Water unmanned ship data return method and device based on urban water area monitoring

Abstract

The invention relates to the technical field of water unmanned ship data transmission, and discloses a water unmanned ship data return method and device based on urban water area monitoring. The method comprises the following steps: acquiring a plurality of target unmanned ships, and determining data acquisition nodes and data return center nodes of the target unmanned ships and communication relay nodes between the data acquisition nodes and the data return center nodes; selecting a target relay node according to the communication quality index to generate a data transmission path; and determining the arrival time of the data packet according to the data transmission rate and the sub-link transmission index, marking to obtain a real-time communication sequence diagram, detecting communication channel conflicts, and planning a data transmission path based on a conflict result. The device comprises an acquisition module, a generation module, a determination module, a marking module, a detection module and a planning module. According to the method, the relay nodes are selected by comprehensively considering the signal strength and the transmission delay, communication conflicts can be effectively solved, data transmission of different priorities can be adapted, communication interference can be dynamically coped with, the stability, the reliability and the transmission efficiency of data return of the water unmanned ship are improved, and the urban water area monitoring requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of data transmission of unmanned surface vessels, and specifically to a method and device for data backhaul of unmanned surface vessels based on urban water area monitoring. Background Art

[0002] In the field of urban water area monitoring, unmanned surface vessels play an increasingly important role as an efficient monitoring tool. With the acceleration of the urbanization process, the scope of urban water areas is constantly expanding, and their environmental conditions have become more complex and diverse. Traditional manual monitoring methods are not only inefficient and costly, but also unable to conduct comprehensive and accurate monitoring in some dangerous or inaccessible waters. Unmanned surface vessels, with their flexibility, operability, and the advantage of being able to work in harsh environments, have become an important means of urban water area monitoring.

[0003] However, unmanned surface vessels face many challenges in data backhaul. There are a large number of interference factors in the urban water area environment, such as building blockage, water surface reflection, and electromagnetic interference from other vessels, which seriously affect the transmission quality of communication signals. When the existing data backhaul methods face these interferences, the signals are prone to attenuation, delay, or even interruption, resulting in the monitoring data being unable to be transmitted to the data center in a timely and accurate manner, greatly reducing the real-time performance and reliability of monitoring.

[0004] In the selection of communication relay nodes, current technologies often lack scientific and effective strategies. Most methods simply select relay nodes based on single factors such as distance or signal strength, without comprehensively considering multiple key indicators such as signal strength and transmission delay. This makes the constructed data transmission path not optimal and unable to fully guarantee the stability and efficiency of data transmission.

[0005] In addition, when multiple unmanned vessels transmit data simultaneously, communication channel conflict problems occur frequently. Due to the lack of a reasonable conflict detection and resolution mechanism, once a conflict occurs, it will lead to packet loss and retransmission, further reducing the data transmission efficiency and increasing the time cost and resource consumption of data transmission. Moreover, the existing data backhaul methods usually do not consider the possible communication interference situations during the dynamic driving process of unmanned vessels, such as mutual interference between adjacent unmanned vessels, which makes it difficult to effectively guarantee the stability and reliability of data backhaul in actual application scenarios.

[0006] With the continuous improvement of the requirements for urban water area environment monitoring, more accurate and timely monitoring data is needed to support environmental decision-making and management. The existing data backhaul technologies for unmanned surface vessels are already difficult to meet these growing needs, and there is an urgent need for a data backhaul method and device that can adapt to complex urban water area environments and is efficient and stable to improve the overall level of urban water area monitoring. Summary of the Invention

[0007] The object of the present invention is to provide a method and device for data transmission of an unmanned surface vehicle based on urban water area monitoring, so as to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: A method for data transmission of an unmanned surface vehicle based on urban water area monitoring, the method comprising: Obtain a plurality of target unmanned surface vehicles, and determine a data acquisition node and a data transmission center node of each of the target unmanned surface vehicles from a preset monitoring area map, wherein the monitoring area map includes a plurality of communication relay nodes located between the data acquisition node and the data transmission center node; For each of the target unmanned surface vehicles, select a plurality of target relay nodes with the best communication quality index based on the communication quality indexes of each of the communication relay nodes relative to the data acquisition node and the data transmission center node, and generate a data transmission path of the target unmanned surface vehicle according to the plurality of target relay nodes; For each of the target unmanned surface vehicles, obtain the data transmission rate of the target unmanned surface vehicle, and determine the packet arrival time when the target unmanned surface vehicle passes through a plurality of target relay nodes based on the sub-link transmission index between the target relay nodes included in the data transmission path and the data transmission rate; Mark the packet arrival time on each of the target relay nodes in the monitoring area map to obtain a real-time communication timing diagram; For each of the target relay nodes, detect communication channel conflicts according to the packet arrival time to obtain a conflict detection result; Based on the conflict detection result, perform data transmission path planning to obtain a data transmission planning result.

[0009] Preferably, the communication quality index is a comprehensive evaluation value of the signal strength and transmission delay from the data acquisition node to each communication relay node and from each communication relay node to the data transmission center node for each communication relay node; the data transmission path is a planned path from the data acquisition node to the data transmission center node, and is an optimal communication link composed of the selected plurality of target relay nodes.

