Sensor data transmission method and system

Abstract

The invention provides a sensor data transmission method and system, is applied to the technical field of sensor data transmission, and provides a basis for cooperative transmission by establishing a cooperative transmission node set. The start of cooperative transmission is controlled according to the data priority, so that the cooperative node determines whether to participate in cooperation according to the state of the cooperative node, a data copy is transmitted to provide multiple signals, diversity processing is performed by using the multiple signals, the signal-to-noise ratio of a received signal is improved, and the error rate of data transmission is reduced. Therefore, the method and the device have the beneficial effects of improving the data transmission reliability and reducing the data transmission error rate.

Description

Technical Field

[0001] The present application relates to the technical field of sensor data transmission, and in particular to a sensor data transmission method and system. Background Art

[0002] A large number of sensor nodes are deployed in urban underground pipeline networks to monitor critical data from within and around the pipelines in real time. This data is crucial for promptly detecting and addressing anomalies such as leaks, blockages, corrosion, structural damage, and the accumulation of hazardous gases, providing strong data support for the safe operation of urban infrastructure. Given the complexity of the underground environment and the difficulty of wiring, these sensor nodes are typically battery-powered and transmit collected data to surface-level data aggregation nodes via wireless communication.

[0003] However, the underground pipeline network environment poses significant challenges to wireless communications. Sensor nodes are deployed deep underground, surrounded by layers of physical obstacles such as soil, concrete, asphalt, pipes, and cables. These obstacles severely absorb, reflect, and scatter wireless signals, causing a sharp drop in signal strength. Because sensor nodes utilize low-power designs, their transmit power is typically low, making the signal more susceptible to interference and fading. The resulting degradation of signal quality at the receiving end (data aggregation node) leads to errors in demodulation and decision-making, resulting in a high bit error rate (BER) for wireless data packets.

[0004] Therefore, in the wireless environment of underground pipeline networks, which are characterized by signal attenuation, multipath effects, electromagnetic interference, channel variations, and limited sensor node resources, how to design a sensor data transmission method and system to effectively address the challenges of high bit error rates and unstable communication links, ensure the reliable and real-time transmission of key monitoring data, reduce data loss rates, and optimize the energy consumption of sensor nodes, is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present application provides a sensor data transmission method and system, which has the beneficial effects of improving data transmission reliability and reducing data transmission error rate.

[0006] In a first aspect, a sensor data transmission method is provided, wherein a sensor is deployed in an underground pipe network and includes at least a data sending node and a data receiving node. The method comprises the following steps: S1: Detecting neighbor nodes of the data sending node and determining cooperative group members based on signals from the neighbor nodes; S2: When the data sending node generates data, determine the data priority, and if the data is high priority data, broadcast a collaborative sending request to the collaborative group members; S3: When the neighbor node among the cooperative group members receives the cooperative transmission request, the neighbor node checks a first power level of its own battery and a channel status between the neighbor node and the data receiving node, and sends a copy of the data in a designated time slot if the first power level and the channel status meet preset conditions; S4: When the data receiving node receives multiple data copies from different cooperative group members, it performs diversity combining processing on the multiple data copies to obtain the combined data, and demodulates and decodes the combined signal to complete data transmission.

[0007] This application proposes a sensor data transmission method, which provides multiple transmission paths through collaborative transmission and performs diversity combining at the receiving end. This method effectively utilizes spatial diversity gain, enhances the signal's anti-fading and anti-interference capabilities, solves the technical problem of unreliable signal transmission in underground pipeline environments, and has the beneficial effects of improving data transmission reliability and reducing data transmission error rate.

[0008] Furthermore, step S1 includes: S11: The data sending node broadcasts detection signals in different levels, where each level of transmission power corresponds to a detection distance, so as to detect neighboring nodes at different distances; S12: Evaluate the signal strength of the return signal after the neighboring node receives the detection signal, record the arrival time of the return signal, calculate the distance information to the neighboring node using the arrival time, and construct a neighboring node topology map based on the distance information and the signal strength; S13: Based on the neighbor node topology map, the neighbor nodes are divided into clusters. According to the number of nodes in the cluster, the geographical dispersion of the cluster, and the average channel quality between the nodes in the cluster and the data receiving node, the optimal cluster is selected as the collaborative group, and the nodes in the cluster are members of the collaborative group.

[0009] This application proposes a sensor data transmission method that overcomes the shortcomings of simple detection and selection methods through hierarchical detection, building a topological map based on signal strength and arrival time, and clustering and selection based on multi-dimensional standards. It can more effectively identify and organize node sets suitable for collaborative transmission in complex underground environments, laying the foundation for the reliable transmission of subsequent high-priority data.

[0010] Furthermore, step S13 includes: S131: Based on the neighbor node topology graph, using the K-means clustering algorithm, setting a cluster number range, calculating the silhouette coefficients under different cluster numbers, selecting the cluster number with the highest silhouette coefficient as the optimal cluster number, and dividing the neighbor nodes into the corresponding number of clusters; S132: For each divided cluster, calculate the cluster density based on the number of nodes in the cluster, calculate the geographical dispersion of the cluster based on the geographical coordinates of the nodes in the cluster, and calculate the average channel quality based on the channel state information between each node in the cluster and the data receiving node; S133: Based on cluster density, geographical dispersion, and average channel quality, a TOPSIS algorithm is used to calculate a comprehensive score for each cluster. The cluster with the highest comprehensive score is selected as the optimal cluster, and the nodes in the cluster are determined as members of the collaborative group.

