so that the business class in the functional logic layer does not directly call the underlying communication class, thereby ensuring that the implementation of the functional logic does not directly depend on the format of the underlying communication class. Further, the implementation of the upper-layer functional logic of the software does not depend on the physical layer hardware. The parsing and encapsulation of the ocean vehicle standard communication protocol proposed by the present invention is also nested in this layer. The ocean vehicle standardized communication protocol is embedded in the intermediate data layer of the monitoring software as an independent module for parsing received data and packaging and processing sent data.

[0100] by Figure 6 For example, the ocean vehicle standardized communication protocol is divided into eight parts in terms of architecture: header message, message length, message flow direction, message package number, message category identifier, message content, message checksum and tail message. This protocol can be used not only for communication between monitoring platforms and ocean vehicles, but also for ocean vehicle-to-ocean vehicle communication and communication between internal controllers of ocean vehicles.

[0101] In the standardized communication protocol for ocean vehicles, the address bit takes into account the message flow problem in the unmanned equipment information system and the universality of the protocol, and is divided into a sender identifier and a receiver identifier, so that the protocol supports broadcast and end-to-end data sending / receiving modes; the transmission mode enables data frames to be sent in a combination of a single-frame communication mode and a data packet mode, which expands the application scope of the protocol and improves transmission efficiency.

[0102] The parsing process of the ocean vehicle standardized communication protocol is as follows: Figure 7 As shown. The data in the cache is obtained by polling regularly and moved to the self-built container; the frame header and frame tail in the self-built container are first found by reverse search, and then the data frame is extracted to the self-built container 2, and the integrity and correctness of the frame are determined by comparing the frame length and the check bit; and then the receiver code in the data frame is matched with the ocean vehicle code itself. If it is correct, the data frame data bit content is extracted and analyzed through the protocol, and if it is incorrect, the frame is discarded.

[0103] The communication transmission layer realizes the simultaneous transmission and reception of data and data extraction of six communication channels: 900MHz channel, 4G channel, Ethernet channel, Beidou channel, underwater acoustic channel, and WIFI channel. The power switching status and communication status of each channel can be configured and changed at this layer. The communication transmission layer receives the data parsed by the intermediate data layer and sends the data update notification to the interface interaction layer.

[0104] After the inter-layer information transceiver module of the intermediate data layer receives the string instruction data of the functional logic layer, it converts it into hexadecimal data through the protocol encapsulation module and sends it to the communication transmission layer through the inter-layer information transceiver module, where the complete data frame is sent externally through the communication channel.

[0105] After receiving the complete external data frame, the communication transmission layer sends it to the intermediate data layer through the inter-layer information transceiver module and decodes the data into string type data through the protocol parsing module, and then sends it to the functional logic layer for processing and application through the inter-layer information transceiver module. After the processing is completed, an update notification is sent to the interface interaction layer to display the data on the foreground interface.

[0106] A fusion communication mode of multi-channel single-frame communication mode and data packet communication mode has been established, realizing the function of multi-channel data transmission and free switching; in conjunction with the standardized communication protocol for ocean vehicles, data can be reliably transmitted under unstable communication channel conditions. The single-frame communication mode is a simplified processing of the data packet communication mode in order to improve transmission efficiency.

[0107] by Figure 8For example, for single-frame data transmission under normal circumstances, data transmission is achieved based on a single response method. When single-frame data transmission encounters abnormal conditions, such as data frame error or loss, the stop-and-wait mechanism is integrated with the retransmission mechanism, and data is retransmitted through cyclic redundancy to ensure that the data can be received in the shortest time.

[0108] The packet communication mode is mostly used when the monitoring system issues mission instructions to the oceanographic vehicle and the oceanographic vehicle sends data files to the monitoring platform. In order to ensure the transmission rate, the data is split into different data frames and sent in batches in the packet mode. Fig. 9 For example, when the communication channel is normal, the communicating parties first conduct an ACK data packet handshake. After the handshake is successful, the data frames in the data packet are sent in batches according to the labels. The receiving party does not respond in feedback. After the transmission is completed, an ACK handshake is used to end the transmission. In the case of abnormal communication channels, if an abnormality occurs during the handshake process of the data packet transmission, a single-frame data retransmission mechanism is adopted; if an abnormality occurs during the data packet transmission, the receiving party will fill the received data frame into the data frame queue and retransmit the missing frame number. When the final analyzed data packet is smaller than the actual data packet size, the retransmission mechanism is triggered, and the receiving party sends a retransmission instruction to request the sender to retransmit the missing data frame; after receiving the retransmission request, the sender quickly locates the retransmission packet position and retransmits it in a single-frame transmission mode to ensure that the retransmitted data can be correctly received in the shortest time.

