Multi-robot collaborative operation method and system based on underwater communication

Abstract

The invention discloses a multi-robot collaborative operation method and system based on underwater communication, and belongs to the technical field of underwater robots. The multi-robot collaborative operation method comprises the following steps: initializing quantity information of robot collaborative work, initializing layout position information of each robot, and determining the number of robots; according to the layout position information of the robots and the number information of cooperative work of the robots, a multi-robot cooperative cluster communication network is constructed, and finally communication condition data of each communication area in the multi-robot cooperative cluster communication network is evaluated. And the multi-robot collaborative cluster communication network is dynamically adjusted according to the communication condition data of the communication area. According to the invention, multiple robots are fused to carry out underwater tasks, a multi-robot collaborative cluster communication network can be constructed, so that the robots can communicate with one another, and multiple robots carry out collaborative data acquisition through the multi-robot collaborative cluster communication network, so that data acquisition is faster and more efficient. The problem that data acquisition is not timely due to the communication problem of a single robot is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and particularly to a multi-robot collaborative operation method and system based on underwater communication. Background Art

[0002] With the rapid development of computer technology and artificial intelligence, autonomous underwater robot technology has also made great progress. However, a single underwater robot is difficult to adapt to unknown, complex, and changing working environments. To solve this problem, multiple underwater robots can coordinate and cooperate to complete complex tasks. The key to multi-underwater robot formation control technology is to study the coordination and cooperation between multiple robots. The multi-robot formation system has many advantages, including flexibility, robustness, self-adaptability, and reliability, and can effectively complete special missions that are difficult for a single robot to complete, such as defending key protected areas, capturing enemy intruders, and carrying large objects. Secondly, due to the instability of underwater communication, a single robot is prone to losing contact during task execution, resulting in the inability of the remote terminal to control, and ultimately the underwater robot cannot complete the established goal. Multiple robots can overcome the defects of a single robot, enabling robots to communicate with each other and form a cluster network. However, the existing technology does not consider the communication situation of the robots themselves in the water area, resulting in unreasonable robot layout. Summary of the Invention

[0003] The present invention overcomes the deficiencies of the prior art and provides a multi-robot collaborative operation method and system based on underwater communication.

[0004] To achieve the above object, the technical solution adopted by the present invention is as follows: The first aspect of the present invention provides a multi-robot collaborative operation method based on underwater communication, including the following steps: Obtain the underwater environmental characteristic data in the target water area, and sense the communication perception range of the current robot according to the underwater environmental characteristic data in the target water area to obtain the estimated communication perception range; Combine the communication task information of the current robot and the estimated communication perception range to initialize the quantity information of the robots working collaboratively; Initialize the layout position information of each robot, and construct a multi-robot collaborative cluster communication network according to the layout position information of the robots and the quantity information of the robots working collaboratively; Evaluate the communication situation data of each communication area in the multi-robot collaborative cluster communication network, and dynamically adjust the multi-robot collaborative cluster communication network according to the communication situation data of the communication area.

[0005] Further, in this method, the communication perception range of the current robot is perceived according to the underwater environmental characteristic data in the target water area to obtain an estimated communication perception range, specifically: Obtain the underwater environmental characteristics of the target water area under different seasons, and construct an underwater communication environment test index based on the underwater environmental characteristics of the target water area under different seasons; Conduct a communication test on the current underwater robot based on the underwater communication environment test index, obtain the communication perception range of the robot under the current underwater communication environment test index, and record the communication perception range of the robot under the current underwater communication environment test index; Obtain the underwater environmental characteristics of the current target water area, and obtain the communication perception range under the underwater environmental characteristics of the current target water area based on the communication perception range of the robot under the current underwater communication environment test index and the underwater environmental characteristics of the current target water area; Generate an estimated communication perception range according to the communication perception range under the underwater environmental characteristics of the current target water area, and output the estimated communication perception range.

[0006] Further, in this method, the number information of robots working collaboratively is initialized by combining the communication task information of the current robot and the estimated communication perception range, specifically including: Obtain the communication task information of the current robot, and obtain the communication perception task range of the current robot according to the communication task information of the current robot; Obtain the upper limit value of the estimated communication perception distance of the robot based on the estimated communication perception range, and calculate the number information of robots required to work collaboratively according to the upper limit value of the estimated communication perception distance of the robot and the communication perception task range of the current robot; Initialize the number information of robots working collaboratively based on the number information of robots required to work, and output the number information of robots working collaboratively.