[0010] Preferably, performing data transmission path planning based on the conflict detection result to obtain a data feedback planning result includes: when the conflict detection result indicates that there is a conflict in the arrival times of multiple data packets included in the target relay node, determining the target relay node as a conflict relay node; obtaining the arrival time of the data packet that generates the conflict in the conflict relay node as a conflict period, and determining the data transmission priorities of multiple target unmanned vessels corresponding to the conflict period; performing data transmission path planning on the target unmanned vessels based on the data transmission priorities to obtain a data feedback planning result.

[0011] Preferably, the target unmanned vessels include first-priority unmanned vessels and second-priority unmanned vessels. The data transmission priority of the first-priority unmanned vessels is the emergency level, and the data transmission priority of the second-priority unmanned vessels is the normal level. Performing data transmission path planning on the target unmanned vessels based on the data transmission priorities to obtain a data feedback planning result includes: Determining the data transmission path corresponding to the second-priority unmanned vessels based on the order of the emergency level and the normal level; Based on the real-time communication timing diagram, obtaining the arrival times of data packets of the second-priority unmanned vessels at each target relay node in the corresponding data transmission path; Performing data transmission path planning on the second-priority unmanned vessels based on the arrival times of the data packets in combination with the real-time communication timing diagram to obtain a data feedback planning result.

[0012] Preferably, for each target unmanned vessel, selecting multiple target relay nodes with the optimal communication quality indicators based on the communication quality indicators of each communication relay node relative to the data acquisition node and the data feedback center node, and generating a data transmission path for the target unmanned vessel according to the multiple target relay nodes includes: For each target unmanned vessel, determining multiple adjacent communication nodes adjacent to the data acquisition node; Calculating the communication quality indicators of each adjacent communication node relative to the data acquisition node and the data feedback center node, and determining the first target relay node with the optimal communication quality indicator from the multiple adjacent communication nodes based on the multiple communication quality indicators; Taking the first target relay node as the starting point, determining multiple adjacent communication nodes adjacent to the target relay node, calculating the communication quality indicators of each adjacent communication node relative to the data acquisition node and the data feedback center node, and determining the next target relay node with the optimal communication quality indicator from the multiple adjacent communication nodes adjacent to the target relay node based on the multiple communication quality indicators; Repeat the steps of determining multiple adjacent communication nodes adjacent to the target relay node, calculating the communication quality metrics of each adjacent communication node relative to the data acquisition node and the data backhaul center node, and determining the next target relay node with the optimal communication quality metric from the multiple adjacent communication nodes adjacent to the target relay node until the next target relay node is determined to be the data backhaul center node, so as to obtain multiple target relay nodes between the data acquisition node and the data backhaul center node; Generate the data transmission path of the target unmanned ship based on the multiple target relay nodes.

[0013] Preferably, the calculating the communication quality metrics of each adjacent communication node relative to the data acquisition node and the data backhaul center node includes: Calculate the first signal strength metric of each adjacent communication node from the data acquisition node and the second transmission delay metric of each adjacent communication node from the data backhaul center node respectively; For each adjacent communication node, use the weighted value of the first signal strength metric and the second transmission delay metric as the communication quality metric of the adjacent communication node relative to the data acquisition node and the data backhaul center node.

[0014] Preferably, the determining the first target relay node with the optimal communication quality metric from the multiple adjacent communication nodes based on the multiple communication quality metrics includes: Store the multiple communication quality metrics corresponding to the multiple adjacent communication nodes into a communication quality evaluation list, and perform a descending order sorting on the communication quality metrics in the communication quality evaluation list to obtain a sorting result; Based on the sorting result, determine the adjacent communication node corresponding to the optimal communication quality metric as the first target relay node.

[0015] Preferably, after performing data transmission path planning based on the conflict detection result to obtain a data backhaul planning result, it further includes: When each target unmanned ship starts transmitting according to the data backhaul planning result, for each target unmanned ship, real-time detect the communication interference distance between the target unmanned ship and at least one adjacent target unmanned ship; When there is a situation where the communication interference distance between the target unmanned ship and the adjacent target unmanned ship is less than a preset safety threshold, regard the adjacent target unmanned ship as an interference source, and perform dynamic data transmission path planning for the target unmanned ship based on the interference source to obtain the updated data transmission path of the target unmanned ship.

