Dynamic topology control method, device and system for underwater unmanned vehicle

Abstract

The invention provides an underwater unmanned vehicle dynamic topology control method, device and system, and the method comprises the steps: obtaining the load condition of each cluster member node in an underwater unmanned vehicle clustering network in a preset navigation time period; controlling the target cluster member node and the non-target cluster member node to perform communication interaction under the condition of determining that the target cluster member node triggering the abnormal clustering topology state exists in the underwater unmanned vehicle clustering network based on each load condition; and dynamically repairing the current topological structure of the underwater unmanned vehicle clustering network based on a communication interaction result. According to the method, the efficiency and the flexibility of topology control by using the underwater unmanned vehicle cluster can be improved, the service life of the network is prolonged, the self-repairing and self-healing capabilities of the network are enhanced, and meanwhile, the application scene is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned vehicle control, and in particular to a method, device and system for dynamic topology control of an underwater unmanned vehicle. Background Art

[0002] The ocean is the cradle of life and a treasure trove of rich resources, such as oil, natural gas, minerals and biological resources, which are vital to global energy and economic growth. Therefore, ocean exploration can have a significant impact on various scientific fields, economic development and cultural exchanges. Therefore, how to achieve seabed exploration efficiently and comprehensively is particularly important.

[0003] In related technologies, underwater unmanned vehicle (UUV) clusters are usually deployed in sea areas of different depths, and topological control is performed on the underwater unmanned vehicle clusters on the seabed. However, since the entire topological control only involves two indicators: path planning and formation control, the indicators are fixed and simple, the efficiency and flexibility of using underwater unmanned vehicle clusters for topological control are very low, and the applicable scenarios are also single. Summary of the invention

[0004] The present invention provides a method, device and system for dynamic topology control of underwater unmanned vehicles, which are used to solve the defects of low efficiency and flexibility of using underwater unmanned vehicle clusters for topology control in the prior art and single applicable scenarios. The efficiency and flexibility of using underwater unmanned vehicle clusters for topology control are improved, the network life is extended, the network self-repair and self-healing capabilities are enhanced, and the applicable scenarios are expanded.

[0005] The present invention provides a method for dynamic topology control of underwater unmanned vehicles, which is applied to a cluster head node of an underwater unmanned vehicle clustering network in an underwater unmanned vehicle communication network system, wherein the underwater unmanned vehicle clustering network is composed of a plurality of underwater unmanned vehicles, one of which is the cluster head node, and the remaining underwater unmanned vehicles are cluster member nodes; the method comprises the following steps.

[0006] Obtain the load condition of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period; when it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle clustering network that triggers an abnormal clustering topology state, control the communication interaction between the target cluster member node and the non-target cluster member node; and dynamically repair the current topology structure of the underwater unmanned vehicle clustering network based on the communication interaction result.

[0007] According to a method for dynamic topology control of an underwater unmanned vehicle provided by the present invention, when it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle clustering network that triggers an abnormal clustering topology state, the target cluster member node is controlled to communicate and interact with non-target cluster member nodes, including: when the target cluster member node is a backup cluster head node, based on the position information of each cluster member node in each of the load conditions within the preset navigation time period, searching for the backup cluster head node that has deviated; when the found backup cluster head node meets the conditions for continuing to work, controlling the backup cluster head node to communicate and interact with the cluster head node.

[0008] According to a method for dynamic topology control of an underwater unmanned vehicle provided by the present invention, the method also includes: when the backup cluster head node found does not meet the condition for continuing to work, redetermining the backup cluster head node from other non-cluster head nodes in the underwater unmanned vehicle clustering network, and controlling the communication interaction between the new backup cluster head node and the cluster head node.

[0009] According to a method for dynamic topology control of an underwater unmanned vehicle provided by the present invention, when it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle clustering network that triggers an abnormal clustering topology state, the target cluster member node is controlled to communicate and interact with non-target cluster member nodes. The method also includes: when the target cluster member node is the cluster head node, based on the position information of each cluster member node in each of the load conditions within the preset navigation time period, searching for a first abnormal cluster member node that does not exist in the preset clustering topology structure, and controlling the backup cluster head node as a new cluster head node to communicate and interact with the first abnormal cluster member node.

[0010] According to a dynamic topology control method for an underwater unmanned vehicle provided by the present invention, when it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle clustering network that triggers an abnormal clustering topology state, the target cluster member node is controlled to communicate and interact with non-target cluster member nodes, and the method also includes: when the target cluster member node is a non-backup cluster head node and is not the cluster head node, based on the position information of each cluster member node in each of the load conditions during the navigation time period, searching for a second abnormal cluster member node that does not exist in the preset clustering topology structure; and based on the distance between the found second abnormal cluster member node and the cluster head node, controlling the communication and interaction between itself and the second abnormal cluster member node.

[0011] According to a method for dynamic topology control of an underwater unmanned vehicle provided by the present invention, the method also includes: when the cluster head node is an underwater unmanned vehicle that meets a preset energy optimal condition and is determined from the underwater unmanned vehicle clustering network based on an energy consumption prediction mechanism, the backup cluster head node is determined from the underwater unmanned vehicle clustering network based on a preset energy suboptimal condition and the energy consumption prediction mechanism.

[0012] According to a dynamic topology control method for underwater unmanned vehicles provided by the present invention, the current topology structure of the underwater unmanned vehicle clustering network is dynamically repaired based on the communication interaction results, including: determining the cluster chasing strategy corresponding to the target cluster member node based on the communication interaction results, and controlling the target cluster member node to catch up with the underwater unmanned vehicle clustering network at a speed exceeding the economic speed based on the cluster chasing strategy.

[0013] According to a method for dynamic topology control of an underwater unmanned vehicle provided by the present invention, the method also includes: obtaining multiple sets of test data after energy consumption tests of sample underwater unmanned vehicles at different navigation speeds; establishing an energy consumption model that characterizes the relationship between navigation speed and energy consumption information based on the multiple sets of test data and a polynomial fitting method; and solving the energy consumption model using an optimization method to obtain the economic speed corresponding to the minimum energy consumption.

[0014] The present invention provides a dynamic topology control device for underwater unmanned vehicles, which is applied to a cluster head node of an underwater unmanned vehicle clustering network in an underwater unmanned vehicle communication network system. The underwater unmanned vehicle clustering network is composed of multiple underwater unmanned vehicles, one of which is the cluster head node, and the remaining underwater unmanned vehicles are cluster member nodes. The device comprises: a load condition acquisition unit and a dynamic topology control unit.

[0015] The load condition acquisition unit is used to acquire the load condition of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period.