[0109] In order to realize the data packet communication mode reliably and stably, the state machine under the data packet communication mode is established in the communication transmission layer of the monitoring software and the external communication node of the general control system of the ocean vehicle, which is used to model the entire data packet communication process and switch states. The communication mode state machine includes NONE, START, REC, WORK, CLEAR, RET and other states, among which the WORK state includes CHECK and PARSE two sub-states. The transition conditions between each state are as follows: Fig.10 As shown in FIG. 1 , a retransmission timer is maintained inside the state machine to monitor the reception status of the retransmitted data frame.

[0110] According to a mobile monitoring method for ocean-going vehicles provided by the present invention, the ocean-going vehicles are monitored by using the mobile monitoring system for ocean-going vehicles.

[0111] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A mobile monitoring system for ocean vehicles, characterized in that: Includes mobile monitoring equipment and mobile monitoring software; The mobile monitoring device controls the mobile monitoring software to transmit data through the communication channel; The mobile monitoring software includes an interface interaction layer, a functional logic layer, an intermediate data layer and a communication transmission layer; Based on UDP for data transmission, the interface interaction layer obtains user input and forwards it to the functional logic layer; The functional logic layer receives user input, converts it into corresponding instructions through logical processing, and transmits it to the intermediate data layer; The intermediate data layer receives the corresponding instructions, parses and packages the data through the standard communication protocol for ocean vehicles and sends it to the communication transmission layer; After the communication transmission layer extracts the complete data frame, it is decoded by the intermediate data layer and then sent to the interface interaction layer; The interface interaction layer abstracts the presentation part of the data and updates the display in the interface.

2. The mobile monitoring system for ocean-facing vehicles according to claim 1, characterized in that: The mobile monitoring device includes an industrial computer, a display device, a control device, an electric control device, a power supply device and a communication device; It adopts a movable box-type integrated mechanical structure, which is divided into an upper box and a lower box; The control device is connected to the industrial computer via USB to control the mobile monitoring software; The electric control device, power supply device and communication device are integrated inside the lower box and connected to the industrial computer through a bus; The display device adopts a dual-screen collaborative display mode, including a main screen and a sub-screen; The main screen is embedded in the upper box, the auxiliary screen is fixed above the main screen through a damping hinge, and communication antenna interfaces are arranged on both sides; The main screen and the sub-screen are connected to the power supply device in the lower box through the DP interface and the HDMI interface respectively by means of behind-the-scenes wiring.

3. The mobile monitoring system for ocean-oriented vehicles according to claim 2, characterized in that: The electronic control device adopts a master-slave control architecture, including a master controller and a slave controller; The communication devices include digital radio, 4G radio, Beidou radio, switch, hydroacoustic communication machine, WIFI module, network switch and power carrier board; The slave controller adopts an Arduino microcontroller, which is connected to a temperature and humidity sensor, a voltage and current detection module, a power display module and a relay control board; The main controller runs the mobile monitoring software through the industrial computer and establishes a data transmission link with the ocean vehicle through the communication device; The communication device is connected to the main controller, converts the network signal into an electrical signal through a power carrier board, and is connected to the ocean vehicle by wire or wireless; Through six communication channels including 900MHz channel, 4G channel, Ethernet channel, Beidou channel, hydroacoustic channel and WIFI channel, it can carry out two-way real-time communication with ocean vehicles, encapsulate sending data and parse receiving data.

4. The mobile monitoring system for ocean-oriented vehicles according to claim 1, characterized in that: The control device adopts a manual lifting method and includes a control panel; The control panel is equipped with a wireless handle, an industrial keyboard and a mouse, and is connected to the industrial computer via USB; The expandable interfaces include USB port, network port, serial multi-core connector and self-locking button, which are connected to the industrial computer through the bus; The back side of the lower box is provided with 5V and 12V power supply interfaces; The power supply device adopts uninterruptible power supply mode, provides 15-25.2V DC uninterruptible power supply, distributes voltage and power according to power demand, controls relays and collects button switch status; The bus is an RS-232 bus for information exchange.