[0007] Further, in this method, the layout position information of each robot is initialized, and a multi-robot collaborative cluster communication network is constructed according to the layout position information of the robot and the number information of robots working collaboratively, specifically: Initialize the layout position information of each robot, so that the area composed of adjacent robots is a communication perception area, and obtain the estimated communication perception range information of each robot in the water area where the working layout position is located; Calculate the total communication coverage range information based on the estimated communication perception range information of the robot in the water area where the working layout position is located and the number information of robots working collaboratively; Obtain the maximum stealth area range of the current robot in the target water area, and determine whether the maximum stealth area range of the current robot in the target water area is not greater than the total communication coverage range information; When the maximum stealth area range of the current robot in the target water area is not greater than the total communication coverage range information, re-plan the layout position information of each robot; When the maximum stealth area range of the current robot in the target water area is greater than the total communication coverage range information, work according to the layout position information of the current robot, and construct a multi-robot collaborative cluster communication network.

[0008] Further, in this method, evaluate the communication situation data of each communication area in the multi-robot collaborative cluster communication network, specifically: Continuously monitor the layout position information of each robot in the multi-robot collaborative cluster communication network, and obtain the communication feature data of the communication area between two adjacent robots; Set the communication feature data evaluation index, and determine whether the communication feature data of the communication area between two adjacent robots is greater than the communication feature data evaluation index; When the communication feature data of the communication area between two adjacent robots is greater than the communication feature data evaluation index, generate an abnormal communication area; When the communication feature data of the communication area between two adjacent robots is greater than the communication feature data evaluation index, generate a normal communication area, and output the abnormal communication area and the normal communication area as the communication situation data.

[0009] Further, in this method, dynamically adjust the multi-robot collaborative cluster communication network according to the communication situation data of the communication area, specifically: Introduce the particle swarm optimization algorithm, set the number of iterations based on the particle swarm optimization algorithm, and determine whether there is an abnormal communication area in the communication situation data of the communication area; When there is an abnormal communication area in the communication situation data of the communication area, obtain the layout position information of the robot corresponding to the abnormal communication area, and dynamically adjust the layout position information of the robot corresponding to the abnormal communication area; Dynamically adjust the robot according to the layout position information of the robot corresponding to the abnormal communication area, and test whether there is still an abnormal communication area. If there is still an abnormal communication area, perform iteration based on the number of iterations, and continue to adjust the layout position information of the robot corresponding to the abnormal communication area; If there is no abnormal communication area, output the layout position information of the current robot, and continue the task according to the layout position information of the current robot.

[0010] In the second aspect of the present invention, a multi-robot collaborative operation system based on underwater communication is provided, including a memory and a processor. The memory includes a program for the multi-robot collaborative operation method based on underwater communication. When the program for the multi-robot collaborative operation method based on underwater communication is executed by the processor, the steps of any one of the multi-robot collaborative operation methods based on underwater communication are implemented.

[0011] In the third aspect of the present invention, a computer-readable storage medium is provided, including a program for the multi-robot collaborative operation method based on underwater communication. When the program for the multi-robot collaborative operation method based on underwater communication is executed by a processor, the steps of any one of the multi-robot collaborative operation methods based on underwater communication are implemented.

[0012] The present invention solves the defects in the background technology and has the following beneficial effects: The present invention obtains the underwater environment feature data in the target water area, senses the communication perception range of the current robot according to the underwater environment feature data in the target water area, obtains the estimated communication perception range, and then initializes the number information of the robots working collaboratively by combining the communication task information of the current robot and the estimated communication perception range, thereby initializing the layout position information of each robot, and constructs a multi-robot collaborative cluster communication network according to the layout position information of the robots and the number information of the robots working collaboratively. Finally, it evaluates the communication situation data of each communication area in the multi-robot collaborative cluster communication network and dynamically adjusts the multi-robot collaborative cluster communication network according to the communication situation data of the communication area. By integrating multiple robots to perform underwater tasks, the present invention can construct a multi-robot collaborative cluster communication network, enabling communication between robots. Through the multi-robot collaborative cluster communication network, multiple robots perform collaborative data collection, making the data collection more rapid and solving the problem of untimely data collection caused by communication problems of a single robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0014] Figure 1 Shows the overall flowchart of the multi-robot collaborative operation method based on underwater communication; Figure 2 Shows the system block diagram of the multi-robot collaborative operation system based on underwater communication. Detailed implementation manners