[0011] This application proposes a sensor data transmission method, which overcomes the shortcomings of selection based on experience or simple rules by providing a systematic and quantitative method to determine the members of a collaborative group, and helps to improve the reliability and efficiency of data transmission.

[0012] Furthermore, step S2 includes: S21: When the data sending node generates data, the data priority is determined according to the data type and acquisition frequency, and the second power level of the battery is detected at the same time; S22: If the data has a high priority and the second power level is higher than a preset threshold, query the number of the collaborative group members. If the number of collaborative group members exceeds a preset upper limit, select a preset number of collaborative group members with higher channel quality in descending order based on the channel quality between each collaborative group member and the data sending node, and broadcast the collaborative transmission request to the selected collaborative group members, where the collaborative transmission request includes at least collaborative transmission timing information. S23: After sending the coordinated transmission request, if a response is received from at least one cooperative group member within a preset time, the data is sent according to the coordinated transmission timing information; otherwise, if no response is received, the transmission power is increased and the data is sent directly.

[0013] This application proposes a sensor data transmission method, which provides a fault recovery mechanism to ensure that when high-priority data cannot be transmitted in a collaborative manner, it can still be attempted to be sent through single-hop high-power transmission, thereby improving the success rate of data transmission.

[0014] Furthermore, step S22 includes: S221: If the data has a high priority and the second power level is higher than a preset threshold, query the number of the collaborative group members. If the number of collaborative group members exceeds a preset upper limit, calculate a channel quality fluctuation value based on the channel quality between each collaborative group member and the data sending node. S222: Filtering a first cooperation group member whose channel quality fluctuation value is lower than a preset fluctuation threshold; S223: If the number of the first collaborative group members exceeds the preset number, screening a preset number of collaborative group members with higher channel quality from among the first collaborative group members in descending order according to the channel quality between each collaborative group member and the data sending node, and broadcasting the collaborative sending request to the screened collaborative group members.

[0015] Furthermore, step S3 includes: S31: When the collaborative group member receives the collaborative sending request, it queries its own stored neighbor node information table to obtain link quality parameters between itself and the data sending node, and calculates a link quality score based on the link quality parameters. S32: The collaborative group member queries its own battery power to obtain a first battery power, and calculates a power score based on the first battery power; S33: Calculate a comprehensive score using a weighted average method based on the link quality score and the power score. If the comprehensive score is higher than a preset score threshold, determine that a preset condition is met and send a copy of the data in a designated time slot.

[0016] Furthermore, step S32 includes: S321: The collaborative group member queries its own battery power to obtain the first power, and queries a preset battery capacity attenuation model to calculate the current battery capacity based on the battery usage time and the number of charge and discharge cycles; S322: Calculating a percentage of remaining battery power based on the first power level and the current battery capacity; S323: Mapping the remaining battery power percentage to the corresponding battery power score according to a preset power score mapping table.

[0017] Furthermore, step S4 includes: S41: When the data receiving node receives multiple data copies from different cooperation group members, for each data copy, it queries a pre-stored channel state information table according to the sending node identifier to obtain a channel quality parameter corresponding to the data copy; S42: performing weighted combination of the multiple data copies using a maximum ratio combining algorithm according to the channel quality parameter; S43: Demodulate the combined signal to obtain demodulated data, and decode the demodulated data using a Viterbi algorithm to correct errors generated during the transmission process to obtain the final data, thereby completing data transmission.

[0018] Furthermore, step S42 includes: S421: Calculate a weighting coefficient for each data copy based on the channel quality parameter, where the weighting coefficient is equal to a ratio of a signal-to-noise ratio of the data copy to the sum of signal-to-noise ratios of all data copies; S422: performing weighted merging of the plurality of data copies according to the weight coefficient of each data copy, wherein the merged data is equal to the sum of the products of each data copy and its corresponding weight coefficient.

[0019] In a second aspect, a sensor data transmission system is provided, applied to the steps of any of the above methods, the system comprising: Collaboration formation module: detects neighbor nodes of the data sending node and determines the members of the collaboration group according to the signals of the neighbor nodes; Data judgment module: when the data sending node generates data, it judges the priority of the data, and when the data is high priority data, it broadcasts a collaborative sending request to the collaborative group members; Collaboration triggering module: when the neighbor node among the collaborative group members receives the collaborative transmission request, checks a first power level of its own battery and a channel status between the node and the data receiving node, and sends a copy of the data in a specified time slot if the first power level and the channel status meet preset conditions; Data transmission module: When the data receiving node receives multiple data copies from different collaborative group members, it performs diversity combining processing on the multiple data copies to obtain the combined data, and demodulates and decodes the combined signal to complete data transmission.

[0020] Beneficial effects: The present application proposes a sensor data transmission method and system, which provides multiple transmission paths through collaborative transmission and performs diversity combining at the receiving end. This method effectively utilizes spatial diversity gain, enhances the signal's anti-fading and anti-interference capabilities, and solves the technical problem of unreliable signal transmission in underground pipeline environments. It has the beneficial effects of improving data transmission reliability and reducing data transmission error rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flow chart of a sensor data transmission method proposed in this application.

[0022] Figure 2 This is a structural diagram of a sensor data transmission system proposed in this application.

[0023] Figure 3 This is an architectural diagram of a sensor data transmission system proposed in this application.