5. The mobile monitoring system for ocean-oriented vehicles according to claim 1, characterized in that: The interface interaction layer includes the main system interface, information monitoring interface, control interface, map and mission planning interface, equipment and power management interface, system status and communication interface and auxiliary interface, providing interface display and interactive operation functions; The functional logic layer includes a monitoring and control unit, a system management unit and an expandable unit, which encapsulates data related to business application logic and the operation process of the data; The monitoring and control unit includes a shore station control module, a navigation status monitoring module, a system equipment monitoring and management module, a map display and mission planning module, a debugging and bottom configuration module, and a fault alarm and emergency module; The platform management unit includes a communication management module and a data monitoring module; The expandable unit includes a semi-physical simulation interface module; The intermediate data layer includes an inter-layer information transceiver module and a protocol encapsulation module, which isolates the functional logic layer from the underlying communication function, and uses the ocean vehicle standard communication protocol to receive data for parsing and packaging to process the sent data; The communication transmission layer includes an inter-layer information transceiver module, which configures and changes the power switching status and communication status of each channel, and simultaneously transmits, receives and extracts data from six communication channels: 900MHz channel, 4G channel, Ethernet channel, Beidou channel, underwater acoustic channel and WIFI channel.

6. The mobile monitoring system for ocean-facing vehicles according to claim 5, characterized in that: The interface interaction layer obtains external user input through the control interface and forwards it to the functional logic layer through the Signal-Slot mechanism; The functional logic layer processes user input into string data instructions and sends them to the intermediate data layer through the standard inter-layer protocol within the system; After receiving the string instruction data of the functional logic layer, the inter-layer information transceiver module of the intermediate data layer converts it into hexadecimal data through the protocol encapsulation module and sends it to the communication transmission layer through the inter-layer information transceiver module; The communication transmission layer sends hexadecimal data to the outside through the communication channel. After receiving the complete external data frame, it is sent to the intermediate data layer through the inter-layer information transceiver module; The middle data layer decodes the data through the protocol parsing module to convert the external complete data frame into string type data, and sends it to the functional logic layer for processing and application through the inter-layer information transceiver module; After the functional logic layer completes the processing, it sends an update notification to the interface interaction layer; After receiving the update notification, the interface interaction layer abstracts the presentation part of the data and displays it on the foreground interface.

7. The mobile monitoring system for ocean-facing vehicles according to claim 1, characterized in that: The standard communication protocol for ocean craft is divided into a header message, a message length, a message flow direction, a message packet number, a message category identifier, a message content, a message check, and a tail message; The address bits are divided into the sender identification and the receiver identification; The transmission mode is a combination of single-frame communication mode and data packet communication mode. Periodically obtain data in the cache in a polling manner and move the data to the first self-built container; Find the frame header and frame tail in the self-built container by searching in reverse order, and extract the data frames of the frame header and frame tail to the second self-built container; Compare the frame length and check bit to determine the integrity and correctness of the data frame; The receiver code in the data frame is matched with the ocean vehicle code itself. If it is correct, the data frame data bit content is extracted and analyzed. If it is incorrect, the data frame is discarded.

8. The mobile monitoring system for ocean-facing vehicles according to claim 7, characterized in that: The single-frame communication mode is a simplified processing of the data packet communication mode. If the single-frame data transmission is normal, the data transmission is realized based on a single response mode. If the single-frame data transmission is abnormal, the data is retransmitted in a cyclic redundancy mode by integrating the stop-and-wait mechanism with the retransmission mechanism. The anomalies include data frame errors and losses; In the data packet communication mode, data is split into different data frames and sent in batches in the data packet mode; If the communication channel is normal, the two communicating parties will perform an ACK data packet handshake. After the handshake is successful, the data frames in the data packet are sent in batches according to the labels. The receiving party does not respond. After the transmission is completed, an ACK handshake is performed to end the transmission. If the communication channel is abnormal, the abnormal situation is determined; If an exception occurs during the handshake process of data packet transmission, a single frame data retransmission mechanism is used; If an abnormality occurs during data packet transmission, the receiver will fill the received data frames into the data frame queue and mark the missing frame numbers for retransmission; If the final analyzed data packet is smaller than the actual data packet size, the retransmission mechanism is triggered. The receiver sends a retransmission instruction to request the sender to resend the missing data frame. After receiving the retransmission request, the sender quickly locates the retransmission packet and resends it in single-frame sending mode.

9. The mobile monitoring system for ocean-oriented vehicles according to claim 1, characterized in that: Establish state machines in the data packet communication mode in the communication transport layer of the mobile monitoring software system and in the external communication nodes, including NONE, START, REC, WORK, CLEAR and RET states, and maintain a retransmission timer; The WORK state includes two sub-states: CHECK and PARSE.

10. A method for mobile monitoring of an ocean-going vehicle, comprising: using the mobile monitoring system for an ocean-going vehicle according to any one of claims 1 to 9 to monitor the ocean-going vehicle.

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