[0015] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0016] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0017] As Figure 1 shown, the first aspect of the present invention provides a multi-robot collaborative operation method based on underwater communication, including the following steps: S102: Obtain the underwater environmental characteristic data in the target water area, and sense the communication perception range of the current robot according to the underwater environmental characteristic data in the target water area to obtain the estimated communication perception range; S104: Initialize the number information of the collaborative work of the robots by combining the communication task information of the current robot and the estimated communication perception range; S106: Initialize the layout position information of each robot, and construct a multi-robot collaborative cluster communication network according to the layout position information of the robots and the number information of the collaborative work of the robots; S108: Evaluate the communication situation data of each communication area in the multi-robot collaborative cluster communication network, and dynamically adjust the multi-robot collaborative cluster communication network according to the communication situation data of the communication area.

[0018] It should be noted that by integrating multiple robots to perform underwater tasks, the present invention can construct a multi-robot collaborative cluster communication network, enabling communication between robots. Through the multi-robot collaborative cluster communication network, multi-robots perform collaborative data collection, making the data collection more efficient and solving the problem of untimely data collection caused by communication problems of a single robot.

[0019] Further, in this method, sensing the communication perception range of the current robot according to the underwater environmental characteristic data in the target water area to obtain the estimated communication perception range is specifically: Obtain the underwater environmental characteristics of the target water area under different seasonal conditions, and construct an underwater communication environment test index based on the underwater environmental characteristics of the target water area under different seasonal conditions; Conduct communication tests on the current underwater robot based on the test indicators of the underwater communication environment, obtain the communication perception range of the robot under the current underwater communication environment test indicators, and record the communication perception range of the robot under the current underwater communication environment test indicators; Obtain the underwater environmental characteristics of the current target water area, and obtain the communication perception range under the underwater environmental characteristics of the current target water area based on the communication perception range of the robot under the current underwater communication environment test indicators and the underwater environmental characteristics of the current target water area; Generate an estimated communication perception range according to the communication perception range under the underwater environmental characteristics of the current target water area, and output the estimated communication perception range.

[0020] It should be noted that the underwater environmental characteristics include data such as temperature, humidity, and salinity. Since different underwater environmental characteristics have different communication perception ranges for the robot, that is, the communication has a certain distance upper limit, the communication perception range under the underwater environmental characteristics of the current target water area can be obtained through this method.

[0021] Furthermore, in this method, initialize the number information of robots working in cooperation by combining the communication task information of the current robot and the estimated communication perception range, specifically including: Obtain the communication task information of the current robot, and obtain the communication perception task range of the current robot according to the communication task information of the current robot; Obtain the upper limit value of the estimated communication perception distance of the robot based on the estimated communication perception range, and calculate the number information of robots required to work in cooperation according to the upper limit value of the estimated communication perception distance of the robot and the communication perception task range of the current robot; Initialize the number information of robots working in cooperation based on the number information of robots required to work, and output the number information of robots working in cooperation.

[0022] It should be noted that by calculating the number information of robots required to work in cooperation according to the upper limit value of the estimated communication perception distance of the robot and the communication perception task range of the current robot, the configuration can be carried out according to the number information of robots required to work in cooperation Furthermore, in this method, initialize the layout position information of each robot, and construct a multi-robot cooperative cluster communication network according to the layout position information of the robot and the number information of robots working in cooperation, specifically: Initialize the layout position information of each robot, so that the area composed of adjacent robots is a communication perception area, and obtain the estimated communication perception range information of each robot in the water area where the working layout position is located; The total communication coverage information is calculated based on the estimated communication perception range information of the robots in the waters where the work layout is located and the number of robots working in collaboration; Obtain the maximum stealth range of the current robot in the target waters, and determine whether the maximum stealth range of the current robot in the target waters is not greater than the total communication coverage range information; When the maximum sneaking area of ​​the current robot in the target water area is not greater than the total communication coverage information, the layout position information of each robot is replanned; When the maximum sneaking area of ​​the current robot in the target water area is larger than the total communication coverage information, the robot will work according to the layout position information of the current robot and build a multi-robot collaborative cluster communication network.