[0024] Description of reference numerals: 201, collaborative assembly module; 202, data judgment module; 203, collaborative triggering module; 204, data transmission module. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and marked in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work fall within the scope of protection of the present application.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0027] Please refer to Figure 1 A sensor data transmission method is provided, wherein the sensor is deployed in an underground pipe network and comprises at least a data sending node and a data receiving node. The method comprises the following steps: S1: Detect neighboring nodes of the data sending node and determine the cooperative group members based on the signals of the neighboring nodes; S2: When the data sending node generates data, it determines the data priority. If the data is high priority, it broadcasts a collaborative sending request to the collaborative group members. S3: When a neighboring node in the cooperative group receives the cooperative transmission request, it checks the first power level of its own battery and the channel status between it and the data receiving node. If the first power level and the channel status meet the preset conditions, it sends the copy of the data in the specified time slot; S4: When the data receiving node receives multiple data copies from different cooperative group members, it performs diversity combining on the multiple data copies to obtain combined data, and demodulates and decodes the combined signal to complete data transmission.

[0028] The data-sending node performs neighbor node detection and determines the cooperative group members based on the detected neighbor node signals. This process establishes a set of cooperative sending nodes, providing a foundation for subsequent cooperative transmission. When the data-sending node generates data, it determines the data priority.

[0029] When data is determined to be high priority, the coordinated transmission process is triggered, and the data sending node broadcasts a coordinated transmission request to the determined cooperative group members. This step controls the start of coordinated transmission based on the importance of the data, affecting the use of system resources.

[0030] Upon receiving a coordinated transmission request, a member of the collaborative group checks its battery level and the channel status between it and the data receiving node. Only when these conditions are met will the member transmit a data replica in the designated time slot. This conditional check allows the collaborative node to decide whether to participate in the collaboration based on its own status, sending data replicas to provide a multi-path signal to the receiving end.

[0031] After receiving multiple data copies from different cooperative group members, the data receiving node performs diversity combining on these copies to generate the combined data. The combined signal is then demodulated and decoded. This process leverages the diversity gain of multiple signals, improving the received signal quality and reducing the bit error rate of data transmission.

[0032] Specifically, this method is applied to underground pipeline environments, aiming to solve the problems of high data transmission bit error rate and link instability caused by wireless signal attenuation, multipath effects, interference, etc. in this environment.

[0033] The data-sending node first discovers its neighboring nodes through detection and selects a subset of them as cooperative group members based on the signal characteristics of these neighboring nodes. When a data-sending node has data to transmit, it assesses the data's priority. For high-priority data, the sending node initiates the cooperative transmission mechanism and sends a cooperative transmission request to the previously identified cooperative group members. Upon receiving the request, the cooperative group member evaluates its own status, including its battery level and the quality of the communication link with the data-receiving node. Only when these statuses meet the pre-set participation conditions will the cooperative group member respond to the request and send a copy of the data at the agreed time. The data-receiving node receives multiple data copies from the data-sending node and its participating neighboring nodes. The receiving node performs diversity combining on these received data copies, using techniques such as maximum ratio combining to superimpose the energy of multiple signals and improve the signal-to-noise ratio of the received signal. The combined signal is then demodulated and decoded to recover the original data. This coordinated transmission and diversity combining approach significantly improves data transmission reliability and success rate, even in harsh underground pipe network wireless environments, and reduces data loss.

[0034] In some specific embodiments, at least one sensor node is deployed in an underground pipeline network, acting as a data transmitting node. This data transmitting node first broadcasts a detection signal, which is then received and responded to by multiple neighboring sensor nodes. Based on information such as the strength and arrival time of the received response signals, the data transmitting node identifies neighboring nodes and selects three of them as members of a collaborative group. When the data transmitting node detects an abnormal pipeline pressure and generates a high-priority alarm, it checks its own battery level. If it is above 30%, it broadcasts a collaborative transmission request to the three collaborative group members, including a collaborative transmission time slot. Upon receiving the request, the three collaborative group members each check their own battery level (e.g., node A: 80%, node B: 55%, node C: 20%) and the channel quality between them and the surface data receiving nodes (e.g., node A: good channel quality, node B: average channel quality, node C: poor channel quality). The preset conditions are that the battery level is above 40% and the channel quality meets minimum requirements. Nodes A and B meet these conditions, but node C does not. Therefore, nodes A and B transmit copies of the alarm data during the designated time slot. The ground data receiving node receives three copies of the data from the data sending node, node A, and node B. The receiving node performs a weighted combination of these three copies, with the weights determined based on the signal-to-noise ratio of each copy. The combined signal is demodulated and decoded to obtain accurate alarm data.

[0035] In some preferred embodiments, the data sending node can also periodically send low-power heartbeat information to neighboring nodes and receive feedback information returned by the neighboring nodes based on the heartbeat information. The data sending node can then update the collaborative group members based on the feedback information and eliminate neighboring nodes with unstable signals to ensure the stability of data transmission among the collaborative group members.

[0036] Furthermore, step S1 includes: S11: The data sending node broadcasts detection signals in different levels. Each level of transmission power corresponds to the detection distance to detect neighboring nodes at different distances. S12: Evaluate the signal strength of the return signal after the neighboring node receives the detection signal, record the arrival time of the return signal, use the arrival time to calculate the distance information to the neighboring node, and construct a neighboring node topology map based on the distance information and signal strength; S13: Based on the neighbor node topology graph, the neighbor nodes are divided into clusters. According to the number of nodes in the cluster, the geographical dispersion of the cluster, and the average channel quality between the nodes in the cluster and the data receiving nodes, the optimal cluster is selected as the cooperative group, and the nodes in the cluster are members of the cooperative group.