[0016] A dynamic topology control unit is used to control the communication interaction between the target cluster member node and the non-target cluster member node when it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle cluster network that triggers an abnormal cluster topology state; and dynamically repair the current topology structure of the underwater unmanned vehicle cluster network based on the communication interaction result.

[0017] The present invention provides an underwater unmanned vehicle communication network system, comprising an underwater unmanned vehicle clustering network, wherein the underwater unmanned vehicle clustering network is composed of a cluster head node, a target cluster member node that triggers a preset clustering topology state abnormality, and a non-target cluster member node.

[0018] The cluster head node is used to execute any of the above-mentioned underwater unmanned vehicle dynamic topology control methods; the target cluster member node is used to communicate and interact with non-target cluster member nodes in the underwater unmanned vehicle clustering network.

[0019] The present invention provides a method, device and system for dynamic topology control of underwater unmanned vehicles, wherein the method for dynamic topology control of underwater unmanned vehicles comprises: when the cluster head node of the underwater unmanned vehicle clustering network in the underwater unmanned vehicle communication network system determines that there is a target cluster member node in the cluster that triggers an abnormal clustering topology state based on the load condition of each cluster member node in the cluster during a preset navigation time period, the cluster head node controls the communication interaction between the target cluster member node and the non-target cluster member node, and further dynamically repairs the current topology structure of the underwater unmanned vehicle clustering network based on the communication interaction result. In this way, combined with the advantages of underwater unmanned vehicle cluster cluster management, which have the advantages of reducing the number of data transmission hops, increasing data transmission rate, reducing latency, and improving communication efficiency, it can dynamically adjust cluster member nodes and cluster head nodes according to the load conditions of the nodes, avoid overloading of some cluster member nodes while other cluster member nodes are idle, and improve resource utilization. The cluster head node can pre-process or aggregate the data within the cluster, reduce the transmission of redundant data, and improve data processing efficiency. The self-recovery and self-healing capabilities of the UUV cluster are enhanced, the reliability and stability of cluster collaboration are increased, and the UUV cluster can continue to perform work more quickly, thereby improving the efficiency and flexibility of topology control using underwater unmanned vehicle clusters, extending the network life, and also expanding the applicable scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is one of the flow charts of the underwater unmanned vehicle dynamic topology control method provided by the present invention.

[0022] Figure 2 It is a schematic diagram of the UUV cluster navigation process scenario provided by the present invention.

[0023] Figure 3 It is a schematic diagram of the cluster head node and backup cluster head node selection process provided by the present invention.

[0024] Figure 4This is the second flow chart of the underwater unmanned vehicle dynamic topology control method provided by the present invention.

[0025] Figure 5 This is the third flow chart of the underwater unmanned vehicle dynamic topology control method provided by the present invention.

[0026] Figure 6 It is a structural schematic diagram of the dynamic topology control device of the underwater unmanned vehicle provided by the present invention.

[0027] Figure 7 It is a structural schematic diagram of the underwater equipment provided by the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the embodiments of the present invention, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B may be singular or plural. In the textual description of the present invention, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship. In addition, it should be noted that the serial numbers themselves, such as "first", "second", etc., used to distinguish the objects described in the present invention are only used to distinguish the objects described, and do not have any order or technical meaning.

[0030] As a key driving force for the progress of civilization, ocean exploration has unveiled the mystery of the most vast areas of the earth and has had a significant impact on various scientific fields, economic development and cultural exchanges. In addition, the ocean is the cradle of life and a treasure trove of rich resources, such as oil, natural gas, minerals and biological resources, which are crucial to global energy and economic growth. In addition, in-depth ocean exploration promotes technological innovation, ensures the sustainable development of resources, and is crucial to understanding ecosystems, responding to climate change and environmental protection. It even provides scientists with tools to monitor natural disasters and enhances social security. At the same time, ocean exploration also plays a key role in marine safety, which is related to waterway safety, sea area definition and protection of marine rights and interests. Therefore, how to efficiently and comprehensively realize seabed exploration is particularly important.

[0031] In related technologies, a cluster of underwater unmanned vehicles (UUVs) is usually deployed on the seabed, and topological control is performed on the cluster of underwater unmanned vehicles on the seabed. However, since the entire topological control only involves two indicators, path planning and formation control, which are fixed and simple, the efficiency and flexibility of using the cluster of underwater unmanned vehicles for topological control are very low, and the applicable scenarios are also single.

[0032] In order to solve the above technical problems, the present invention provides a method, device and system for dynamic topology control of an underwater unmanned vehicle.

[0033] Combine the following Figure 1-Figure 7 The present invention describes the underwater unmanned vehicle dynamic topology control method, device and system, wherein the underwater unmanned vehicle dynamic topology control method is applied to the cluster head node of the underwater unmanned vehicle clustering network in the underwater unmanned vehicle communication network system, the underwater unmanned vehicle clustering network is composed of multiple underwater unmanned vehicles, each underwater unmanned vehicle has at least other functions such as underwater cluster operation and relay communication and control, and one of the underwater unmanned vehicles in the underwater unmanned vehicle clustering network is used as the cluster head node, and the remaining at least one non-cluster head node underwater unmanned vehicle is a cluster member node. Further, the execution subject of the underwater unmanned vehicle dynamic topology control method can also be applied to the underwater unmanned vehicle dynamic topology control device set in the above-mentioned cluster head node, and the underwater unmanned vehicle dynamic topology control device can be implemented by software, hardware or a combination of the two. The following takes the execution subject of the underwater unmanned vehicle dynamic topology control method as the cluster head node of the underwater unmanned vehicle clustering network in the underwater unmanned vehicle communication network system as an example to describe the underwater unmanned vehicle dynamic topology control method.

[0034] Reference Figure 1 , which is one of the flow charts of the underwater unmanned vehicle dynamic topology control method provided by the present invention, such as Figure 1 As shown, the method includes the following steps 110 to 130.

[0035] Step 110: Obtain the load status of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period.

[0036] The number of the underwater unmanned vehicle clustering networks may be one or more, and is not specifically limited here.

[0037] The underwater unmanned vehicle clustering networks can communicate between clusters, and each underwater unmanned vehicle clustering network can also communicate within a cluster.

[0038] Each underwater unmanned vehicle clustering network can be one of the UUV sub-clusters obtained by clustering the underwater unmanned vehicle cluster according to the number of clusters and the position of each underwater unmanned vehicle.

[0039] The multiple underwater unmanned vehicles contained in each underwater unmanned vehicle clustering network may also be underwater unmanned vehicle subclusters in an underwater unmanned vehicle cluster, so they may be recorded as each UUV subcluster.