[0023] It should be noted that, by configuring the layout position information of each robot, the area composed of adjacent robots is made into a communication perception area, and finally a multi-robot collaborative cluster communication network is formed, so that the perception area where each robot is located belongs to a data collection task area, and the adjacent robots can communicate with each other. Therefore, through this method, the area where each robot is located in the multi-robot collaborative cluster communication network can communicate. For example, after multiple information transmissions from the farthest robot, it can be transmitted from the farthest robot to the nearest robot. It is also suitable for deep-sea operations. Through this method, the number of robots required to work and the layout position of the robots can be calculated, the rationality of the robot layout can be improved, the more appropriate number of robots required to work and the layout position of the robots can be calculated, and the allocation of resources can be optimized.

[0024] Furthermore, in this method, the communication status data of each communication area in the multi-robot collaborative cluster communication network is evaluated, specifically: Continuously monitor the layout location information of each robot in the multi-robot collaborative cluster communication network, and obtain the communication feature data of the communication area between two adjacent robots; Setting a communication characteristic data evaluation index, and determining whether the communication characteristic data in the communication area between two adjacent robots is greater than the communication characteristic data evaluation index; When the communication characteristic data of the communication area between two adjacent robots is greater than the communication characteristic data evaluation index, an abnormal communication area is generated; When the communication characteristic data of the communication area between two adjacent robots is greater than the communication characteristic data evaluation index, a normal communication area is generated, and the abnormal communication area and the normal communication area are output as communication status data.

[0025] It should be noted that the communication feature data includes the data transmission volume per unit time, data transmission rate, etc.

[0026] Furthermore, in this method, the multi-robot collaborative cluster communication network is dynamically adjusted according to the communication situation data of the communication area. Specifically: The particle swarm optimization algorithm is introduced, and the number of iterations is set based on the particle swarm optimization algorithm to determine whether there is an abnormal communication area in the communication situation data of the communication area; When there is an abnormal communication area in the communication situation data of the communication area, obtain the layout position information of the robot corresponding to the abnormal communication area, and dynamically adjust the layout position information of the robot corresponding to the abnormal communication area; Dynamically adjust the robots according to the layout position information of the robots corresponding to the abnormal communication area, and test whether there is still an abnormal communication area. If there is still an abnormal communication area, iterate based on the number of iterations and continue to adjust the layout position information of the robots corresponding to the abnormal communication area; If there is no abnormal communication area, output the layout position information of the current robots, and continue the task according to the layout position information of the current robots.

[0027] It should be noted that through this method, the communication situation of the multi-robot collaborative cluster communication network is monitored at all times, so as to further optimize the layout position information of the corresponding robots.

[0028] In addition, this method also includes: Obtain the information transmission upper limit feature data of each underwater robot during information transmission and the data size information of the underwater robot that needs to perform information transmission at the current timestamp; Judge whether there is a situation where the data size information of the underwater robot that needs to perform information transmission at the current timestamp is greater than the information transmission upper limit feature data of the underwater robot during information transmission; When there is a situation where the data size information of the underwater robot that needs to perform information transmission at the current timestamp is greater than the information transmission upper limit feature data of the underwater robot during information transmission, compress the data size information of the underwater robot that needs to perform information transmission at the current timestamp, and transmit the compressed data through the multi-robot collaborative cluster communication network; When there is no situation where the data size information of the underwater robot that needs to perform information transmission at the current timestamp is greater than the information transmission upper limit feature data of the underwater robot during information transmission, transmit the data size information of the underwater robot that needs to perform information transmission at the current timestamp through the multi-robot collaborative cluster communication network.

[0029] It should be noted that since there is also an upper limit on the amount of information transmitted by a robot within a unit time or a preset time, that is, each robot will result in a large amount of data due to transmission or aggregation. Through this method, the data collection of the multi-robot collaborative cluster communication network can be further optimized, thereby optimizing the underwater data transmission.