[0037] Specifically, this method solves the problems of high bit error rate and unstable communication links in an underground pipe network environment through the following working principles: First, the data-sending node needs to determine which neighboring nodes are suitable for cooperative transmission. Due to severe signal attenuation in underground environments, simply using a fixed power level limits the detection range. Therefore, by broadcasting detection signals in a hierarchical manner, using different transmission powers to cover different detection distances, potential cooperative nodes can be discovered over a wider range, overcoming detection blind spots caused by signal attenuation.

[0038] After receiving responses from neighboring nodes, the system not only evaluates signal strength but also records signal arrival times to calculate distance. Combining signal strength and distance information, it constructs a neighboring node topology map, capturing the spatial distribution of neighboring nodes and link quality information. This information forms the basis for subsequent selection of collaborative groups.

[0039] Based on the topology graph, neighboring nodes are divided into clusters using methods such as clustering. Each cluster is then comprehensively evaluated. Evaluation metrics include the number of nodes within the cluster (which influences cooperative gain), the degree of geographical dispersion (which influences diversity), and the average channel quality between cluster nodes and data receiving nodes (which directly affects the success rate of cooperative transmission). This comprehensive evaluation process selects the optimal cluster, ensuring that the selected cooperative group members can provide effective cooperative transmission support for the data-sending nodes. This improves the reliability and efficiency of cooperative transmission and reduces data loss.

[0040] Furthermore, step S13 includes: S131: Based on the neighbor node topology graph, a K-means clustering algorithm is used to set the range of cluster numbers, calculate the silhouette coefficients under different cluster numbers, select the cluster number with the highest silhouette coefficient as the optimal cluster number, and divide the neighbor nodes into the corresponding number of clusters; S132: For each divided cluster, calculate the cluster density based on the number of nodes in the cluster, calculate the geographical dispersion of the cluster based on the geographical coordinates of the nodes in the cluster, and calculate the average channel quality based on the channel state information between each node in the cluster and the data receiving node; S133: Based on cluster density, geographical dispersion, and average channel quality, a TOPSIS algorithm is used to calculate a comprehensive score for each cluster. The cluster with the highest comprehensive score is selected as the optimal cluster, and the nodes in the cluster are determined as members of the collaborative group.

[0041] Specifically, in underground pipe networks, sensor node deployment faces challenges such as signal attenuation, multipath effects, electromagnetic interference, channel variations, and limited node resources. These challenges lead to high bit error rates and unstable communication links. To address these issues, a method is needed to select appropriate nodes to form collaborative groups and improve data reliability through collaborative transmission.

[0042] This solution provides a systematic approach to collaborative group formation: First, by detecting neighboring nodes and constructing a topological map, the connectivity and distance information between nodes is obtained. Based on this information, the K-means clustering algorithm is used to group neighboring nodes. To determine the optimal number of clusters, the algorithm attempts a range of clusters and calculates the silhouette coefficient for each number of clusters. The silhouette coefficient is a metric used to evaluate clustering effectiveness, reflecting the compactness and separation of clusters. Selecting the number of clusters that maximizes the silhouette coefficient yields clusters that are both compact and separated.

[0043] Next, the neighboring nodes are divided into the selected number of groups. Each group is then evaluated. Evaluation metrics include group density (as reflected by the number of nodes within the group), geographical dispersion (as reflected by the geographic coordinates of the nodes within the group), and average channel quality (as reflected by the channel state information between each node within the group and the data receiving node). These metrics measure the characteristics of the group and its communication potential with the data receiving node from different dimensions. Finally, a comprehensive score is calculated for each group using the TOPSIS algorithm, combining the three metrics of group density, geographical dispersion, and average channel quality.

[0044] The TOPSIS algorithm is a multi-attribute decision-making method that can comprehensively consider multiple evaluation criteria and rank alternative options. By calculating the comprehensive score, the pros and cons of each group can be objectively evaluated. The group with the maximum comprehensive score is selected as the best group, and the nodes within the group are determined as members of the collaborative group. Therefore, by introducing the K-means clustering algorithm for node grouping, combining the silhouette coefficient to determine the optimal number of groups, and using the TOPSIS algorithm to select the best group based on a comprehensive evaluation of multiple indicators, this solution provides a specific, algorithm-based collaborative group formation method, making the collaborative group selection process more systematic and objective, and helping to select a node set that is more suitable for collaborative transmission, thereby improving the reliability and efficiency of data transmission and reducing the data loss rate.

[0045] Furthermore, step S2 includes: S21: When the data sending node generates data, the data priority is determined according to the data type and acquisition frequency, and the second power level of the battery is detected at the same time; S22: If the data has a high priority and the second power level is higher than a preset threshold, query the number of collaborative group members. If the number of collaborative group members exceeds a preset upper limit, select a preset number of collaborative group members with higher channel quality in descending order based on the channel quality between each collaborative group member and the data sending node, and broadcast a collaborative transmission request to the selected collaborative group members, where the collaborative transmission request includes at least collaborative transmission timing information. S23: After sending the coordinated transmission request, if a response is received from at least one coordinated group member within a preset time, data is sent according to the coordinated transmission timing information; otherwise, if no response is received, the transmission power is increased and data is sent directly.