[0040] Specifically, for any underwater unmanned vehicle clustering network obtained after clustering the underwater unmanned vehicle cluster, the cluster head node of the underwater unmanned vehicle clustering network and each cluster member node of other non-cluster head nodes in the cluster can navigate at an economic speed. Therefore, an energy consumption prediction model can be established based on the energy consumption generated by sailing at an economic speed and the energy consumption required for communication within the cluster.

[0041] Exemplarily, the process of establishing the energy consumption prediction model is as follows: the cluster head node can collect the remaining energy information and location information of each cluster member node in the cluster at different times, and based on the relationship between the time difference between adjacent times (i.e., Δt) and the corresponding remaining energy information, establish a model with the function of predicting the remaining energy information of each cluster member node after a period of time, and determine the established model as the energy consumption prediction model.

[0042] At this point, the cluster head node can predict the load condition of each cluster member node within a preset navigation time period based on the above-mentioned energy consumption prediction model, where the preset navigation time period may be t+nΔt; wherein n is a positive integer greater than 0; and each load condition may include the remaining energy information and location information of the corresponding cluster member node within the preset navigation time period.

[0043] It should be noted that cluster management has many advantages for UUV clusters: (1) Clustering can reduce the number of hops for data transmission, increase data transmission rate, reduce latency, and improve communication efficiency. (2) Clustering can dynamically adjust cluster members and cluster heads according to the load of nodes to avoid overloading some nodes while other nodes are idle, thereby improving resource utilization. (3) Cluster heads can preprocess or aggregate data within the cluster, reduce the transmission of redundant data, and improve data processing efficiency. Therefore, a cluster head selection strategy is very necessary. In the dynamic topology control algorithm, a multi-cluster head structure is introduced to improve the reliability and stability of the UUV cluster network and extend the network life.

[0044] The collaboration of underwater unmanned vehicle clusters has shown its advantages and necessity in many key areas. UUV clusters strengthen individual capabilities and broaden the boundaries of task execution through resource sharing. Carefully designed detection path planning not only improves operational efficiency, but also expands the coverage of detection. In addition, the high parallelism and inherent redundancy of UUV cluster collaboration bring excellent fault tolerance to the system and enhance the overall adaptability and robustness. Considering that the relevant technologies mainly focus on topology control of underwater unmanned vehicle clusters, and mainly involve aspects such as path planning and formation control, there are relatively few studies on the existing UUV cluster topology control. Therefore, the present invention can combine the advantages of UUV cluster self-recovery, self-healing ability and cluster energy consumption for topology control, and introduce a multi-cluster head structure, and propose a UUV cluster dynamic topology adaptive repair strategy, which makes the UUV cluster topology control more dynamic and adaptable, while reducing cluster energy consumption as much as possible, and has strong self-repair and self-healing capabilities, suitable for more scenarios.

[0045] Step 120: When it is determined based on various load conditions that there is a target cluster member node in the underwater unmanned vehicle clustering network that triggers an abnormality in a preset clustering topology state, control the target cluster member node to communicate and interact with non-target cluster member nodes.

[0046] The target cluster member node may be an underwater unmanned vehicle in the cluster that has deviated from a predetermined route, or may be an underwater unmanned vehicle in the cluster that is about to run out of power.

[0047] The target cluster member nodes and the non-target cluster member nodes may be different underwater unmanned vehicles in the underwater unmanned vehicle clustering network.

[0048] The non-target cluster member node may be any cluster member node except the target cluster member node in the underwater unmanned vehicle clustering network, or may also be a cluster head node.

[0049] The target cluster member node may be a cluster head node, or may be any cluster member node other than the cluster head node in the underwater unmanned vehicle clustering network.

[0050] Specifically, for the dynamic topology control during the navigation phase, after each UUV subcluster enters the sea, it usually sails to the vicinity of the target area in a cluster formation. During this navigation, if the ocean current is affected, or the UUV itself has problems such as power exhaustion and positioning errors, individual UUVs may deviate from the established route, or fail to communicate with other cluster member nodes in the cluster, resulting in abnormal cluster topology state, and the UUVs in the underwater unmanned vehicle cluster network cannot communicate with each other, which seriously reduces the efficiency of UUV subcluster collaboration. Therefore, the cluster head node can predict whether there is a target cluster member node that triggers the abnormality of the preset cluster topology state based on the load of each cluster member node in the underwater unmanned vehicle cluster network during the preset navigation time period, and in the case of the presence of the target cluster member node, a dynamic topology adaptive repair strategy can be generated, that is, the cluster head node controls the target cluster member node to communicate with other non-target cluster member nodes in the cluster, and / or communicate with the cluster head node, so as to facilitate subsequent attempts to restore the topology.

[0051] Step 130: Dynamically repair the current topology structure of the underwater unmanned vehicle clustering network based on the communication interaction result.

[0052] Specifically, the cluster head node determines the distance between the target cluster member node and its own position and the remaining energy information of the target cluster member node based on the communication interaction results between the target cluster member node and the non-target cluster member nodes. When the remaining energy information of the target cluster member node is determined to continue the current task, the current topology structure of the underwater unmanned vehicle clustering network can be dynamically repaired, thereby achieving the purpose of dynamically repairing the current topology structure.

[0053] It should be noted that in order to promptly learn about the presence of UUVs that deviate from the established route in the cluster, or the presence of UUVs that cannot communicate with other UUVs in the cluster, the cluster head node can regularly check whether the energy consumption of the UUV sub-cluster in which it is located is abnormal and whether the topological state is abnormal, or other member nodes in the cluster find out whether there are UUVs that have deviated from their course around. If the cluster head node or other member nodes in the cluster determine that there is no target cluster member node that triggers the abnormal clustering topological state, the cluster head node determines that each cluster member node in the cluster continues to execute the current task without repair until the task is completed; conversely, if the cluster The head node determines through regular inspection that an abnormal situation has occurred in the cluster or receives communication information from other member nodes in the cluster that a UUV has deviated, that is, there is a target cluster member node that triggers the abnormal clustering topology state. The current topology structure of the underwater unmanned vehicle clustering network is dynamically repaired, and then the topology structure information is updated. Then, based on the updated topology structure information, the current task is continued, and the updated topology structure information is used as the new current topology structure. The step of returning to regularly check whether the energy consumption of the UUV sub-cluster and the topology state of the cluster are abnormal is performed until the task is completed.

[0054] For example, refer to Figure 2 The schematic diagram of the UUV cluster navigation process is shown in Figure 2 As shown, for the UUV cluster before clustering, it is specifically an unmanned vehicle communication network system, and Figure 2 Cluster management can be performed in the dynamic topology of the UUV cluster. Inter-cluster communication can be performed between the clustered underwater unmanned vehicle cluster networks, and intra-cluster communication can also be performed within each underwater unmanned vehicle cluster network. In addition, if all underwater unmanned vehicles do not deviate from the established route and have sufficient remaining energy information, they can sail at an economic speed until the navigation mission is completed.