[0016] Preferably, the present invention further includes a data transmission device for an unmanned surface vessel based on urban water area monitoring, and the device includes: An acquisition module, configured to acquire a plurality of target unmanned surface vessels, and determine a data acquisition node and a data transmission center node of each of the target unmanned surface vessels from a preset monitoring area map, wherein the monitoring area map includes a plurality of communication relay nodes located between the data acquisition node and the data transmission center node; A generation module, configured to, for each of the target unmanned surface vessels, select a plurality of target relay nodes with the optimal communication quality index based on the communication quality indexes of each of the communication relay nodes relative to the data acquisition node and the data transmission center node, and generate a data transmission path of the target unmanned surface vessel according to the plurality of target relay nodes; wherein the communication quality index is a comprehensive evaluation value of the signal strength and transmission delay from the data acquisition node to each communication relay node and from each communication relay node to the data transmission center node for each communication relay node; the data transmission path is a planned path from the data acquisition node to the data transmission center node and is an optimal communication link composed of the selected plurality of target relay nodes; A determination module, configured to, for each of the target unmanned surface vessels, acquire the data transmission rate of the target unmanned surface vessel, and determine the packet arrival time when the target unmanned surface vessel passes through a plurality of target relay nodes based on the sub-link transmission index between the target relay nodes included in the data transmission path and the data transmission rate; A marking module, configured to mark the packet arrival time on each of the target relay nodes in the monitoring area map to obtain a real-time communication timing diagram; A detection module, configured to, for each of the target relay nodes, detect communication channel conflicts according to the packet arrival time to obtain a conflict detection result; A planning module, configured to perform data transmission path planning based on the conflict detection result to obtain a data transmission planning result; the performing data transmission path planning based on the conflict detection result to obtain a data transmission planning result includes: when the conflict detection result indicates that there are conflicts in the packet arrival times of the plurality of packets included in the target relay node, determining the target relay node as a conflict relay node; acquiring the packet arrival time of the packet generating the conflict of the conflict relay node as a conflict period, and determining the data transmission priorities of the plurality of target unmanned surface vessels corresponding to the conflict period; performing data transmission path planning on the target unmanned surface vessels based on the data transmission priorities to obtain a data transmission planning result.

[0017] Preferably, the generation module is further configured to: Dynamically adjust the communication quality metrics of the communication relay node according to real-time environmental monitoring data, and regenerate the data transmission path of the target unmanned ship based on the updated communication quality metrics.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: In terms of data transmission path planning, by comprehensively considering communication quality metrics such as signal strength and transmission delay of the communication relay node relative to the data acquisition node and the data backhaul center node, multiple optimal target relay nodes are selected to generate the data transmission path. This method can construct an optimal communication link from the data acquisition node to the data backhaul center node compared with the traditional method of simply selecting relay nodes based on distance or a single metric. This enables the data to effectively avoid areas with strong signal interference and large transmission delays during transmission, greatly improving the stability and speed of data transmission. For example, in an urban water area with numerous buildings and other interference sources, the method of the present invention can accurately select the relay node with the best signal quality, ensure stable data transmission, reduce signal attenuation and delay, and thus ensure that the monitoring data can be quickly and accurately transmitted back to the data center, improving the real-time performance of monitoring.

[0019] In dealing with the problem of communication channel conflict, the present invention obtains a real-time communication timing diagram by marking the arrival time of data packets, and performs communication channel conflict detection based on this. When a conflict is detected, the conflict period and the data transmission priority of the relevant unmanned ship are determined, and then the data transmission path is re-planned based on the priority. This mechanism can effectively solve the conflict problem generated when multiple unmanned ships transmit data simultaneously, avoid the loss and retransmission of data packets, and improve the success rate and efficiency of data transmission. For example, in an area where multiple unmanned ships are operating intensively, the traditional method is prone to data transmission chaos due to conflicts, while the present invention can orderly arrange data transmission according to the priority, ensure the priority transmission of important data, and reduce the time cost and resource consumption of data transmission.

[0020] For unmanned ships with different priorities, the present invention formulates a reasonable data transmission path planning strategy for the first priority (emergency level) and the second priority (regular level) unmanned ships. First, determine the data transmission path of the second priority unmanned ship, and then optimize it in combination with the real-time communication timing diagram to ensure that unmanned ships with different priorities can reasonably arrange the transmission order and path while ensuring the data transmission quality. This not only ensures the timely transmission of emergency data but also takes into account the orderly transmission of regular data, improving the data processing capacity and flexibility of the entire system.

[0021] In addition, during the transmission of the unmanned boat, the present invention also real-time detects the communication interference distance of adjacent unmanned boats. When the interference distance is less than the preset safety threshold, it performs dynamic data transmission path planning for the target unmanned boat based on the interference source. This function can effectively address the communication interference problem that occurs during the dynamic driving of the unmanned boat and ensure the stability of data transmission. In practical applications, there are frequent boat movements in urban waters, and it is easy to generate communication interference between unmanned boats. The dynamic planning mechanism of the present invention can timely adjust the data transmission path to ensure that data transmission is not interfered, improving the adaptability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the working principle diagram of the data backhaul method for the unmanned boat on water based on urban water area monitoring according to the present invention; Figure 2 is the flowchart for planning the data transmission path based on the conflict detection result; Figure 3 is the flowchart for planning the data transmission path of unmanned boats with different priorities; Figure 4 is the flowchart for generating the data transmission path of the target unmanned boat. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Please refer to Figures 1 - 4 , the present invention relates to a data backhaul method for an unmanned boat on water based on urban water area monitoring, and the specific implementation steps are as follows: Obtain multiple target unmanned boats, and determine the data collection nodes and data backhaul center nodes of each target unmanned boat from the preset monitoring area map. This monitoring area map covers multiple communication relay nodes located between the data collection nodes and the data backhaul center nodes. These communication relay nodes play a crucial bridging role in the data transmission process, can expand the signal coverage range, and ensure stable data transmission.