[0030] In addition, this method further includes: Taking each underwater robot as a transmission node, obtaining the location of the transmission node where information needs to be transmitted currently, randomly selecting several information transmission nodes to construct an information transmission path for data transmission, and obtaining the information transmission size data of each transmission node in the information transmission path within a unit time; Judging whether there is an information transmission node in the information transmission path whose information transmission size data within a unit time is greater than the information transmission upper limit characteristic data of the underwater robot during information transmission; When there is an information transmission node in the information transmission path whose information transmission size data within a unit time is greater than the information transmission upper limit characteristic data of the underwater robot during information transmission, re-plan the information transmission path for data transmission; When there is an information transmission node in the information transmission path whose information transmission size data within a unit time is not greater than the information transmission upper limit characteristic data of the underwater robot during information transmission, perform data transmission according to the current information transmission path.

[0031] It should be noted that since each underwater robot serves as an information transmission node, multiple robots can cooperate to complete tasks. When there is an information transmission node in the information transmission path whose information transmission size data within a unit time is greater than the information transmission upper limit characteristic data of the underwater robot during information transmission, it means that this information transmission path does not meet the requirements and is prone to losing some data. Through this method, the situation of data loss during the cooperative task of underwater robots can be avoided, and the information transmission success rate of the multi-robot collaborative cluster communication network can also be improved.

[0032] As Figure 2 shown, the second aspect of the present invention provides a multi-robot collaborative operation system 4 based on underwater communication, including a memory 41 and a processor 42. The memory 41 includes a multi-robot collaborative operation method program based on underwater communication. When the multi-robot collaborative operation method program based on underwater communication is executed by the processor 42, the following steps are implemented: Obtain the underwater environment characteristic data in the target water area, and sense the communication perception range of the current robot according to the underwater environment characteristic data in the target water area to obtain the estimated communication perception range; Initialize the number information of robots working collaboratively by combining the communication task information of the current robot and the estimated communication perception range; Initialize the layout position information of each robot, and construct a multi-robot collaborative cluster communication network based on the layout position information of the robots and the number information of robots working collaboratively; Evaluate the communication situation data of each communication area in the multi-robot collaborative cluster communication network, and dynamically adjust the multi-robot collaborative cluster communication network according to the communication situation data of the communication area.

[0033] Furthermore, in this system, the communication perception range of the current robot is sensed according to the underwater environment characteristic data in the target water area to obtain the estimated communication perception range. Specifically: Obtain the underwater environment characteristics of the target water area under different seasons, and construct underwater communication environment test indicators based on the underwater environment characteristics of the target water area under different seasons; Conduct a communication test on the current underwater robot based on the underwater communication environment test indicators, obtain the communication perception range of the robot under the current underwater communication environment test indicators, and record the communication perception range of the robot under the current underwater communication environment test indicators; Obtain the underwater environment characteristics of the current target water area, and obtain the communication perception range under the underwater environment characteristics of the current target water area based on the communication perception range of the robot under the current underwater communication environment test indicators and the underwater environment characteristics of the current target water area; Generate the estimated communication perception range according to the communication perception range under the underwater environment characteristics of the current target water area, and output the estimated communication perception range.

[0034] Furthermore, in this system, initializing the number information of robots working collaboratively by combining the communication task information of the current robot and the estimated communication perception range specifically includes: Obtain the communication task information of the current robot, and obtain the communication perception task range of the current robot according to the communication task information of the current robot; Obtain the upper limit value of the estimated communication perception distance of the robot based on the estimated communication perception range, and calculate the number information of robots required to work collaboratively according to the upper limit value of the estimated communication perception distance of the robot and the communication perception task range of the current robot; Initialize the number information of robots working collaboratively based on the number information of robots required to work, and output the number information of robots working collaboratively.

[0035] Furthermore, in this system, initializing the layout position information of each robot, and constructing a multi-robot collaborative cluster communication network based on the layout position information of the robots and the number information of robots working collaboratively, specifically: Initialize the layout position information of each robot so that the area formed by adjacent robots is a communication perception area, and obtain the estimated communication perception range information of each robot in the water area where the working layout position is located; The total communication coverage information is calculated based on the estimated communication perception range information of the robots in the waters where the work layout is located and the number of robots working in collaboration; Obtain the maximum stealth range of the current robot in the target waters, and determine whether the maximum stealth range of the current robot in the target waters is not greater than the total communication coverage range information; When the maximum sneaking area of ​​the current robot in the target water area is not greater than the total communication coverage information, the layout position information of each robot is replanned; When the maximum sneaking area of ​​the current robot in the target water area is larger than the total communication coverage information, the robot will work according to the layout position information of the current robot and build a multi-robot collaborative cluster communication network.