[0055] In the underwater unmanned vehicle dynamic topology control method provided by the embodiment of the present invention, the cluster head node of the underwater unmanned vehicle clustering network in the underwater unmanned vehicle communication network system determines that there is a target cluster member node in the cluster that triggers an abnormal clustering topology state based on the load condition of each cluster member node in the cluster during a preset navigation time period, controls the communication interaction between the target cluster member node and the non-target cluster member node, and further dynamically repairs the current topology structure of the underwater unmanned vehicle clustering network based on the communication interaction result. In this way, combined with the advantages of underwater unmanned vehicle cluster cluster management, which have the advantages of reducing the number of data transmission hops, increasing data transmission rate, reducing latency, and improving communication efficiency, it can dynamically adjust cluster member nodes and cluster head nodes according to the load conditions of the nodes, avoid overloading of some cluster member nodes while other cluster member nodes are idle, and improve resource utilization. The cluster head node can pre-process or aggregate the data within the cluster, reduce the transmission of redundant data, and improve data processing efficiency. The self-recovery and self-healing capabilities of the UUV cluster are enhanced, the reliability and stability of cluster collaboration are increased, and the UUV cluster can continue to perform work more quickly, thereby improving the efficiency and flexibility of topology control using underwater unmanned vehicle clusters, extending the network life, and also expanding the applicable scenarios.

[0056] Based on the above Figure 1 In the underwater unmanned vehicle dynamic topology control method shown, in an exemplary embodiment, step 120 can be specifically implemented through the following process.

[0057] Firstly, when the target cluster member node is a backup cluster head node, the backup cluster head node that has deviated is found based on the position information of each cluster member node in a preset navigation time period in each load condition; further, when the found backup cluster head node meets the conditions for continuing to work, the communication interaction between the backup cluster head node and the cluster head node is controlled.

[0058] Specifically, if the cluster head node determines that a cluster member node in the UUV sub-cluster has an abnormal fault, that is, there is a target cluster member node that triggers an abnormal cluster topology state, it is necessary to further determine whether the target cluster member node with the abnormality is a backup cluster head node. If the target cluster member node is determined to be a backup cluster head node, an attempt is made to find the lost backup cluster head node, and if it is determined that the found backup cluster head node can continue to work, it is instructed to catch up with the cluster head node at a speed exceeding the economic speed, and attempt to communicate with the cluster head node and / or other member nodes in the cluster, so as to subsequently try to restore the topology structure based on the communication results.

[0059] Based on the above Figure 1In the underwater unmanned vehicle dynamic topology control method shown, in an exemplary embodiment, if the found backup cluster head node is determined to be unable to continue working, the backup cluster head node can be re-determined. Based on this, the underwater unmanned vehicle dynamic topology control method provided by the present invention can also perform the following steps.

[0060] When the found backup cluster head node does not meet the conditions for continuing to work, a backup cluster head node is re-determined from other non-cluster head nodes in the underwater unmanned vehicle clustering network, and the new backup cluster head node is controlled to communicate with the cluster head node.

[0061] Specifically, when the cluster head node determines that a cluster member node in the UUV sub-cluster has an abnormal fault, that is, there is a target cluster member node that triggers an abnormal cluster topology state, the cluster head node determines that the target cluster member node is a backup cluster head node and the backup cluster head node found through evaluation cannot continue to work, then at least one candidate cluster head node that meets the preset candidate cluster head node conditions is selected from other member nodes in the cluster, and a new backup cluster head node is re-determined from the selected candidate list containing at least one candidate cluster head node, and the new backup cluster head node is further controlled to communicate with the cluster head node, so as to facilitate subsequent attempts to restore the topology structure based on the communication results.

[0062] Based on the above Figure 1 In the underwater unmanned vehicle dynamic topology control method shown, in an exemplary embodiment, step 120 can also be implemented by the following steps.

[0063] When the target cluster member node is a cluster head node, based on the position information of each cluster member node in each load condition within a preset navigation time period, a first abnormal cluster member node that does not exist in the preset clustering topology is found, and the backup cluster head node is controlled to communicate and interact with the first abnormal cluster member node as a new cluster head node.

[0064] Specifically, the cluster head node is the most important cluster member node in the underwater unmanned vehicle clustering network. If the cluster head node deviates from the established route or the remaining energy is about to be exhausted, etc., the backup cluster head node will directly take over the work of the cluster head node and become the new cluster head node. The new cluster head notifies other cluster member nodes in the cluster and tries to find the first abnormal cluster member node that does not exist in the preset clustering topology, that is, tries to find the lost (i.e., has deviated from the established route) cluster member node.

[0065] The new cluster head node notifies other cluster member nodes in the cluster, and attempts to determine the location of each first abnormal cluster member node and try to find it by communicating with other cluster member nodes that have not been lost, and obtains its remaining energy information based on the communication interaction with the found first abnormal cluster member node, so as to try to restore the topology structure based on the communication results later.

[0066] Based on the above Figure 1 In the underwater unmanned vehicle dynamic topology control method shown, in an exemplary embodiment, step 120 can also be specifically implemented through the following steps.

[0067] Firstly, when the target cluster member node is not a backup cluster head node and a non-cluster head node, based on the position information of each cluster member node in the navigation time period in each load condition, a second abnormal cluster member node that does not exist in the preset clustering topology structure is found; then, based on the distance between the found second abnormal cluster member node and the cluster head node, the communication interaction between itself and the second abnormal cluster member node is controlled.

[0068] Specifically, if the target cluster member node with an abnormal failure is neither a backup cluster head node nor a cluster head node, then the target cluster member node must be a cluster member node that is not a backup cluster head node and is not a cluster head node in the cluster. At this time, there is a cluster head node and a backup cluster head node in the cluster. The cluster head node can notify all cluster member nodes in the cluster and try to find a second abnormal cluster member node that does not exist in the preset cluster topology structure. The lost second abnormal cluster member node also catches up with the cluster head node at a speed exceeding the economic speed and attempts to communicate with the cluster head node, so as to subsequently try to restore the topology structure based on the communication results.

[0069] Based on the above Figure 1 The underwater unmanned vehicle dynamic topology control method shown in FIG. 1 , in an exemplary embodiment, the underwater unmanned vehicle dynamic topology control method provided by the present invention can also determine a backup cluster head node for multiple underwater unmanned vehicles in a cluster, and the determination process is implemented through the following steps.

[0070] In the case where the cluster head node is an underwater unmanned vehicle that meets preset energy optimal conditions determined from the underwater unmanned vehicle clustering network based on an energy consumption prediction mechanism, a backup cluster head node is determined from the underwater unmanned vehicle clustering network based on preset energy suboptimal conditions and the energy consumption prediction mechanism.