[0025] For each target unmanned vessel, based on the communication quality metrics of each communication relay node relative to the data acquisition node and the data feedback center node respectively, multiple target relay nodes with the optimal communication quality metrics are selected, and a data transmission path for the target unmanned vessel is generated according to these target relay nodes. The communication quality metrics comprehensively consider factors such as the signal strength and transmission delay from the data acquisition node to each communication relay node and from each communication relay node to the data feedback center node. Through the comprehensive evaluation of these factors, the relay nodes most conducive to data transmission can be screened out, and then the optimal communication link from the data acquisition node to the data feedback center node can be constructed.

[0026] For each target unmanned vessel, its data transmission rate is obtained, and based on the sub-link transmission metrics between the target relay nodes included in the data transmission path and this data transmission rate, the packet arrival time when the target unmanned vessel passes through multiple target relay nodes is determined. This step helps to accurately grasp the time nodes during data transmission and provides an important basis for subsequent conflict detection and path planning.

[0027] In the monitoring area map, the packet arrival times are marked for each target relay node, thereby obtaining a real-time communication timing diagram. This timing diagram intuitively shows the arrival times of each packet at different relay nodes, making the entire data transmission process clear at a glance and facilitating subsequent analysis and processing.

[0028] For each target relay node, the detection of communication channel conflicts is performed according to the packet arrival time, and a conflict detection result is obtained. By analyzing the packet arrival time, it is possible to timely discover whether there is a situation where multiple packets arrive at the same relay node at the same time, that is, a communication channel conflict, so as to take corresponding measures for processing.

[0029] Based on the conflict detection result, data transmission path planning is performed to obtain a data feedback planning result. If there is a conflict, the data transmission path will be adjusted and optimized to ensure that the data can be efficiently and stably fed back.

[0030] The technical solution of the present invention will be further described in detail below in conjunction with specific embodiments.

[0031] Example 1: In this example, the method for determining the communication quality index and the process of generating the data transmission path will be described in detail. In an actual urban water area monitoring scenario, assume that there are multiple unmanned surface vehicles (USVs) performing monitoring tasks, and these USVs are distributed at different locations. Taking one of the USVs as an example, first determine its data collection node and data backhaul center node. On the monitoring area map, the data collection node is located at the current position of the USV, while the data backhaul center node may be set at a monitoring station on the shore or other locations. Between the data collection node and the data backhaul center node, there are numerous communication relay nodes distributed.

[0032] For each communication relay node, its communication quality index needs to be determined. Here, the communication quality index is a comprehensive evaluation value of the signal strength and transmission delay from the data collection node to this communication relay node and from this communication relay node to the data backhaul center node. The signal strength reflects the strength of the signal during the data transmission process. The stronger the signal, the higher the stability of the data transmission; the transmission delay reflects the time required for the data to be transmitted from one node to another node. The smaller the delay, the higher the efficiency of the data transmission. To determine the communication quality index, it is necessary to obtain the signal strength data from the data collection node to each communication relay node and the transmission delay data from the communication relay node to the data backhaul center node. These data can be obtained through signal monitoring devices installed on the USV, communication relay nodes, and data backhaul center nodes. For example, installing signal strength sensors on the USV can monitor the signal strength between it and each communication relay node in real time; setting time recording devices on the communication relay nodes and data backhaul center nodes to record the start and end times of data transmission, so as to calculate the transmission delay.

[0033] After obtaining the relevant data of each communication relay node, a comprehensive evaluation of these data is carried out. Assume that there are three communication relay nodes A, B, and C. The signal strength from the data collection node to node A is relatively strong, but the transmission delay is relatively large; to node B, the signal strength is relatively weak, but the transmission delay is relatively small; to node C, the signal strength and transmission delay are at an intermediate level. By comprehensively considering the signal strength and transmission delay and adopting a certain evaluation method (such as weighted average, etc. Although the formula is not involved, it can be understood as a comprehensive calculation based on the importance of the two), it is concluded that the communication quality index of node B is the best.

[0034] Next, generate the data transmission path. First, determine multiple adjacent communication nodes adjacent to the data acquisition node, and calculate the communication quality indicators of each adjacent communication node relative to the data acquisition node and the data backhaul center node. Suppose there are three adjacent communication nodes D, E, and F around the data acquisition node. After calculating their communication quality indicators, the node D with the best communication quality indicator is determined as the first target relay node. Then, starting from node D, determine multiple adjacent communication nodes adjacent to it, and calculate the communication quality indicators of these adjacent communication nodes again. Select the one with the best communication quality indicator from these nodes as the next target relay node. Continuously repeat this process until the next target relay node determined is the data backhaul center node. In this way, multiple target relay nodes between the data acquisition node and the data backhaul center node are obtained, and these target relay nodes constitute the data transmission path of the unmanned ship. The data transmission path generated in this way can ensure the stability and efficiency of data during transmission to the greatest extent and improve the quality of data backhaul.