[0046] Specifically, this technical solution solves the problem of low broadcast efficiency when a data sending node initiates a collaborative sending request without considering its own battery status and the number of collaborative group members being large.

[0047] By detecting the battery power of the data sending node while judging the data priority, it ensures that coordinated transmission is initiated only when the battery is sufficient, avoiding unnecessary energy consumption and extending the node's working time.

[0048] Furthermore, when the number of cooperative group members exceeds a preset upper limit, requests are no longer broadcast to all members. Instead, members of the cooperative group are screened based on the channel quality between them and the data sending node, and members with good channel quality are preferentially selected to send requests.

[0049] This reduces invalid broadcasts, lowers network load and the processing burden on member nodes, and improves the efficiency and success rate of collaborative initiation. The collaborative transmission request includes timing information, providing a synchronization basis for subsequent collaborative transmission. After sending the request, the data-sending node waits for a response from the member. If at least one response is received within a preset time, indicating that a member is available to participate in the collaboration, the data-sending node will utilize collaborative diversity to improve transmission reliability. If no response is received, the data-sending node will increase its own transmission power and directly transmit the data, ensuring that high-priority data can be sent and improving the robustness of data transmission.

[0050] Furthermore, step S22 includes: S221: If the data has a high priority and the second power level is higher than a preset threshold, query the number of collaborative group members. If the number of collaborative group members exceeds a preset upper limit, calculate a channel quality fluctuation value based on the channel quality between each collaborative group member and the data sending node. S222: Filtering a first cooperation group member whose channel quality fluctuation value is lower than a preset fluctuation threshold; S223: If the number of the first cooperative group members exceeds the preset number, a preset number of cooperative group members with higher channel quality are screened in descending order from the first cooperative group members according to the channel quality between each cooperative group member and the data sending node, and a cooperative sending request is broadcast to the screened cooperative group members.

[0051] Specifically, when a data-sending node generates high-priority data, it first checks the second battery level of its own battery. If the second battery level exceeds a preset threshold, the node has sufficient energy for coordinated transmission. At this point, the total number of currently determined cooperative group members is queried. The system sets a preset upper limit to limit the number of nodes participating in coordinated transmission to avoid excessive resource consumption and potential conflicts. If the number of cooperative group members found exceeds this preset upper limit, further selection of cooperative group members is initiated.

[0052] The screening process first calculates the fluctuation in channel quality between each collaborative group member and the data-sending node. This fluctuation can be obtained by monitoring changes in channel quality over a period of time, for example, by calculating the standard deviation of the channel quality. Then, collaborative group members whose channel quality fluctuations fall below a preset fluctuation threshold are screened out to form a subset, referred to as the first collaborative group members. This preset fluctuation threshold sets an acceptable level of channel stability.

[0053] If the number of first cooperative group members still exceeds the preset cooperative transmission limit (which is the upper limit of the number of nodes actually participating in cooperative transmission), the first cooperative group members with relatively stable channels are sorted in descending order based on the instantaneous channel quality between them and the data-transmitting node. A preset number of nodes with the highest channel quality in the sorted results are selected as the final cooperative group members. Finally, a cooperative transmission request is broadcast to these selected cooperative group members. The request contains cooperative transmission timing information, such as the specific time slot for sending the data replica.

[0054] In this way, it is ensured that the nodes participating in the coordinated transmission not only have good current channel quality, but also their channel links are relatively stable, thereby improving the transmission reliability of high-priority data in complex underground environments.

[0055] Furthermore, step S3 includes: S31: When a collaborative group member receives a collaborative transmission request, it queries its own stored neighbor node information table to obtain link quality parameters between it and the data sending node, and calculates a link quality score based on the link quality parameters. S32: The collaborative group member queries its own battery power, obtains a first battery power, and calculates a power score based on the first battery power; S33: Calculate a comprehensive score using a weighted average method based on the link quality score and the power score. If the comprehensive score is higher than a preset score threshold, determine that the preset conditions are met and send a copy of the data in a designated time slot.

[0056] After receiving the coordinated transmission request, the collaborative group member obtains the link quality parameters between it and the data sending node. Link quality parameters may include signal strength, signal-to-noise ratio, bit error rate, etc. Based on these parameters, a link quality score is calculated, which reflects the reliability of the collaborative group member in receiving signals from the data sending node. For example, the higher the signal strength and the lower the bit error rate, the higher the link quality score. The collaborative group member queries its own battery level to obtain a first battery level. Based on this level, a battery level score is calculated, which reflects the current energy status available to the collaborative group member. For example, the higher the remaining battery level percentage, the higher the battery level score. The calculated link quality score and battery level score are weighted averaged to obtain a comprehensive score. By comparing the comprehensive score with a preset score threshold, it can be determined whether the collaborative group member meets the conditions for participating in coordinated transmission.

[0057] Specifically, after a data-sending node generates high-priority data and broadcasts a collaborative transmission request, the collaborative group members that receive the request will determine whether they are suitable for participating in the collaborative transmission process. First, the collaborative group member queries its internally stored neighbor node information, finds the record corresponding to the sending node, and extracts link quality parameters such as the received signal strength indicator (RSSI) or link quality indicator (LQI).

[0058] Based on these parameters, the link quality is converted into a numerical link quality score through a preset mapping relationship or calculation formula. At the same time, the collaborative group members read their current battery power and convert the power into a power score according to the preset power scoring rules.

