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

Abstract

The application discloses a multi-robot cooperative operation method and system based on underwater communication and belongs to the technical field of underwater robots. The application initializes the quantity information of the cooperative operation of robots, initializes the layout position information of each robot, constructs a multi-robot cooperative cluster communication network according to the layout position information of the robots and the quantity information of the cooperative operation of the robots, finally evaluates the communication condition data of each communication area in the multi-robot cooperative cluster communication network, and dynamically adjusts the multi-robot cooperative cluster communication network according to the communication condition data of the communication area. The application can construct a multi-robot cooperative cluster communication network through the fusion of multiple robots for underwater tasks, so that the robots can communicate with each other. The multi-robot cooperative cluster communication network is used for cooperative data collection, so that the data collection is more rapid, and the problem of the untimeliness of data collection caused by the communication problem of single robots is solved.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a method and system for multi-robot collaborative operation based on underwater communication. Background Technology

[0002] With the rapid development of computer technology and artificial intelligence, autonomous underwater robot technology has also made significant progress. However, a single underwater robot struggles to adapt to unknown, complex, and ever-changing working environments. To address this issue, complex tasks can be accomplished through the coordination and collaboration of multiple underwater robots. The key to multi-robot swarm control technology lies in studying the coordination and collaboration among multiple robots. Multi-robot swarm systems offer numerous advantages, including flexibility, robustness, adaptability, and reliability, effectively enabling them to accomplish special missions that are difficult for a single robot to achieve, such as defending key protected areas, apprehending enemy intruders, and transporting large objects. Furthermore, due to the instability of underwater communication, a single robot is prone to losing contact during task execution, leading to the inability of remote terminals to control it and ultimately preventing the underwater robot from achieving its intended objectives. Multiple robots overcome the shortcomings of a single robot by enabling communication between them, forming a swarm network. However, current technologies do not consider the robot's communication capabilities within the water, resulting in inefficient robot deployment. Summary of the Invention

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

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] The first aspect of this invention provides a multi-robot cooperative operation method based on underwater communication, comprising the following steps:

[0006] Acquire underwater environmental feature data in the target water area, and based on the underwater environmental feature data in the target water area, perceive the current communication perception range of the robot and obtain the estimated communication perception range;

[0007] Initialize the number of robots working collaboratively by combining the current robot's communication task information and the estimated communication sensing range;

[0008] 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 of robots working together;

[0009] 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 based on the communication status data of the communication areas.

[0010] Further, in the method, the communication sensing range of the current robot is sensed according to the underwater environment feature data in the target water area, and an estimated communication sensing range is obtained, specifically:

[0011] The underwater environment features of the target water area under different seasonal conditions are obtained, and an underwater communication environment test index is constructed based on the underwater environment features of the target water area under different seasonal conditions;

[0012] The current underwater robot is tested for communication based on the underwater communication environment test index, the communication sensing range of the robot under the current underwater communication environment test index is obtained, and the communication sensing range of the robot under the current underwater communication environment test index is recorded;

[0013] The underwater environment features of the current target water area are obtained, and the communication sensing range under the underwater environment features of the current target water area is obtained based on the communication sensing range of the robot under the current underwater communication environment test index and the underwater environment features of the current target water area;

[0014] The estimated communication sensing range is generated according to the communication sensing range under the underwater environment features of the current target water area, and the estimated communication sensing range is output.

[0015] Further, in the method, the number of robots working together is initialized based on the communication task information of the current robot and the estimated communication sensing range, specifically including:

[0016] The communication task information of the current robot is obtained, and the communication sensing task range of the current robot is obtained according to the communication task information of the current robot;

[0017] The estimated communication sensing distance upper limit value of the robot is obtained based on the estimated communication sensing range, and the working number information of the robot working together is calculated according to the estimated communication sensing distance upper limit value of the robot and the communication sensing task range of the current robot;

[0018] The number of robots working together is initialized based on the working number information of the robot working together, and the number of robots working together is output.