[0035] Embodiment 2: This embodiment elaborates in detail the specific process of data transmission path planning based on the conflict detection result. In the urban water area monitoring environment, when each target unmanned ship conducts data transmission according to the established data transmission path, it is necessary to detect communication channel conflicts. Suppose at a certain moment, through monitoring the arrival time of data packets, it is found that there are multiple data packet arrival time conflicts on the target relay node X. At this time, the target relay node X is determined as the conflict relay node.

[0036] Obtain the arrival time of the data packets that cause conflicts on the conflict relay node X, and this time range is determined as the conflict period. During this conflict period, the data transmission of multiple target unmanned ships is involved. To reasonably resolve the conflict, it is necessary to determine the data transmission priorities of these target unmanned ships. Suppose the data transmission of unmanned ships M, N, and P is involved during the conflict period. According to actual requirements and factors such as the importance of data (such as the data priority of the unmanned ship that detects water quality anomalies is higher than that of the unmanned ship with regular monitoring data), it is determined that the data transmission priority of unmanned ship M is the highest, that of unmanned ship N is the second, and that of unmanned ship P is the lowest.

[0037] Perform data transmission path planning for the target unmanned ship based on data transmission priorities. First, consider the unmanned ship M with the highest priority. When planning its data transmission path, try to avoid passing through the conflicting relay node X again, or adjust its transmission time to avoid the conflict period. For example, it is possible to check whether there are other available relay nodes and construct a new transmission path to ensure the smooth transmission of the data of the unmanned ship M. The same method is applied to the unmanned ships N and P. According to their priority order, adjust the transmission path or transmission time in turn. If it is impossible to completely avoid the conflicting relay node X, the transmission time can also be reasonably allocated according to the priorities, allowing the unmanned ship with a higher priority to perform data transmission first, and the unmanned ship with a lower priority to wait for a period of time before transmitting. In this way, in the case of communication channel conflicts, the data transmission path can be reasonably planned, the timely backhaul of important data can be ensured, and the impact on other data transmissions can be minimized as much as possible, improving the reliability and stability of the entire data backhaul system.

[0038] Embodiment 3: In this embodiment, for the case where the target unmanned ship includes different priorities (the first-priority unmanned ship and the second-priority unmanned ship, the data transmission priority of the first-priority unmanned ship is the emergency level, and the data transmission priority of the second-priority unmanned ship is the normal level), the process of performing data transmission path planning based on data transmission priorities is described in detail. In the urban water area monitoring task, there are multiple waterborne unmanned ships with different priorities. For example, there is a first-priority unmanned ship A, which is responsible for monitoring possible sudden pollution events, and the data is urgent; there are also multiple second-priority unmanned ships B, C, D, etc., which perform routine water quality, water level and other monitoring work.

[0039] When performing data transmission path planning, first determine the data transmission path corresponding to the second-priority unmanned ship based on the order of the emergency level and the normal level. Taking the unmanned ship B as an example, select the target relay node according to the communication quality index of the communication relay node, and construct a data transmission path from its data acquisition node to the data backhaul central node. During the path construction process, calculate the communication quality index of each adjacent communication node relative to the data acquisition node and the data backhaul central node, and select the optimal node as the relay node on the path until reaching the data backhaul central node.

[0040] Then, based on the real-time communication timing diagram, obtain the packet arrival times of the unmanned ship B at each target relay node in the corresponding data transmission path. Assume that the data transmission path of the unmanned ship B includes relay nodes Y, Z, and W. By checking the real-time communication timing diagram, the specific times when the packets arrive at the nodes Y, Z, and W can be determined. For example, the time when the packet arrives at the node Y is T1, the time when it arrives at the node Z is T2, and the time when it arrives at the node W is T3.

[0041] Next, based on the arrival times of these data packets, the data transmission path of the unmanned ship B is planned in combination with the real-time communication timing diagram. If it is found during the planning process that a communication channel conflict may occur at a certain relay node, it is processed according to the priority of the unmanned ship. Since the unmanned ship B is a second-priority unmanned ship, if a data transmission conflict occurs with a first-priority unmanned ship, the data transmission of the first-priority unmanned ship should be guaranteed first. For example, if it is found that node Z may conflict with the data transmission of the unmanned ship A at a certain moment, the transmission path of the unmanned ship B can be adjusted at this time to bypass node Z, or its transmission time can be adjusted to avoid the conflict moment. In this way, in the case of unmanned ships with different priorities, the data transmission path is reasonably planned to ensure that emergency data can be transmitted back preferentially and stably, while taking into account the transmission requirements of regular data, and improving the performance of the entire data backhaul system.

[0042] Embodiment 4: This embodiment further details the process of calculating the communication quality indicators of each adjacent communication node relative to the data acquisition node and the data backhaul center node, and the specific operation of determining the first target relay node based on the communication quality indicators. In the urban water area monitoring scenario, when an unmanned ship needs to determine the data transmission path, the communication quality indicators of adjacent communication nodes need to be calculated and analyzed.