[0071] The energy consumption prediction mechanism is the function of the aforementioned energy consumption prediction model to predict the remaining energy information of each cluster member node in the cluster.

[0072] Specifically, the cluster head node can be determined manually or by a base station, such as manually using an energy consumption prediction model to predict the remaining energy information of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period (such as t+nΔt), and sorting all the predicted remaining energy information, and then further selecting the top m UUVs with the largest remaining energy information and low energy consumption as candidate cluster head nodes based on the sorting result, and in the candidate list containing m candidate cluster head nodes, selecting an underwater unmanned vehicle that meets the preset energy optimal condition as the current cluster head node, and selecting an underwater unmanned vehicle that meets the preset energy suboptimal condition as the backup cluster head node; or, through the cluster head node and the base station communicating and interacting, the base station uses the energy consumption prediction model to predict the remaining energy information of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period (such as t+nΔt), and sorts them until the cluster head node and the backup cluster head node are determined.

[0073] It should be noted that if the remaining energy of the current cluster head node is about to be exhausted or other faults occur, the backup cluster head node immediately takes over the responsibilities of the cluster head node and becomes the new cluster head node, thereby improving the stability of the UUV sub-cluster.

[0074] For the cluster head node, it can be used to regularly monitor the remaining energy information and location information of each cluster member node in the cluster, aggregate all the collected information, and reduce the transmission volume; it can also regularly monitor the topological structure of the UUV sub-cluster to ensure that the UUV with abnormal conditions such as yaw and / or the remaining energy information is about to be exhausted is repaired in time. In addition, the cluster head node transmits the aggregated information through inter-cluster communication with the base station or other cluster head nodes. In this way, the multi-cluster head structure of the cluster head node and the backup cluster head node is determined in combination with the energy consumption prediction mechanism, and the economic speed is considered during navigation, so as to achieve the purpose of cluster cluster head and backup cluster head selection, which not only reduces the energy consumption of the UUV cluster during navigation, prolongs the life cycle of cluster collaboration, but also improves the collaboration efficiency of the UUV cluster.

[0075] For example, refer to Figure 3 The schematic diagram of the cluster head node and backup cluster head node selection process is shown in Figure 3As shown, first initialize the device-related parameters, that is, initialize the device parameters of each cluster member node in the underwater unmanned vehicle clustering network, and then collect the remaining energy information of each cluster member node as the basis for subsequent remaining energy information prediction; further determine the cluster head node and the backup cluster head node based on the constructed energy consumption prediction model, execute the function of the cluster head node and ensure the smooth flow of the UUV sub-cluster network, and then regularly monitor the energy consumption and topological structure of the cluster head node; until the task is completed. The specific process involved can refer to the aforementioned embodiment. It will not be repeated here.

[0076] Based on the above Figure 1 In the underwater unmanned vehicle dynamic topology control method shown in an exemplary embodiment, the specific implementation process of step 130 can be achieved through the following steps.

[0077] The cluster chasing strategy corresponding to the target cluster member node is determined based on the communication interaction result, and the target cluster member node is controlled to chase the underwater unmanned vehicle clustering network at a speed exceeding the economic speed based on the cluster chasing strategy.

[0078] Specifically, the cluster head node determines the distance information between itself and the target cluster member node based on the communication interaction results between the target cluster member node and the non-target cluster member nodes. At this time, the cluster head node can generate a cluster pursuit strategy based on the location information of the target cluster member node found by itself or other non-target cluster member nodes in the cluster, as well as the above distance information. This cluster pursuit strategy is used to instruct the target cluster member node to catch up with the UUV sub-cluster to which it belongs; and further feed back the cluster pursuit strategy to the target cluster member node, so that the target cluster member node catches up with the underwater unmanned vehicle clustering network at a speed exceeding the economic speed.

[0079] It should be noted that for each UUV sub-cluster in the UUV cluster, the economic speed of each UUV sub-cluster when sailing underwater refers to the speed at which the UUV sub-cluster can complete navigation and mission execution with minimal energy consumption under certain mission requirements and operating conditions. Determining this economic speed requires consideration of multiple factors, including energy efficiency, mission requirements, environmental factors, group collaborative operations, hardware and technical parameters. Generally speaking, the economic speed of each UUV is usually between 1 and 4 knots (nautical miles per hour). In practical applications, it needs to be accurately determined through experiments and actual operating data.

[0080] Based on the above Figure 1 The underwater unmanned vehicle dynamic topology control method shown in an exemplary embodiment, the commonly used method of calculation and optimization is to establish an energy consumption model of the UUV at different speeds through a combination of experiments and simulations, and then solve the economic speed with the minimum energy consumption. The specific process can be achieved through the following steps.

[0081] 1) Data collection: Conduct energy consumption tests on sample underwater unmanned vehicles at different sailing speeds and collect data.

[0082] Specifically, the sample underwater unmanned vehicle may be any underwater unmanned vehicle in an underwater unmanned vehicle cluster.

[0083] Assume that the sample underwater unmanned vehicle conducts a total of M  N Energy consumption test, N is the total number of rounds of energy consumption test, M is the total number of energy consumption tests in each round; n The sailing speed of the wheel test is v n ,and m Energy consumed by each test E n The average distance travelled is d n , where the sailing speed v n The value of is between 1 and 4 knots (nautical miles per hour). n =1,2, …, N , m =1,2, …, M .go through M  N After the energy consumption test, you can collect N group of test data, the nth group of test data is ( v n , E n , d n ).

[0084] 2) Model building: through N An energy consumption model is established based on the test data to characterize the relationship between navigation speed and energy consumption information.

[0085] Specifically, the energy consumption model may be a mathematical model, and the calculation formula of the economic speed may be derived from the simple energy consumption model. That is, the relationship shown in formula (1) may be obtained according to the relationship between power, speed and time.

[0086] (1).

[0087] In formula (1), Indicates the cruising speed v n Power consumption under E nIndicates the total energy consumed by the sample underwater unmanned vehicle during navigation, and indicates the battery capacity when the battery is fully charged and exhausted; Indicates the cruising speed v n The battery life below.

[0088] Assuming that the navigation speed is economical, the relationship between the energy consumption information and navigation speed of the sample underwater unmanned vehicle can be expressed as formula (2).

[0089] (2).

[0090] In formula (1), k 1. k 2. k 3 and k 4 are all proportional constants to be solved. Then, the endurance time It can be expressed as formula (3).

[0091] (3).

[0092] From this we can get the average flight distance shown in formula (4): .

[0093] (4).