[0036] Furthermore, in this system, the communication data of each communication area in the multi-robot collaborative cluster communication network is evaluated, specifically: Continuously monitor the layout location information of each robot in the multi-robot collaborative cluster communication network, and obtain the communication feature data of the communication area between two adjacent robots; Setting a communication characteristic data evaluation index, and determining whether the communication characteristic data in the communication area between two adjacent robots is greater than the communication characteristic data evaluation index; When the communication characteristic data of the communication area between two adjacent robots is greater than the communication characteristic data evaluation index, an abnormal communication area is generated; When the communication characteristic data of the communication area between two adjacent robots is greater than the communication characteristic data evaluation index, a normal communication area is generated, and the abnormal communication area and the normal communication area are output as communication status data.

[0037] Furthermore, in this system, the multi-robot collaborative cluster communication network is dynamically adjusted according to the communication status data of the communication area, specifically: The particle swarm algorithm is introduced, and the number of iterations is set based on the particle swarm algorithm to determine whether there are abnormal communication areas in the communication situation data of the communication area; When there is an abnormal communication area in the communication situation data of the communication area, the layout position information of the robot corresponding to the abnormal communication area is obtained, and the layout position information of the robot corresponding to the abnormal communication area is dynamically adjusted; Dynamically adjust the robot according to the layout position information of the robot corresponding to the abnormal communication area, and test whether there is still an abnormal communication area. If there is still an abnormal communication area, perform iteration based on the number of iterations, and continue to adjust the layout position information of the robot corresponding to the abnormal communication area; If there is no abnormal communication area, output the layout position information of the current robot, and continue the task according to the layout position information of the current robot.

[0038] The third aspect of the present invention provides a computer-readable storage medium, including a program for a multi-robot collaborative operation method based on underwater communication. When the program for the multi-robot collaborative operation method based on underwater communication is executed by a processor, the steps of any one of the multi-robot collaborative operation methods based on underwater communication are implemented.

[0039] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed may be through some interfaces. The indirect coupling or communication connection of the devices or units may be electrical, mechanical, or other forms.

[0040] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units; they may be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0041] In addition, each functional unit in the embodiments of the present invention can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in a unit; the above integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0042] Those of ordinary skill in the art will understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0043] Alternatively, if the above integrated unit of the present invention is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of the various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, ROM, RAM, magnetic disks, or optical discs.

[0044] The above are only the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A multi-robot collaborative operation method based on underwater communication, characterized in that: The following steps are involved: Acquire underwater environmental characteristic data in the target water area, and perceive the communication perception range of the current robot according to the underwater environmental characteristic data in the target water area to obtain an estimated communication perception range; Initialize the number of robots working together based on the current robot's communication task information and the estimated communication perception range; Initializing the layout position information of each robot, and constructing a multi-robot collaborative cluster communication network according to the layout position information of the robots and the number of robots working collaboratively; The communication status data of each communication area in the multi-robot collaborative cluster communication network is evaluated, and the multi-robot collaborative cluster communication network is dynamically adjusted according to the communication status data of the communication area.

2. The multi-robot collaborative operation method based on underwater communication according to claim 1 is characterized in that: The communication perception range of the current robot is perceived according to the underwater environmental characteristic data in the target water area, and an estimated communication perception range is obtained, specifically: Acquire underwater environmental characteristics of the target waters under different seasonal conditions, and construct underwater communication environment test indicators based on the underwater environmental characteristics of the target waters under different seasonal conditions; Performing a communication test on the current underwater robot based on the underwater communication environment test index, obtaining the communication perception range of the robot under the current underwater communication environment test index, and recording the communication perception range of the robot under the current underwater communication environment test index; Acquire underwater environmental characteristics of the current target waters, and acquire the communication perception range under the underwater environmental characteristics of the current target waters based on the communication perception range of the robot under the current underwater communication environment test index and the underwater environmental characteristics of the current target waters; An estimated communication perception range is generated according to the communication perception range under the underwater environmental characteristics of the current target water area, and the estimated communication perception range is output.