[0059] Subsequently, the link quality score and the power score are weighted and averaged according to the preset weights to calculate the comprehensive score. For example, a weight W1 can be assigned to the link quality score and a weight W2 can be assigned to the power score, and W1+W2=1, and the comprehensive score = W1 * link quality score + W2 * power score. Finally, the calculated comprehensive score is compared with the preset score threshold. If the comprehensive score is higher than the threshold, it is determined that the cooperative group member meets the conditions for participating in cooperative transmission and prepares to send a copy of the data to the data receiving node in the specified time slot. If the comprehensive score is lower than the threshold, the cooperative group member does not participate in this cooperative transmission, and the transmission power of the data sending node is increased, and the data sending node directly sends the data.

[0060] This process quantitatively evaluates the communication link quality between the collaborative group members and the sending node and their own energy status, providing a clear decision basis for whether to send data copies, avoiding energy waste and improving the reliability of data transmission.

[0061] Furthermore, step S32 includes: S321: The collaborative group member queries its own battery power to obtain a first power, and queries a preset battery capacity attenuation model to calculate the current battery capacity based on the battery usage time and the number of charge and discharge cycles. S322: Calculating a percentage of remaining battery power based on the first power level and the current battery capacity; S323: Mapping the remaining battery power percentage to a corresponding power power score according to a preset power power score mapping table.

[0062] The collaborative group members maintain internal counters for battery age and charge / discharge cycle counts. The battery capacity decay model can be stored as a lookup table or a function that outputs an estimated value for the battery's current capacity based on age and charge / discharge cycle counts.

[0063] The remaining battery charge percentage is calculated by dividing the first queried charge value by the calculated current battery capacity. A charge score mapping table maps the calculated percentage range to a preset score value. For example, a node stores a charge score mapping table with a score of 10 for 0-20%, 30 for 20%-40%, 60 for 40%, 80 for 60%, and 80%-100% for 100. The resulting charge score reflects the actual available energy state of the battery after accounting for capacity decay, improving the accuracy of the assessment.

[0064] Furthermore, step S4 includes: S41: When a data receiving node receives multiple data copies from different cooperation group members, it queries a pre-stored channel state information table according to the sending node identifier for each data copy to obtain a channel quality parameter corresponding to the data copy; S42: Based on the channel quality parameter, a maximum ratio combining algorithm is used to perform weighted combination on the multiple data copies; S43: Demodulate the combined signal to obtain demodulated data, and use the Viterbi algorithm to decode the demodulated data to correct errors generated during the transmission process to obtain final data, thereby completing data transmission.

[0065] Specifically, in the urban underground pipeline network environment, the data signals sent by the sensor nodes reach the data receiving nodes through complex underground channels. The signals will be affected by attenuation, multipath and interference, resulting in a decrease in the quality of the received signal and an increase in the bit error rate.

[0066] To address this issue, this solution utilizes cooperative group members to send multiple copies of the same data, and performs diversity reception processing at the receiving end. When a data receiving node receives multiple copies of data from different cooperative group members, it first identifies the source of each copy and queries a pre-established channel state information table to obtain the quality parameters of the channel each copy traveled through. These parameters reflect the reliability of the signal during transmission.

[0067] Next, a maximum ratio combining (MRC) algorithm is used to perform a weighted summation of these data replicas based on the acquired channel quality parameters. The replica with better channel quality is weighted more heavily in the combination, which maximizes the preservation of high-quality signal components, suppresses noise and interference, and improves the signal-to-noise ratio of the combined signal. The combined signal contains valid information from multiple paths and is superior to any single received replica. Finally, the combined signal is demodulated and converted into digital symbols. Because residual errors may still exist during transmission, the Viterbi algorithm is used to decode the demodulated digital symbols. The Viterbi algorithm utilizes the redundant information of the convolutional coding that may have been used by the transmitter to recover the original data bit sequence and correct transmission errors by searching for the optimal path in the grid diagram. By combining diversity reception, maximum ratio combining, and Viterbi decoding, this solution effectively addresses the challenges of harsh channels in underground pipeline networks, improving the reliability and accuracy of data transmission and reducing data loss rates.

[0068] Furthermore, step S42 includes: S421: Calculate a weighting coefficient for each data copy based on the channel quality parameter, where the weighting coefficient is equal to the ratio of the signal-to-noise ratio of the data copy to the sum of the signal-to-noise ratios of all data copies; S422: Perform weighted merging of the multiple data copies according to the weight coefficient of each data copy, and the merged data is equal to the sum of the products of each data copy and its corresponding weight coefficient.

[0069] Based on the multiple received data replicas, a weighting factor is calculated for each replica based on its corresponding channel quality parameter. The weighting factor is calculated by dividing the signal-to-noise ratio of the data replica by the sum of the signal-to-noise ratios of all received data replicas. As a result, data replicas with high signal-to-noise ratios receive larger weighting factors, while data replicas with low signal-to-noise ratios receive smaller weighting factors. Subsequently, a weighted sum is performed on the multiple data replicas based on the calculated weighting factors. The combined data is the sum of the results of multiplying each data replica by its corresponding weighting factor. This weighted combination enables optimal combination based on the quality of each data replica.