[0094] So far, based on N A set of test data was used to calculate the four proportional constants using the polynomial fitting method. k 1. k 2. k 3. And k Estimated value of 4 , , and , and get the fitting curve of the current data. That is, the expression of the established energy consumption model is formula (5).

[0095] (5).

[0096] 3) Optimization solution: Use the optimization method to solve the energy consumption model shown in formula (5) to obtain the speed with the minimum energy consumption, that is, the economic speed.

[0097] According to the energy consumption model shown in (5), the total energy consumed by the sample underwater unmanned vehicle during navigation can be obtained as shown in formula (6): E n .

[0098] (6).

[0099] It should be noted that in a mission, the average flight distance It can be determined in advance, so we can combine methods such as derivation or nonlinear programming to solve the optimal speed under given constraints and finally calculate the economic speed.

[0100] It should also be noted that determining the economic speed of the underwater unmanned vehicle cluster requires comprehensive consideration of mission requirements, environmental adaptation, and hardware performance, and is achieved through experimental verification and continuous optimization. During the mission, dynamically adjusting the economic speed according to actual conditions is also a key factor in maintaining efficient energy consumption management.

[0101] For example, refer to Figure 4 The second flow chart of the underwater unmanned vehicle dynamic topology control method is shown in FIG. Figure 4 As shown, in the case of pre-calculating the economic speed, the cluster head node can regularly check whether the energy consumption of the UUV sub-cluster and the topological state are abnormal, and further determine whether the abnormal UUV is a backup cluster head node, a cluster head node, or a non-backup cluster head node in the cluster and a cluster member node that is not a backup cluster head node, and control it as a target cluster member node to communicate and interact with other non-target cluster member nodes in the cluster, so as to try to restore the topological structure based on the communication results. The specific process involved can refer to the above embodiment. It will not be repeated here.

[0102] from Figure 4 It is understandable that the advantages of UUV sub-cluster adaptive repair are mainly reflected in the following aspects: (1) Through adaptive repair, UUV sub-cluster can better cope with complex and changing marine environment and potential external threats, ensuring the continuity and stability of the mission. (2) The adaptive repair strategy can quickly respond and take measures according to the different situations encountered by the UUV sub-cluster during the mission, thereby improving the survivability of the entire cluster. (3) The adaptive repair strategy allows the UUV sub-cluster to adjust its strategy and behavior according to the actual situation during the mission execution, improving the flexibility and adaptability of the mission execution. (4) By optimizing the control strategy, the UUV sub-cluster can reduce energy consumption and extend the operation time while maintaining the formation and completing the mission.

[0103] For example, refer to Figure 5 The third flow chart of the underwater unmanned vehicle dynamic topology control method is shown in FIG. Figure 5As shown, when the economic speed is calculated in advance and the UUV cluster is clustered, the cluster head node can periodically check whether the energy consumption of the UUV subcluster is abnormal and whether the topological state is abnormal based on the pre-selected backup cluster head node, and repair the current topological structure in case of abnormality, and then update the topological structure information, and then continue to execute the current task based on the updated topological structure information, and use the updated topological structure information as the new current topological structure, and return to the step of periodically checking whether the energy consumption of the UUV subcluster is abnormal and whether the topological state is abnormal; until the task is completed. The specific implementation process involved can refer to the aforementioned embodiment. It will not be repeated here.

[0104] from Figure 5 It can be seen that the several processes involved in the underwater unmanned vehicle dynamic topology control method provided by the present invention are closely linked and very organized. In particular, by introducing the economic speed, it plays a role in reducing energy consumption and greatly improves the life cycle of cluster collaboration.

[0105] Combination Figure 4 and Figure 5 It can be understood that the main innovations of the method of the present invention include the following three aspects.

[0106] First, selecting cluster head nodes and backup cluster head nodes based on the energy prediction mechanism can not only balance the energy consumption of the entire network and extend the life cycle of the network, but also enhance the reliability of data transmission due to the use of a multi-cluster head structure. Even if a cluster head node cannot work normally due to failure or interference, the backup cluster head node can take over its task.

[0107] Second, a dynamic topology adaptive repair strategy for UUV sub-clusters is proposed. When UUV sub-clusters are sailing, the topology will change dynamically in various situations. In order to ensure that the UUV cluster can reduce losses as much as possible and complete the task as efficiently as possible, a dynamic topology adaptive repair strategy for UUV sub-clusters is proposed to improve the self-repair and self-healing capabilities of the cluster. The reliability and stability of the UUV sub-cluster topology control are increased, and the efficiency of UUV sub-cluster collaboration is improved.

[0108] Third, consider the dynamic topology control of the cluster with economic speed during navigation: The dynamic topology control algorithm of the UUV sub-cluster is different from the conventional topology control algorithm. The UUV uses the economic speed during navigation to navigate underwater, and the economic speed is a relatively energy-saving navigation speed obtained through calculation. The economic speed is used as the default speed for navigation to reduce the energy consumption of the UUV sub-cluster during navigation. Among them, in the selection strategy of the cluster head node and the backup cluster head node, the prediction of the remaining energy information is also based on the economic speed. In addition, in the UUV sub-cluster adaptive repair strategy, the speed of the lagging UUV is also adjusted with reference to the economic speed, which is very suitable for the dynamic topology control of the UUV sub-cluster during navigation.

[0109] So far, the main advantages of the underwater unmanned vehicle dynamic topology control method provided by the present invention include: 1) reducing the energy consumption during cluster navigation: by considering the economic speed during navigation, and based on the energy prediction mechanism, the selection purpose of the cluster head node and the backup cluster head node is achieved, the energy consumption of the UUV sub-cluster is reduced, and the life cycle of cluster collaboration is extended. 2) Enhanced cluster self-recovery and self-healing capabilities: by adopting a multi-cluster head structure and a UUV sub-cluster dynamic topology adaptive repair strategy, the self-recovery and self-healing capabilities of the UUV sub-cluster during navigation are enhanced, and the reliability and stability of the UUV sub-cluster collaboration are improved. 3) Expanded cluster dynamic adaptability: During the navigation mission of the UUV sub-cluster, the topology structure will have a variety of situations. For different situations, the topology structure adopts different control strategies, which increases the reliability and stability of the UUV sub-cluster dynamic topology, and expands the dynamic adaptability of the cluster. 4) Improved the collaboration efficiency of the UUV sub-cluster: By adopting a clustering strategy, introducing a multi-cluster head structure, a backup cluster head node and an economic speed, the efficiency of cluster collaboration is improved.