[0043] Taking an unmanned ship as an example, assume that there are multiple adjacent communication nodes around its data acquisition node. First, calculate the first signal strength indicator of each adjacent communication node from the data acquisition node. In actual operation, these data can be obtained through the signal strength detection device installed on the unmanned ship. This device can measure the signal strength with each adjacent communication node in real time. For example, for adjacent communication nodes Q, R, and S, the signal strength between the unmanned ship and node Q is a certain value (represented by a specific strength value, such as 50 dBm, just for example), the signal strength with node R is 45 dBm, and the signal strength with node S is 40 dBm.

[0044] At the same time, calculate the second transmission delay indicator of each adjacent communication node from the data backhaul center node. This can be achieved by setting time recording devices on the communication node and the data backhaul center node. When data is transmitted from the adjacent communication node to the data backhaul center node, record the start and end times of the data transmission, so as to calculate the transmission delay. Assume that the transmission delay of node Q to the data backhaul center node is 30 ms, the delay of node R is 25 ms, and the delay of node S is 20 ms.

[0045] For each adjacent communication node, the first signal strength index and the second transmission delay index are comprehensively evaluated to obtain a communication quality index. Here, a weighted method is adopted (without involving formulas, understood as comprehensively considering according to the importance of the two). Assuming that the weight of signal strength is larger because a stronger signal helps to ensure the stability of data transmission. After comprehensive evaluation, it is concluded that the communication quality index of node R is the best.

[0046] Next, determine the first target relay node. Store the communication quality indexes corresponding to multiple adjacent communication nodes in a communication quality evaluation list. For example, record the communication quality indexes of nodes Q, R, and S in the list in sequence. Then, sort the communication quality indexes in descending order in the communication quality evaluation list to obtain a sorting result. It can be seen from the sorting result that the communication quality index of node R is the best, so node R is determined as the first target relay node. Through this detailed calculation and screening process, the node with the best communication quality can be accurately selected as the first target relay node on the data transmission path, laying a foundation for constructing a stable and efficient data transmission path in the future.

[0047] Embodiment 5: This embodiment details the process of dynamic data transmission path planning when communication interference occurs after each target unmanned ship starts transmission according to the data feedback planning result. In urban water area monitoring, multiple unmanned surface vehicles perform data transmission according to the established data feedback planning result. During the transmission process, it is necessary to detect the communication interference distance between the target unmanned ship and at least one adjacent target unmanned ship in real time.

[0048] Suppose at a certain moment, unmanned ship E is performing data transmission. Through a distance detection device (such as a radar) installed on unmanned ship E, the distance between it and adjacent unmanned ships is monitored in real time. When it is found that the communication interference distance between unmanned ship E and adjacent unmanned ship F is less than the preset safety threshold, unmanned ship F is regarded as the interference source.

[0049] At this time, based on the interference source, dynamic data transmission path planning is carried out for unmanned ship E. First, analyze the current data transmission path of unmanned ship E to check which relay nodes on the path may be interfered by unmanned ship F. Suppose the data transmission path of unmanned ship E includes relay nodes G, H, and I. After analysis, it is found that nodes G and H may be interfered by unmanned ship F.

[0050] Then, check whether there are other available relay nodes to avoid interference. On the monitoring area map, spare relay nodes J and K are found. Recalculate the communication quality indexes from the data acquisition node of unmanned ship E through nodes J and K to the data feedback center node, and evaluate the feasibility of this new path. The communication quality index is calculated using the following formula:

[0051] Among them, represents the signal strength (unit: dBm), represents the transmission delay (unit: ms), is the weight coefficient of the signal strength, and its value range is , which is set according to the actual situation and is used to measure the relative importance of signal strength and transmission delay in the communication quality assessment.

[0052] If the communication quality index of the new path meets the requirements, then this new path is determined as the updated data transmission path of the unmanned ship E. For example, after calculation and evaluation, it is determined that the path from the data acquisition node of the unmanned ship E through nodes J and K to the data backhaul center node can effectively avoid the interference of the unmanned ship F and the communication quality is stable. Therefore, this path is used as the updated data transmission path of the unmanned ship E. Through this dynamic data transmission path planning method, in the case of communication interference, the data transmission path of the unmanned ship can be adjusted in time to ensure the stability and reliability of data transmission and ensure that the urban water area monitoring data can be successfully backhauled.

[0053] Embodiment 6: This embodiment describes the process in which the generation module dynamically adjusts the communication quality index of the communication relay node according to the real-time environmental monitoring data and regenerates the data transmission path of the target unmanned ship based on the updated communication quality index. During the urban water area monitoring process, the environment is constantly changing, and these changes will affect the communication quality of the communication relay node. For example, changes in weather conditions (such as heavy rain, strong wind, etc.) may cause the signal strength to weaken and the transmission delay to increase; the increase in the number of ships in the water area may also cause signal interference and affect the communication quality.