[0070] Specifically, when a data receiving node receives multiple data copies from different cooperative group members, it needs to perform diversity combining on these copies. First, for each received data copy, the corresponding channel quality parameter, such as the signal-to-noise ratio (SNR), is obtained. Then, using these SNR values, a weighting coefficient is calculated for each data copy. This calculation is performed by dividing the SNR of a single data copy by the sum of the SNRs of all received data copies. For example, if two data copies are received with SNRs SNR1 and SNR2, the weighting coefficient for the first copy is SNR1 / (SNR1 + SNR2), and the weighting coefficient for the second copy is SNR2 / (SNR1 + SNR2). After calculating the weighting coefficients, these data copies are weighted combined. The combined data is obtained by multiplying the value of each data copy by its corresponding weighting coefficient and then adding all the products. This weighted combining method maximizes the SNR of the combined signal, improving signal quality and reducing the probability of errors in subsequent demodulation and decoding, thereby enhancing data transmission reliability.

[0071] Please refer to Figure 2 、 Figure 3 A sensor data transmission system, applied to the steps of any of the above methods, comprises: Collaboration formation module 201: detects neighbor nodes of the data sending node and determines the collaborative group members according to the signals of the neighbor nodes; Data judgment module 202: When a data sending node generates data, it judges the data priority. If the data is high priority data, it broadcasts a collaborative sending request to the collaborative group members. Collaboration triggering module 203: When a neighboring node in the collaborative group receives a collaborative transmission request, it checks a first battery level of its own battery and a channel status between the node and the data receiving node. If the first battery level and the channel status meet preset conditions, it sends a copy of the data in a designated time slot. Data transmission module 204: When a data receiving node receives multiple data copies from different cooperative group members, it performs diversity combining processing on the multiple data copies to obtain combined data, and demodulates and decodes the combined signal to complete data transmission.

[0072] Among them, the collaborative formation module 201 is configured to discover neighboring nodes around the data sending node and evaluate the suitability of these neighboring nodes as members of the collaborative group based on the received signal information. The collaborative formation module 201 realizes neighbor discovery by sending a detection signal and processing the response signal of the neighboring node. The evaluation process may include analyzing parameters such as signal strength and arrival time, and building the connection relationship between neighboring nodes based on this. Finally, the collaborative formation module 201 determines a group of nodes from the neighboring nodes as members of the collaborative group according to the preset member selection strategy to provide support for subsequent collaborative transmission. In this way, the system can dynamically select suitable nodes to participate in data transmission and improve transmission efficiency.

[0073] Furthermore, the data determination module 202 is configured to identify the priority of data when the data transmitting node generates data. When data is determined to be high priority, the data determination module 202 triggers the coordinated transmission process. Specifically, the data determination module 202 broadcasts a coordinated transmission request to the members of the coordinated group determined by the coordinated formation module 201, notifying them of their participation in the data transmission. The coordinated transmission request may include information about the coordinated transmission schedule. By enabling coordinated transmission only for high-priority data, the system optimizes energy consumption and channel resource utilization.

[0074] Specifically, the collaborative trigger module 203 is configured in a collaborative group member node. When a collaborative group member receives a collaborative transmission request broadcast from the data judgment module of a data transmitting node, the collaborative trigger module 203 is activated. The collaborative trigger module 203 checks the collaborative group member's own battery's first charge level and the quality of the wireless channel between it and the data receiving node. If both the first charge level and the channel status meet preset requirements, the collaborative trigger module 203 controls the collaborative group member to transmit a copy of the received data at the time specified in the request. This ensures that the nodes participating in the collaborative transmission have sufficient energy and good transmission conditions, thereby improving the success rate of the collaborative transmission and the quality of the data copy.

[0075] Specifically, the data transmission module 204 is configured at the data receiving node. The data transmission module 204 receives multiple data copies sent from different cooperative group members. The data transmission module 204 performs diversity combining processing on these received data copies, such as using maximum ratio combining technology, to enhance signal strength and suppress fading and interference. After the combining process, the data transmission module 204 demodulates the obtained combined signal and converts the analog signal into a digital signal. Subsequently, the data transmission module 204 decodes the demodulated data, such as using the Viterbi algorithm, to correct errors that may be introduced during the transmission process and restore the original data. As a result, the system significantly improves the reliability of data reception by utilizing spatial diversity gain, effectively addressing the signal attenuation and high bit error rate problems caused by the underground pipeline environment.

[0076] In some specific embodiments, the sensor data transmission system is deployed in an underground pipe network. Data sending nodes, cooperative group member nodes, and data receiving nodes are all equipped with wireless transceivers, processing units, and batteries. A cooperative formation module 201 runs on the processing unit of the data sending node, sending detection signals and processing responses via the transceiver, building a neighbor list, and selecting cooperative group members. A data judgment module 202 also runs on the processing unit of the data sending node, determining priority based on data type and acquisition frequency. When high-priority data is generated and its own battery is sufficiently charged, it broadcasts a cooperative transmission request to cooperative group members via the transceiver. A cooperative trigger module 203 runs on the processing unit of the cooperative group member node. Upon receiving a cooperative transmission request, it queries the battery management unit to obtain power information and uses the transceiver to evaluate the channel status with the data receiving node. If conditions are met, it controls the transceiver to transmit a data replica during a specified time slot. A data transmission module 204 runs on the processing unit of the data receiving node, receiving multiple data replicas via the transceiver, executing merging, demodulation, and decoding algorithms, and outputting the final data.