[0110] The underwater unmanned vehicle dynamic topology control device provided by the present invention is described below. The underwater unmanned vehicle dynamic topology control device described below is applied to the cluster head node of the underwater unmanned vehicle clustering network in the underwater unmanned vehicle communication network system. The underwater unmanned vehicle clustering network is composed of multiple underwater unmanned vehicles, one of which is the cluster head node, and the remaining underwater unmanned vehicles are cluster member nodes; and the underwater unmanned vehicle dynamic topology control device described below and the underwater unmanned vehicle dynamic topology control method described above can be referenced to each other.

[0111] Reference Figure 6 , which is a schematic diagram of the structure of the dynamic topology control device for underwater unmanned vehicles provided by the present invention, such as Figure 6 As shown, the underwater unmanned vehicle dynamic topology control device 600 includes: a load condition acquisition unit 610 and a dynamic topology control unit 620.

[0112] The load condition acquisition unit 610 is used to acquire the load condition of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period.

[0113] The dynamic topology control unit 620 is used to control the communication interaction between the target cluster member nodes and the non-target cluster member nodes when it is determined based on various load conditions that there are target cluster member nodes in the underwater unmanned vehicle cluster network that trigger the abnormal cluster topology state; and dynamically repair the current topology structure of the underwater unmanned vehicle cluster network based on the communication interaction results.

[0114] Optionally, the dynamic topology control unit 620 is specifically used to find a backup cluster head node that has deviated based on the position information of each cluster member node within a preset navigation time period in each load condition when the target cluster member node is a backup cluster head node; and control the communication interaction between the backup cluster head node and the cluster head node when the found backup cluster head node meets the conditions for continuing to work.

[0115] Optionally, the dynamic topology control unit 620 is specifically used to redetermine a backup cluster head node from other non-cluster head nodes in the underwater unmanned vehicle clustering network when the backup cluster head node found does not meet the conditions for continuing to work, and to control the communication interaction between the new backup cluster head node and the cluster head node.

[0116] Optionally, the dynamic topology control unit 620 is specifically used to find a first abnormal cluster member node that does not exist in a preset cluster topology structure based on the position information of each cluster member node within a preset navigation time period in each load condition when the target cluster member node is a cluster head node, and control the backup cluster head node to communicate and interact with the first abnormal cluster member node as a new cluster head node.

[0117] Optionally, the dynamic topology control unit 620 is specifically used to find a second abnormal cluster member node that does not exist in the preset cluster topology structure based on the position information of each cluster member node during the navigation time period in each load condition when the target cluster member node is not a backup cluster head node and is not a cluster head node; and control the communication interaction between itself and the second abnormal cluster member node based on the distance between the found second abnormal cluster member node and the cluster head node.

[0118] Optionally, the dynamic topology control unit 620 is specifically used to determine a backup cluster head node from the underwater unmanned vehicle clustering network based on preset energy suboptimal conditions and the energy consumption prediction mechanism, when the cluster head node is an underwater unmanned vehicle that meets preset energy optimal conditions determined from the underwater unmanned vehicle clustering network based on an energy consumption prediction mechanism.

[0119] Optionally, the dynamic topology control unit 620 is specifically used to determine the cluster pursuit strategy corresponding to the target cluster member node based on the communication interaction result, and control the target cluster member node to catch up with the underwater unmanned vehicle clustering network at a speed exceeding the economic speed based on the cluster pursuit strategy.

[0120] Optionally, the dynamic topology control unit 620 is specifically used to obtain multiple sets of test data after the sample underwater unmanned vehicle is tested for energy consumption at different navigation speeds; based on the multiple sets of test data and the polynomial fitting method, an energy consumption model that characterizes the relationship between the navigation speed and the energy consumption information is established; and the energy consumption model is solved by using an optimization method to obtain the economic speed corresponding to the minimum energy consumption.

[0121] The present invention also provides an underwater unmanned vehicle communication network system, including an underwater unmanned vehicle clustering network, which is composed of a cluster head node, a target cluster member node that triggers a preset clustering topology state abnormality, and a non-target cluster member node.

[0122] The cluster head node is used to execute the above-mentioned underwater unmanned vehicle dynamic topology control method.

[0123] The target cluster member node is used to communicate with the non-target cluster member nodes.

[0124] Optionally, the cluster head node is specifically used to find a backup cluster head node that has deviated based on the position information of each cluster member node within a preset navigation time period in each load condition when the target cluster member node is a backup cluster head node; and control the communication interaction between the backup cluster head node and the cluster head node when the found backup cluster head node meets the conditions for continuing to work.

[0125] Optionally, the cluster head node is specifically used to redetermine the backup cluster head node from other non-cluster head nodes in the underwater unmanned vehicle clustering network when the backup cluster head node found does not meet the conditions for continuing to work, and control the communication interaction between the new backup cluster head node and the cluster head node.

[0126] Optionally, the cluster head node is specifically used to find a first abnormal cluster member node that does not exist in a preset cluster topology structure based on the position information of each cluster member node in each load condition within a preset navigation time period when the target cluster member node is the cluster head node, and control the backup cluster head node to communicate and interact with the first abnormal cluster member node as a new cluster head node.

[0127] Optionally, the cluster head node is specifically used to find a second abnormal cluster member node that does not exist in the preset cluster topology structure based on the position information of each cluster member node during the navigation time period in each load condition when the target cluster member node is not a backup cluster head node and is not a cluster head node; and control the communication interaction between itself and the second abnormal cluster member node based on the distance between the found second abnormal cluster member node and the cluster head node.

[0128] Optionally, the cluster head node is specifically used to determine a backup cluster head node from the underwater unmanned vehicle clustering network based on preset energy suboptimal conditions and the energy consumption prediction mechanism, when the cluster head node is an underwater unmanned vehicle that meets preset energy optimal conditions determined from the underwater unmanned vehicle clustering network based on an energy consumption prediction mechanism.

[0129] Optionally, the cluster head node is specifically used to determine the cluster pursuit strategy corresponding to the target cluster member node based on the communication interaction result, and control the target cluster member node to catch up with the underwater unmanned vehicle clustering network at a speed exceeding the economic speed based on the cluster pursuit strategy.

[0130] Figure 7 An example of a physical structure diagram of an underwater device is shown below. Figure 7 As shown, the underwater device is applied to the cluster head node of the underwater unmanned vehicle clustering network in the underwater unmanned vehicle communication network system, the underwater unmanned vehicle clustering network is composed of multiple underwater unmanned vehicles and one of the underwater unmanned vehicles is the cluster head node, and the remaining underwater unmanned vehicles are cluster member nodes, and the underwater device may include: a processor (processor) 710, a communication interface (Communications Interface) 720, a memory (memory) 730 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 can call the logic instructions in the memory 730 to execute the underwater unmanned vehicle dynamic topology control method, which includes: obtaining the load condition of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period; when it is determined based on each load condition that there is a target cluster member node in the underwater unmanned vehicle clustering network that triggers an abnormal clustering topology state, controlling the communication interaction between the target cluster member node and the non-target cluster member node; and dynamically repairing the current topology structure of the underwater unmanned vehicle clustering network based on the communication interaction result.