[0054] Suppose that during a certain period of time, strong wind weather appears in the urban water area. The environmental monitoring devices (such as wind speed sensors, signal interference monitors, etc.) installed on each communication relay node and unmanned ship will collect environmental data in real time and transmit this data to the generation module. The generation module dynamically adjusts the communication quality index of the communication relay node according to these real-time environmental monitoring data. For the communication relay node that is greatly affected by the strong wind, its signal strength may decrease and the transmission delay may increase. The generation module will accordingly adjust its communication quality index to make its comprehensive evaluation value decrease.

[0055] Taking an unmanned ship as an example, its original data transmission path passed through relay nodes L, M, and N. After the environment changes, the generation module re-evaluates the path based on the updated communication quality metrics. When calculating the communication quality metrics of the communication nodes adjacent to the data acquisition node, it is found that due to the environmental changes, the communication quality metric of node M, which originally had good communication quality, has decreased, while the communication quality metric of another node O that was not selected before has increased. Therefore, based on the new communication quality metrics, the target relay nodes are re-determined. Starting from the data acquisition node, the node with the optimal communication quality metric is selected as the first target relay node, and then the subsequent target relay nodes are determined in sequence until the data backhaul central node is reached. Finally, a new data transmission path is constructed, which may pass through nodes L, O, and N. By dynamically adjusting the communication quality metrics according to the real-time environmental monitoring data and regenerating the data transmission path in this way, the data transmission of the unmanned ship on water can better adapt to the complex and changeable urban water environment, improve the efficiency and stability of data backhaul, and ensure that the monitoring data can be accurately and timely transmitted to the data backhaul center.

[0056] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0057] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for transmitting data of unmanned watercraft based on urban water monitoring, characterized in that: The method comprises: Acquire multiple target unmanned ships, and determine the data collection node and the data return center node of each of the target unmanned ships from a preset monitoring area map, wherein the monitoring area map includes multiple communication relay nodes located between the data collection node and the data return center node; For each of the target unmanned ships, multiple target relay nodes with the best communication quality indicators are selected based on the communication quality indicators of each of the communication relay nodes relative to the data collection node and the data return center node, and a data transmission path of the target unmanned ship is generated according to the multiple target relay nodes; For each of the target unmanned ships, the data transmission rate of the target unmanned ship is obtained, and based on the sub-link transmission index between the target relay nodes included in the data transmission path and the data transmission rate, the arrival time of the data packet when the target unmanned ship passes through multiple target relay nodes is determined; Marking the arrival time of the data packet for each target relay node in the monitoring area map to obtain a real-time communication timing diagram; For each of the target relay nodes, detecting a communication channel conflict according to the arrival time of the data packet to obtain a conflict detection result; A data transmission path is planned based on the conflict detection result to obtain a data return planning result.

2. The method for transmitting data of unmanned watercraft based on urban water monitoring according to claim 1 is characterized in that: The communication quality index is a comprehensive evaluation value of the signal strength and transmission delay transmitted from the data acquisition node to each communication relay node, and from each communication relay node to the data backhaul central node for each communication relay node; the data transmission path is a planned path from the data acquisition node to the data backhaul central node, and is an optimal communication link formed by the selected multiple target relay nodes.

3. The method for transmitting data of unmanned watercraft based on urban water monitoring according to claim 1 is characterized in that: The data transmission path planning is performed based on the conflict detection result to obtain the data return planning result, including: when the conflict detection result indicates that there is a conflict in the arrival times of multiple data packets contained in the target relay node, the target relay node is determined as a conflict relay node; the arrival time of the data packet generating the conflict at the conflict relay node is obtained as the conflict period, and the data transmission priority of the multiple target unmanned ships corresponding to the conflict period is determined; the data transmission path is planned for the target unmanned ship based on the data transmission priority to obtain the data return planning result.

4. The method for transmitting data of unmanned watercraft based on urban water monitoring according to claim 1 is characterized in that: The target unmanned ships include a first-priority unmanned ship and a second-priority unmanned ship, the data transmission priority of the first-priority unmanned ship is an emergency level, and the data transmission priority of the second-priority unmanned ship is a regular level; The performing data transmission path planning for the target unmanned ship based on the data transmission priority to obtain a data return planning result includes: Based on the order of the emergency level and the regular level, determining a data transmission path corresponding to the second-priority unmanned ship; Based on the real-time communication timing diagram, obtaining the arrival time of the data packets of the second priority unmanned ship at each target relay node in the corresponding data transmission path; Based on the arrival time of the data packet and in combination with the real-time communication timing diagram, a data transmission path is planned for the second priority unmanned ship to obtain a data return planning result.