[0019] Further, in the method, the layout position information of each robot is initialized, and a multi-robot collaborative cluster communication network is constructed based on the layout position information of the robot and the number of robots working together, specifically including:

[0020] Initialize the layout position information of each robot, so that the area composed of adjacent robots is a communication awareness area, and obtain the estimated communication awareness range information of each robot in the water area where the working layout position is located;

[0021] Calculate the total communication coverage range information based on the estimated communication awareness range information of the robot in the water area where the working layout position is located and the number information of the cooperative work of the robot;

[0022] 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;

[0023] 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, then re-plan the layout position information of each robot;

[0024] When the maximum stealth area range of the current robot in the target water area is greater than the total communication coverage range information, then work according to the layout position information of the current robot, and build a multi-robot cooperative cluster communication network.

[0025] Further, in the method, the communication condition data of each communication area in the multi-robot cooperative cluster communication network is evaluated, specifically:

[0026] Continuously monitor the layout position information of each robot in the multi-robot cooperative cluster communication network, and obtain the communication characteristic data of the communication area between the adjacent two robots;

[0027] Set a communication characteristic data evaluation index, and determine whether the communication characteristic data of the communication area between the adjacent two robots is greater than the communication characteristic data evaluation index;

[0028] When the communication characteristic data of the communication area between the adjacent two robots is greater than the communication characteristic data evaluation index, an abnormal communication area is generated;

[0029] When the communication characteristic data of the communication area between the adjacent two 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 condition data.

[0030] Further, in the method, the multi-robot cooperative cluster communication network is dynamically adjusted according to the communication condition data of the communication area, specifically:

[0031] Introduce a particle swarm algorithm, set the number of iterations based on the particle swarm algorithm, judge whether the communication situation data of the communication area is abnormal in the communication area;

[0032] When the communication situation data of the communication area is abnormal in 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;

[0033] According to the layout position information of the robot corresponding to the abnormal communication area, the robot is dynamically adjusted, and whether there is still an abnormal communication area is tested, if there is, the number of iterations is iterated, and the layout position information of the robot corresponding to the abnormal communication area is continuously adjusted;

[0034] 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.

[0035] The second aspect of the application provides a multi-robot cooperative operation system based on underwater communication, comprising a memory and a processor, the memory comprising a multi-robot cooperative operation method based on underwater communication program, the multi-robot cooperative operation method based on underwater communication program is executed by the processor, and the steps of any one of the multi-robot cooperative operation method based on underwater communication are realized.

[0036] The third aspect of the application provides a computer readable storage medium, comprising a multi-robot cooperative operation method based on underwater communication program, the multi-robot cooperative operation method based on underwater communication program is executed by the processor, and the steps of any one of the multi-robot cooperative operation method based on underwater communication are realized.

[0037] The application solves the defects in the background art, and has the following beneficial effects:

[0038] The application obtains underwater environment characteristic data in a target water area, perceives a current robot's communication sensing range according to the underwater environment characteristic data in the target water area, obtains an estimated communication sensing range, and then initializes quantity information of robot cooperative work in combination with the current robot's communication task information and the estimated communication sensing range, so as to initialize layout position information of each robot, constructs a multi-robot cooperative cluster communication network according to the robot's layout position information and the quantity information of robot cooperative work, and finally evaluates communication condition data of each communication area in the multi-robot cooperative cluster communication network and dynamically adjusts the multi-robot cooperative cluster communication network according to the communication condition data of the communication area. The application can construct a multi-robot cooperative cluster communication network through underwater task fusion of multiple robots, so that the robots can communicate, and the multi-robot cooperative cluster communication network is used for cooperative data collection of multiple robots, so that the data collection is more rapid, and the problem of untimely data collection of a single robot due to communication problems is solved. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0040] Figure 1 The overall flowchart of the multi-robot cooperative operation method based on underwater communication is shown;

[0041] Figure 2 The system block diagram of the multi-robot cooperative operation system based on underwater communication is shown. DETAILED DESCRIPTION

[0042] In order to more clearly illustrate the above-mentioned purposes, features and advantages of the present application, the following will further describe the present application in combination with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0043] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0044] As Figure 1 shown, the first aspect of the present application provides a multi-robot cooperative operation method based on underwater communication, including the following steps:

[0045] S102: Obtain underwater environment feature data in the target water area, and perceive the communication sensing range of the current robot according to the underwater environment feature data in the target water area, to obtain an estimated communication sensing range;

[0046] S104: Initialize the number information of robot collaborative work in combination with the communication task information of the current robot and the estimated communication sensing range;

[0047] 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 robot and the number information of the robot collaborative work;

[0048] S108: Evaluate the communication condition 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 condition data of the communication area.