3. The multi-robot collaborative operation method based on underwater communication according to claim 1 is characterized in that: Combine the current robot's communication task information and the estimated communication perception range to initialize the number of robots working together, including: Acquire the communication task information of the current robot, and acquire the communication perception task range of the current robot according to the communication task information of the current robot; Based on the estimated communication perception range, an estimated communication perception distance upper limit value of the robot is obtained, and according to the estimated communication perception distance upper limit value of the robot and the communication perception task range of the current robot, information on the number of tasks requiring the robot to work together is calculated; The quantity information of the robots' collaborative work is initialized based on the quantity information of the work that needs to be done by the robots, and the quantity information of the robots' collaborative work is output.

4. The multi-robot collaborative operation method based on underwater communication according to claim 1, characterized in that: Initialize the layout position information of each robot, and build a multi-robot collaborative cluster communication network based on the layout position information of the robots and the number of robots working together, specifically: Initialize the layout position information of each robot so that the area formed by adjacent robots is a communication perception area, and obtain the estimated communication perception range information of each robot in the water area where the working layout position is located; Calculate the total communication coverage information based on the estimated communication perception range information of the robots in the waters where the working layout positions are located and the number of robots working in collaboration; Obtaining the maximum stealth range of the current robot in the target waters, and determining whether the maximum stealth range of the current robot in the target waters is not greater than the total communication coverage range information; When the maximum sneaking area of ​​the current robot in the target water area is not greater than the total communication coverage information, the layout position information of each robot is replanned; When the maximum sneaking area of ​​the current robot in the target water area is larger than the total communication coverage information, the robot operates according to the layout position information of the current robot and builds a multi-robot collaborative cluster communication network.

5. The multi-robot collaborative operation method based on underwater communication according to claim 1, characterized in that: Evaluate the communication status data of each communication area in the multi-robot collaborative cluster communication network, specifically: Continuously monitor the layout location information of each robot in the multi-robot collaborative cluster communication network, and obtain the communication feature data of the communication area between two adjacent robots; Setting a communication characteristic data evaluation index, and determining whether the communication characteristic data of the communication area between the two adjacent robots is greater than the communication characteristic data evaluation index; When the communication characteristic data of the communication area between the two adjacent robots is greater than the communication characteristic data evaluation index, an abnormal communication area is generated; When the communication characteristic data of the communication area between the two adjacent robots is greater than the communication characteristic data evaluation index, a normal communication area is generated, and the abnormal communication area and the normal communication area are output as communication status data.

6. The multi-robot collaborative operation method based on underwater communication according to claim 1, characterized in that: The multi-robot collaborative cluster communication network is dynamically adjusted according to the communication situation data of the communication area, specifically: Introducing a particle swarm algorithm, setting the number of iterations based on the particle swarm algorithm, and determining whether there is an abnormal communication area in the communication situation data of the communication area; When there is an abnormal communication area in the communication situation data of the communication area, the layout position information of the robot corresponding to the abnormal communication area is obtained, and the layout position information of the robot corresponding to the abnormal communication area is dynamically adjusted; Dynamically adjust the robot according to the layout position information of the robot corresponding to the abnormal communication area, and test whether the abnormal communication area still exists. If it still exists, iterate based on the number of iterations to continue adjusting the layout position information of the robot corresponding to the abnormal communication area; If there is no abnormal communication area, the layout position information of the current robot is output, and the task is continued according to the layout position information of the current robot.

7. A multi-robot collaborative operation system based on underwater communication, characterized in that: It includes a memory and a processor, wherein the memory includes a multi-robot collaborative operation method program based on underwater communication, and when the multi-robot collaborative operation method program based on underwater communication is executed by the processor, the steps of the multi-robot collaborative operation method based on underwater communication as described in any one of claims 1 to 6 are implemented.

8. A computer-readable storage medium, characterized in that: It includes a multi-robot collaborative operation method program based on underwater communication. When the multi-robot collaborative operation method program based on underwater communication is executed by a processor, the steps of the multi-robot collaborative operation method based on underwater communication as described in any one of claims 1 to 6 are implemented.

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