5. The method for transmitting data of unmanned watercraft based on urban water monitoring according to claim 1 is characterized in that: For each of the target unmanned ships, based on the communication quality indicators of each of the communication relay nodes relative to the data acquisition node and the data return center node, a plurality of target relay nodes with the best communication quality indicators are selected, and a data transmission path of the target unmanned ship is generated according to the plurality of target relay nodes, including: For each of the target unmanned ships, determining a plurality of adjacent communication nodes adjacent to the data collection node; Calculating the communication quality index of each adjacent communication node relative to the data collection node and the data backhaul central node, and determining a first target relay node with the best communication quality index from the plurality of adjacent communication nodes based on the plurality of communication quality indexes; Taking the first target relay node as a starting point, determining a plurality of adjacent communication nodes adjacent to the target relay node, calculating a communication quality index of each adjacent communication node relative to the data collection node and the data backhaul center node, and determining a next target relay node with the best communication quality index from the plurality of adjacent communication nodes adjacent to the target relay node based on the plurality of communication quality indexes; Repeat the steps of determining a plurality of adjacent communication nodes adjacent to the target relay node, calculating a communication quality index of each adjacent communication node relative to the data acquisition node and the data backhaul central node, and determining a next target relay node with the best communication quality index from the plurality of adjacent communication nodes adjacent to the target relay node based on the plurality of communication quality indexes, until the next target relay node is determined to be the data backhaul central node, so as to obtain a plurality of target relay nodes between the data acquisition node and the data backhaul central node; The data transmission path of the target unmanned ship is generated based on multiple target relay nodes.

6. The method for transmitting data of unmanned watercraft based on urban water monitoring according to claim 5 is characterized in that: The calculating of the communication quality index of each adjacent communication node relative to the data collection node and the data backhaul central node comprises: Respectively calculating a first signal strength index of each of the adjacent communication nodes from the data collection node, and a second transmission delay index of each of the adjacent communication nodes from the data backhaul central node; For each of the adjacent communication nodes, a weighted value of the first signal strength index and the second transmission delay index is used as a communication quality index of the adjacent communication node relative to the data collection node and the data backhaul central node.

7. The method for transmitting data of unmanned watercraft based on urban water monitoring according to claim 5 is characterized in that: The determining, based on the plurality of communication quality indicators, a first target relay node having the best communication quality indicator from the plurality of adjacent communication nodes comprises: storing the plurality of communication quality indicators corresponding to the plurality of adjacent communication nodes into a communication quality evaluation list, and sorting the communication quality indicators in the communication quality evaluation list in descending order to obtain a sorting result; Based on the ranking result, the adjacent communication node corresponding to the optimal communication quality indicator is determined as the first target relay node.

8. The method for transmitting data of unmanned watercraft based on urban water monitoring according to claim 1 is characterized in that: After performing data transmission path planning based on the conflict detection result and obtaining the data return planning result, the method further includes: When each of the target unmanned ships starts transmitting according to the data feedback planning result, for each of the target unmanned ships, the communication interference distance between the target unmanned ship and at least one adjacent target unmanned ship is detected in real time; When the communication interference distance between the target unmanned ship and the adjacent target unmanned ship is less than a preset safety threshold, the adjacent target unmanned ship is used as an interference source, and dynamic data transmission path planning is performed on the target unmanned ship based on the interference source to obtain an updated data transmission path of the target unmanned ship.

9. A data transmission device for unmanned watercraft based on urban water monitoring, characterized in that: The device comprises: An acquisition module, used to acquire multiple target unmanned ships, and determine the data acquisition node and data return center node of each of the target unmanned ships from a preset monitoring area map, wherein the monitoring area map includes multiple communication relay nodes located between the data acquisition node and the data return center node; A generation module is used to select, for each of the target unmanned ships, a plurality of target relay nodes with the best communication quality index based on the communication quality index of each communication relay node relative to the data acquisition node and the data return central node, and generate a data transmission path of the target unmanned ship according to the plurality of target relay nodes; wherein the communication quality index is a comprehensive evaluation value of the signal strength and transmission delay transmitted from the data acquisition node to each communication relay node, and from each communication relay node to the data return central node for each communication relay node; the data transmission path is a planned path from the data acquisition node to the data return central node, and is an optimal communication link formed by the selected plurality of target relay nodes; A determination module, configured to obtain the data transmission rate of each target unmanned ship, and determine the arrival time of a data packet when the target unmanned ship passes through a plurality of target relay nodes based on the sub-link transmission index and the data transmission rate between the target relay nodes included in the data transmission path; A marking module, used for marking the arrival time of the data packet for each target relay node in the monitoring area map to obtain a real-time communication timing diagram; A detection module, configured to detect communication channel conflicts for each target relay node according to the arrival time of the data packet, and obtain a conflict detection result; A planning module is used to plan a data transmission path based on the conflict detection result to obtain a data return planning result; the data transmission path planning based on the conflict detection result to obtain a data return planning result includes: when the conflict detection result indicates that there is a conflict in the arrival times of multiple data packets contained in the target relay node, the target relay node is determined as a conflict relay node; the arrival time of the data packet generating the conflict at the conflict relay node is obtained as a conflict period, and the data transmission priority of the multiple target unmanned ships corresponding to the conflict period is determined; the data transmission path is planned for the target unmanned ship based on the data transmission priority to obtain a data return planning result.

10. The data return device for unmanned watercraft based on urban water monitoring according to claim 9 is characterized in that: The generation module is also used for: The communication quality index of the communication relay node is dynamically adjusted according to the real-time environmental monitoring data, and the data transmission path of the target unmanned ship is regenerated based on the updated communication quality index.

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