[0049] It should be noted that the present application can construct a multi-robot collaborative cluster communication network by fusing multiple robots for underwater tasks, so that the robots can communicate with each other, and the multi-robot collaborative cluster communication network can be used for collaborative data collection, so that the data collection is more efficient, and the problem of data collection not being timely due to communication problems of single robots is solved.

[0050] Further, in the present method, the communication sensing range of the current robot is perceived according to the underwater environment feature data in the target water area, to obtain an estimated communication sensing range, specifically:

[0051] Obtain the underwater environment features of the target water area under different seasonal conditions, and construct underwater communication environment test indexes based on the underwater environment features of the target water area under different seasonal conditions;

[0052] Perform communication testing on the current underwater robot based on the underwater communication environment test indexes, to obtain the communication sensing range of the robot under the current underwater communication environment test indexes, and record the communication sensing range of the robot under the current underwater communication environment test indexes;

[0053] Obtain the underwater environment features of the current target water area, and obtain the communication sensing range under the underwater environment features of the current target water area based on the communication sensing range of the robot under the current underwater communication environment test indexes and the underwater environment features of the current target water area;

[0054] Generate an estimated communication sensing range according to the communication sensing range under the underwater environment features of the current target water area, and output the estimated communication sensing range.

[0055] It should be noted that underwater environmental characteristics include data such as temperature, humidity, and salinity. Since different underwater environmental characteristics affect the robot's communication perception range differently, i.e., communication has a certain distance limit, this method can obtain the communication perception range under the underwater environmental characteristics of the current target water area.

[0056] Furthermore, in this method, the quantity information of robot collaborative work is initialized by combining the current robot's communication task information and the estimated communication perception range, specifically including:

[0057] Obtain the current robot's communication task information, and based on the current robot's communication task information, obtain the current robot's communication perception task range;

[0058] Based on the estimated communication sensing range, the upper limit of the robot's estimated communication sensing distance is obtained, and the amount of work that needs to be done by the robot is calculated based on the upper limit of the robot's estimated communication sensing distance and the current communication sensing task range of the robot.

[0059] The number of robots working together is initialized based on the number of tasks that need to be done by the robots, and then the number of robots working together is output.

[0060] It should be noted that the required number of tasks for robot collaboration is calculated based on the robot's estimated upper limit of communication and sensing distance and the current communication and sensing task range of the robot. This information is then used to configure the robot's collaborative workflow.

[0061] Furthermore, in this method, the layout position information of each robot is initialized, and a multi-robot collaborative cluster communication network is constructed based on the robot layout position information and the number of robots working collaboratively. Specifically:

[0062] Initialize the layout position information of each robot so that the area formed by adjacent robots is a communication sensing area, and obtain the estimated communication sensing range information of each robot in the water area where the working layout position is located.

[0063] The total communication coverage information is calculated based on the estimated communication sensing range of the robot in the water area where the robot is deployed and the number of robots working together.

[0064] Obtain the maximum surfacing area of ​​the robot in the target water area and determine whether the maximum surfacing area of ​​the robot in the target water area is not greater than the total communication coverage information;

[0065] If the maximum navigable area of ​​the current robot in the target water area is not greater than the total communication coverage area, then the layout position information of each robot will be replanned.

[0066] When the maximum navigable area of ​​the current robot in the target water area is greater than the total communication coverage information, it will work according to the current robot's layout position information and build a multi-robot collaborative cluster communication network.

[0067] It should be noted that by configuring the layout and position information of each robot, the area formed by adjacent robots becomes a communication and sensing area, ultimately forming a multi-robot collaborative cluster communication network. This ensures that the sensing area of ​​each robot belongs to a data acquisition task area, and adjacent robots can communicate with each other. Therefore, this method enables communication between the areas of each robot in the multi-robot collaborative cluster communication network. For example, information can be transmitted from the farthest robot to the nearest robot through multiple transmissions. This method is also applicable to deep-sea operations. It can calculate the number of robots required for work and their placement, improving the rationality of robot deployment, calculating a more suitable number of robots required for work, and optimizing resource allocation.

[0068] Furthermore, in this method, the communication status data of each communication region in the multi-robot cooperative swarm communication network is evaluated, specifically as follows:

[0069] Continuously monitor the layout location information of each robot in the multi-robot collaborative cluster communication network, and obtain the communication characteristic data of the communication area between two adjacent robots;

[0070] Set up a 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.