[0131] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0132] On the other hand, the present invention also provides a computer program product, which includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the underwater unmanned vehicle dynamic topology control method provided by the above-mentioned methods, and the method includes: obtaining the load condition of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period; when it is determined based on each load condition that there is a target cluster member node in the underwater unmanned vehicle clustering network that triggers an abnormal clustering topology state, controlling the communication interaction between the target cluster member node and the non-target cluster member node; and dynamically repairing the current topology structure of the underwater unmanned vehicle clustering network based on the communication interaction result.

[0133] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the underwater unmanned vehicle dynamic topology control method provided by the above-mentioned methods, the method comprising: obtaining the load condition of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period; when it is determined based on each load condition that there is a target cluster member node in the underwater unmanned vehicle clustering network that triggers an abnormal clustering topology state, controlling the communication interaction between the target cluster member node and the non-target cluster member node; and dynamically repairing the current topology structure of the underwater unmanned vehicle clustering network based on the communication interaction result.

[0134] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0135] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for dynamic topology control of an underwater unmanned vehicle, characterized in that: A cluster head node of an underwater unmanned vehicle clustering network in an underwater unmanned vehicle communication network system, wherein the underwater unmanned vehicle clustering network is composed of a plurality of underwater unmanned vehicles, one of which is the cluster head node, and the remaining underwater unmanned vehicles are cluster member nodes; the method comprises: Obtaining the load condition of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period; When it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle cluster network that triggers an abnormal cluster topology state, controlling the target cluster member node to communicate and interact with non-target cluster member nodes; The current topological structure of the underwater unmanned vehicle clustering network is dynamically repaired based on the communication interaction results.

2. The method for dynamic topology control of an underwater unmanned vehicle according to claim 1, characterized in that: The method of controlling communication interaction between the target cluster member node and the non-target cluster member node when determining that there is a target cluster member node that triggers an abnormal cluster topology state in the underwater unmanned vehicle cluster network based on each of the load conditions comprises: In the case where the target cluster member node is a backup cluster head node, based on the position information of each cluster member node in each load condition within the preset navigation time period, searching for the backup cluster head node that has deviated; When the found standby cluster head node meets the condition for continuing to work, the standby cluster head node is controlled to communicate and interact with the cluster head node.

3. The method for dynamic topology control of an underwater unmanned vehicle according to claim 2, characterized in that: The method further comprises: When the found backup cluster head node does not meet the continuing working condition, a backup cluster head node is re-determined from other non-cluster head nodes in the underwater unmanned vehicle clustering network, and the new backup cluster head node is controlled to communicate with the cluster head node.

4. The method for dynamic topology control of an underwater unmanned vehicle according to claim 1, characterized in that: In the case where it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle cluster network that triggers an abnormal cluster topology state, controlling the target cluster member node to communicate and interact with the non-target cluster member nodes, further comprising: In the case where the target cluster member node is the cluster head node, based on the position information of each cluster member node in the preset navigation time period in each load condition, a first abnormal cluster member node that does not exist in the preset clustering topology is found, and when the backup cluster head node is the new cluster head node, communication interaction with the first abnormal cluster member node is controlled.

5. The method for dynamic topology control of an underwater unmanned vehicle according to claim 1, characterized in that: In the case where it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle cluster network that triggers an abnormal cluster topology state, controlling the target cluster member node to communicate and interact with the non-target cluster member nodes, further comprising: In the case where the target cluster member node is a non-standby cluster head node and is not the cluster head node, based on the position information of each cluster member node in each load situation during the navigation time period, searching for a second abnormal cluster member node that does not exist in the preset clustering topology structure; Based on the found distance between the second abnormal cluster member node and the cluster head node, control the communication interaction between itself and the second abnormal cluster member node.

6. The method for dynamic topology control of an underwater unmanned vehicle according to any one of claims 2 to 4, characterized in that: The method further comprises: In a case where the cluster head node is an underwater unmanned vehicle that satisfies a preset energy optimal condition and is determined from the underwater unmanned vehicle clustering network based on an energy consumption prediction mechanism, the backup cluster head node is determined from the underwater unmanned vehicle clustering network based on a preset energy suboptimal condition and the energy consumption prediction mechanism.

7. The method for dynamic topology control of an underwater unmanned vehicle according to any one of claims 1 to 5, characterized in that: The dynamically repairing the current topological structure of the underwater unmanned vehicle clustering network based on the communication interaction result includes: The cluster pursuit strategy corresponding to the target cluster member node is determined based on the communication interaction result, and the target cluster member node is controlled to pursue the underwater unmanned vehicle clustering network at a speed exceeding the economic speed based on the cluster pursuit strategy.

8. The method for dynamic topology control of an underwater unmanned vehicle according to claim 7, characterized in that: The method further comprises: Acquire multiple sets of test data after energy consumption tests of sample underwater unmanned vehicles at different sailing speeds; Based on the multiple test data and the polynomial fitting method, an energy consumption model is established to characterize the relationship between the navigation speed and the energy consumption information; The energy consumption model is solved by an optimization method to obtain the economic speed corresponding to the minimum energy consumption.

9. A dynamic topology control device for an underwater unmanned vehicle, characterized in that: The device is applied to a cluster head node of an underwater unmanned vehicle clustering network in an underwater unmanned vehicle communication network system, wherein the underwater unmanned vehicle clustering network is composed of a plurality of underwater unmanned vehicles, one of which is the cluster head node, and the remaining underwater unmanned vehicles are cluster member nodes; the device comprises: A load condition acquisition unit, used to acquire the load condition of each cluster member node in the underwater unmanned vehicle clustering network within a preset navigation time period; A dynamic topology control unit is used to control the communication interaction between the target cluster member node and the non-target cluster member node when it is determined based on each of the load conditions that there is a target cluster member node in the underwater unmanned vehicle cluster network that triggers an abnormal cluster topology state; and dynamically repair the current topology structure of the underwater unmanned vehicle cluster network based on the communication interaction result.

10. An underwater unmanned vehicle communication network system, characterized in that: It includes an underwater unmanned vehicle clustering network, which is composed of a cluster head node, a target cluster member node that triggers a preset cluster topology state abnormality, and a non-target cluster member node; The cluster head node is used to execute the underwater unmanned vehicle dynamic topology control method according to any one of claims 1 to 8; The target cluster member node is used to communicate and interact with non-target cluster member nodes in the underwater unmanned vehicle clustering network.

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