[0071] 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.

[0072] 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.

[0073] It should be noted that communication characteristic data includes the amount of data transmitted per unit time, data transmission rate, etc.

[0074] Furthermore, in this method, the communication network of the multi-robot collaborative cluster is dynamically adjusted based on the communication status data of the communication area, specifically as follows:

[0075] 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 are abnormal communication areas in the communication data of the communication area;

[0076] When there are abnormal communication areas in the communication data, 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.

[0077] The robot is dynamically adjusted based on the layout location information of the robot corresponding to the abnormal communication area, and it is tested whether the abnormal communication area still exists. If it still exists, the layout location information of the robot corresponding to the abnormal communication area is adjusted again based on the number of iterations.

[0078] If there is no abnormal communication area, output the current layout position information of the robot and continue the task according to the current layout position information of the robot.

[0079] It should be noted that this method monitors the communication status of the multi-robot collaborative cluster communication network in real time, thereby further optimizing the layout and location information of the robots.

[0080] In addition, this method also includes:

[0081] Acquire the information transmission limit feature data of each underwater robot when transmitting information, as well as the data size information that the underwater robot needs to transmit at the current timestamp;

[0082] Determine whether there is a situation where the data size that the underwater robot needs to transmit at the current timestamp is greater than the upper limit feature data of the information transmission when the underwater robot is transmitting information;

[0083] When the data size that the underwater robot needs to transmit at the current timestamp is greater than the upper limit of the information transmission feature data of the underwater robot, the data size that the underwater robot needs to transmit at the current timestamp is compressed, and the compressed data is transmitted through a multi-robot collaborative cluster communication network.

[0084] If there is no situation where the data size information that the underwater robot needs to transmit at the current timestamp is greater than the upper limit feature data of the information transmission when the underwater robot is transmitting information, then the data size information that the underwater robot needs to transmit at the current timestamp will be transmitted through the multi-robot collaborative cluster communication network.

[0085] It should be noted that since robots also have an upper limit on the amount of information they can transmit within a unit of time or a preset time, the amount of data transmitted or aggregated by each robot can be quite large. This method can further optimize the data acquisition of multi-robot collaborative cluster communication networks, thereby optimizing underwater data transmission.

[0086] In addition, this method also includes:

[0087] Each underwater robot is used as a transmission node. The location of the transmission node that needs to transmit information is obtained. Several information transmission nodes are randomly selected to construct an information transmission path for data transmission. The amount of information transmitted by each transmission node in the information transmission path within a unit of time is obtained.

[0088] Determine whether there are any information transmission nodes in the information transmission path whose information transmission size per unit time is greater than the upper limit feature data of information transmission when the underwater robot is transmitting information;

[0089] If there is an information transmission node in the information transmission path whose information transmission size per unit time is greater than the upper limit characteristic data of information transmission when the underwater robot is transmitting information, then the information transmission path is replanned for data transmission.

[0090] If there is an information transmission node in the information transmission path whose information transmission size per unit time is not greater than the upper limit characteristic data of information transmission when the underwater robot is transmitting information, then data transmission shall be performed according to the current information transmission path.

[0091] It should be noted that since each underwater robot acts as an information transmission node, multiple robots can collaborate to complete tasks. However, if there are information transmission nodes in the information transmission path whose data transmission volume per unit time exceeds the upper limit of the information transmission capacity of the underwater robot, it indicates that the information transmission path does not meet the requirements and is prone to data loss. This method can avoid data loss when underwater robots are performing collaborative tasks and can also improve the information transmission success rate of the multi-robot collaborative cluster communication network.

[0092] like Figure 2 As 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:

[0093] Acquire underwater environmental feature data in the target water area, and based on the underwater environmental feature data in the target water area, perceive the current communication perception range of the robot and obtain the estimated communication perception range;

[0094] Initialize the number of robots working collaboratively by combining the current robot's communication task information and the estimated communication sensing range;

[0095] Initialize the layout position information of each robot, and construct a multi-robot collaborative cluster communication network based on the robot layout position information and the number of robots working together;

[0096] Evaluate the communication status data of each communication area in the multi-robot collaborative swarm communication network, and dynamically adjust the multi-robot collaborative swarm communication network based on the communication status data of the communication areas.

[0097] Furthermore, in this system, the robot's current communication sensing range is perceived based on underwater environmental characteristic data in the target water area to obtain an estimated communication sensing range, specifically:

[0098] Acquire the underwater environmental characteristics of the target water area under different seasonal conditions, and construct underwater communication environment test indicators based on the underwater environmental characteristics of the target water area under different seasonal conditions;

[0099] Based on the underwater communication environment test indicators, the current underwater robot's communication perception range is tested, and the robot's communication perception range under the current underwater communication environment test indicators is obtained and recorded.

[0100] Obtain the underwater environmental characteristics of the current target water area, and obtain 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.

[0101] Based on the underwater environmental characteristics of the current target water area, an estimated communication sensing range is generated and output.

[0102] Furthermore, in this system, the number of robots cooperating is initialized by combining the current robot's communication task information and the estimated communication sensing range, specifically including:

[0103] Obtain the current robot's communication task information, and based on the current robot's communication task information, obtain the current robot's communication perception task range;

[0104] Based on the estimated communication sensing range, the upper limit of the robot's estimated communication sensing distance is obtained, and the amount of work that needs to be done by the robot is calculated based on the upper limit of the robot's estimated communication sensing distance and the current communication sensing task range of the robot.

[0105] The number of robots working together is initialized based on the number of tasks that need to be done by the robots, and then the number of robots working together is output.

[0106] Furthermore, in this system, the layout position information of each robot is initialized, and a multi-robot collaborative cluster communication network is constructed based on the robot layout position information and the number of robots working collaboratively. Specifically:

[0107] Initialize the layout position information of each robot so that the area formed by adjacent robots is a communication sensing area, and obtain the estimated communication sensing range information of each robot in the water area where the working layout position is located.

[0108] The total communication coverage information is calculated based on the estimated communication sensing range of the robot in the water area where the robot is deployed and the number of robots working together.

[0109] Obtain the maximum surfacing area of ​​the robot in the target water area and determine whether the maximum surfacing area of ​​the robot in the target water area is not greater than the total communication coverage information;

[0110] If the maximum navigable area of ​​the current robot in the target water area is not greater than the total communication coverage area, then the layout position information of each robot will be replanned.

[0111] When the maximum navigable area of ​​the current robot in the target water area is greater than the total communication coverage information, it will work according to the current robot's layout position information and build a multi-robot collaborative cluster communication network.

[0112] Furthermore, in this system, the communication status data of each communication area in the multi-robot collaborative swarm communication network is evaluated, specifically as follows:

[0113] Continuously monitor the layout location information of each robot in the multi-robot collaborative cluster communication network, and obtain the communication characteristic data of the communication area between two adjacent robots;

[0114] Set up a 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.

[0115] 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.

[0116] 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.

[0117] Furthermore, in this system, the communication network of the multi-robot collaborative cluster is dynamically adjusted based on the communication status data of the communication area, specifically as follows:

[0118] 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 are abnormal communication areas in the communication data of the communication area;

[0119] When there are abnormal communication areas in the communication data, 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.

[0120] The robot is dynamically adjusted based on the layout location information of the robot corresponding to the abnormal communication area, and it is tested whether the abnormal communication area still exists. If it still exists, the layout location information of the robot corresponding to the abnormal communication area is adjusted again based on the number of iterations.

[0121] If there is no abnormal communication area, output the current layout position information of the robot and continue the task according to the current layout position information of the robot.

[0122] A third aspect of the present invention provides a computer-readable storage medium, including a multi-robot cooperative operation method program based on underwater communication, wherein when the multi-robot cooperative operation method program based on underwater communication is executed by a processor, it implements the steps of any one of the multi-robot cooperative operation methods based on underwater communication.

[0123] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0124] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0125] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0126] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0127] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0128] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-robot cooperative operation method based on underwater communication, characterized in that, Includes the following steps: Acquire underwater environmental feature data in the target water area, and based on the underwater environmental feature data in the target water area, perceive the current communication perception range of the robot and obtain the estimated communication perception range; Initialize the number of robots working collaboratively by combining the current robot's communication task information and the estimated communication sensing 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 of robots working together; 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 based on the communication status data of the communication areas.

2. The multi-robot cooperative operation method based on underwater communication according to claim 1, characterized in that, Based on the underwater environmental feature data in the target water area, the robot's current communication sensing range is perceived, and the estimated communication sensing range is obtained, specifically as follows: The underwater environmental characteristics of the target water area under different seasons are obtained, and underwater communication environment test indicators are constructed based on the underwater environmental characteristics of the target water area under different seasons. Based on the underwater communication environment test indicators, conduct communication tests on the current underwater robot, obtain the robot's communication perception range under the current season's underwater communication environment test indicators, and record the robot's communication perception range under the current season's underwater communication environment test indicators. Obtain the underwater environmental characteristics of the target water area in the current season, and obtain the communication perception range of the robot under the underwater communication environment test index of the current season and the underwater environmental characteristics of the target water area in the current season. Based on the underwater environmental characteristics of the target water area in the current season, an estimated communication sensing range is generated and output.

3. The multi-robot cooperative operation method based on underwater communication according to claim 1, characterized in that, The initialization of the number of robots working collaboratively is based on the current communication task information of the robot and the estimated communication sensing range, specifically including: Obtain the current robot's communication task information, and obtain the current robot's communication perception task range based on the current robot's communication task information; Based on the estimated communication sensing range, the upper limit of the robot's estimated communication sensing distance is obtained, and the number of tasks that require robot collaboration is calculated based on the upper limit of the robot's estimated communication sensing distance and the current communication sensing task range of the robot. The number of robots that need to work together is initialized based on the number of tasks that require robot collaboration, and the number of robots that need to work together is output.

4. The multi-robot cooperative operation method based on underwater communication according to claim 1, characterized in that, Initialize the layout and position information of each robot, and construct a multi-robot collaborative cluster communication network based on the robot layout and position information and the number of robots working collaboratively, specifically as follows: Initialize the layout position information of each robot so that the area formed by adjacent robots is a communication sensing area, and obtain the estimated communication sensing 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 sensing range of the robot in the water area where the robot is located and the number of robots working together. Obtain the maximum surfacing area of ​​the robot in the target water area and determine whether the maximum surfacing area of ​​the robot in the target water area is not greater than the total communication coverage information; If the maximum surfacing area of ​​the current robot in the target water area is not greater than the total communication coverage information, then the layout position information of each robot is replanned. When the maximum navigable area of ​​the current robot in the target water area is greater than the total communication coverage information, the robot will operate according to its current layout position information and construct a multi-robot collaborative cluster communication network.

5. The multi-robot cooperative operation method based on underwater communication according to claim 1, characterized in that, The evaluation of communication data for each communication region in the multi-robot collaborative swarm communication network is specifically as follows: Continuously monitor the layout location information of each robot in the multi-robot collaborative cluster communication network, and obtain the communication characteristic data of the communication area between two adjacent robots; Set a communication feature data evaluation index, and determine whether the communication feature data of the communication area between the two adjacent robots is greater than the communication feature data evaluation index; When the communication characteristic data of the communication region between two adjacent robots is not greater than the communication characteristic data evaluation index, an abnormal communication region is generated and the abnormal communication region is output. 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 normal communication area is output as communication status data.

6. The multi-robot cooperative operation method based on underwater communication according to claim 1, characterized in that, The communication network of the multi-robot collaborative cluster is dynamically adjusted based on the communication status data of the aforementioned communication area, specifically as follows: A particle swarm optimization algorithm is introduced, and the number of iterations is set based on the particle swarm optimization algorithm to determine whether there are abnormal communication areas in the communication status data of the communication area; When there is an abnormal communication area in the communication status 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. The robot is dynamically adjusted based on the layout position information of the robot corresponding to the abnormal communication area, and it is tested whether there is still an abnormal communication area. If there is still an abnormal communication area, the layout position information of the robot corresponding to the abnormal communication area is adjusted again based on the number of iterations. If there is no abnormal communication area, output the current layout location information of the robot, and continue the task according to the current layout location information of the robot.

7. A multi-robot collaborative operation system based on underwater communication, characterized in that, The system includes a memory and a processor. The memory includes a program for a multi-robot collaborative operation method based on underwater communication. When the processor executes the program for the multi-robot collaborative operation method based on underwater communication, it implements the steps of the multi-robot collaborative operation method based on underwater communication as described in any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The method includes a multi-robot collaborative operation method program based on underwater communication, which, when executed by a processor, implements the steps of the multi-robot collaborative operation method based on underwater communication as described in any one of claims 1-6.

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