[0077] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0078] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Persons skilled in the art will readily appreciate that the present application may be modified and altered in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A sensor data transmission method, characterized in that: The sensor is deployed in an underground pipe network and includes at least a data sending node and a data receiving node. The method includes the following steps: S1: Detecting neighbor nodes of the data sending node and determining cooperative group members based on signals from the neighbor nodes; S2: When the data sending node generates data, determine the data priority, and if the data is high priority data, broadcast a collaborative sending request to the collaborative group members; S3: When the neighbor node among the cooperative group members receives the cooperative transmission request, the neighbor node checks a first power level of its own battery and a channel status between the neighbor node and the data receiving node, and sends a copy of the data in a designated time slot if the first power level and the channel status meet preset conditions; S4: When the data receiving node receives multiple data copies from different cooperative group members, it performs diversity combining processing on the multiple data copies to obtain the combined data, and demodulates and decodes the combined signal to complete data transmission.

2. A sensor data transmission method according to claim 1, characterized in that: Step S1 includes: S11: The data sending node broadcasts detection signals in different levels, where each level of transmission power corresponds to a detection distance, so as to detect neighboring nodes at different distances; S12: Evaluate the signal strength of the return signal after the neighboring node receives the detection signal, record the arrival time of the return signal, calculate the distance information to the neighboring node using the arrival time, and construct a neighboring node topology map based on the distance information and the signal strength; S13: Based on the neighbor node topology map, the neighbor nodes are divided into clusters. According to the number of nodes in the cluster, the geographical dispersion of the cluster, and the average channel quality between the nodes in the cluster and the data receiving node, the optimal cluster is selected as the collaborative group, and the nodes in the cluster are members of the collaborative group.

3. A sensor data transmission method according to claim 2, characterized in that: Step S13 includes: S131: Based on the neighbor node topology graph, using the K-means clustering algorithm, setting a cluster number range, calculating the silhouette coefficients under different cluster numbers, selecting the cluster number with the highest silhouette coefficient as the optimal cluster number, and dividing the neighbor nodes into the corresponding number of clusters; S132: For each divided cluster, calculate the cluster density based on the number of nodes in the cluster, calculate the geographical dispersion of the cluster based on the geographical coordinates of the nodes in the cluster, and calculate the average channel quality based on the channel state information between each node in the cluster and the data receiving node; S133: Based on cluster density, geographical dispersion, and average channel quality, a TOPSIS algorithm is used to calculate a comprehensive score for each cluster. The cluster with the highest comprehensive score is selected as the optimal cluster, and the nodes in the cluster are determined as members of the collaborative group.

4. A sensor data transmission method according to claim 1, characterized in that: Step S2 includes: S21: When the data sending node generates data, the data priority is determined according to the data type and acquisition frequency, and the second power level of the battery is detected at the same time; S22: If the data has a high priority and the second power level is higher than a preset threshold, query the number of the collaborative group members. If the number of collaborative group members exceeds a preset upper limit, select a preset number of collaborative group members with higher channel quality in descending order based on the channel quality between each collaborative group member and the data sending node, and broadcast the collaborative transmission request to the selected collaborative group members, where the collaborative transmission request includes at least collaborative transmission timing information. S23: After sending the coordinated transmission request, if a response is received from at least one cooperative group member within a preset time, the data is sent according to the coordinated transmission timing information; otherwise, if no response is received, the transmission power is increased and the data is sent directly.

5. A sensor data transmission method according to claim 4, characterized in that: Step S22 includes: S221: If the data has a high priority and the second power level is higher than a preset threshold, query the number of the collaborative group members. If the number of collaborative group members exceeds a preset upper limit, calculate a channel quality fluctuation value based on the channel quality between each collaborative group member and the data sending node. S222: Filtering a first cooperation group member whose channel quality fluctuation value is lower than a preset fluctuation threshold; S223: If the number of the first collaborative group members exceeds the preset number, screening a preset number of collaborative group members with higher channel quality from among the first collaborative group members in descending order according to the channel quality between each collaborative group member and the data sending node, and broadcasting the collaborative sending request to the screened collaborative group members.

6. A sensor data transmission method according to claim 1, characterized in that: Step S3 includes: S31: When the collaborative group member receives the collaborative sending request, it queries its own stored neighbor node information table to obtain link quality parameters between itself and the data sending node, and calculates a link quality score based on the link quality parameters. S32: The collaborative group member queries its own battery power to obtain a first battery power, and calculates a power score based on the first battery power; S33: Calculate a comprehensive score using a weighted average method based on the link quality score and the power score. If the comprehensive score is higher than a preset score threshold, determine that a preset condition is met and send a copy of the data in a designated time slot.

7. A sensor data transmission method according to claim 6, characterized in that: Step S32 includes: S321: The collaborative group member queries its own battery power to obtain the first power, and queries a preset battery capacity attenuation model to calculate the current battery capacity based on the battery usage time and the number of charge and discharge cycles; S322: Calculating a percentage of remaining battery power based on the first power level and the current battery capacity; S323: Mapping the percentage of the data transmission module 204 to the corresponding power score according to a preset power score mapping table.

8. The sensor data transmission method according to claim 1, characterized in that: Step S4 includes: S41: When the data receiving node receives multiple data copies from different cooperation group members, for each data copy, it queries a pre-stored channel state information table according to the sending node identifier to obtain a channel quality parameter corresponding to the data copy; S42: performing weighted combination of the multiple data copies using a maximum ratio combining algorithm according to the channel quality parameter; S43: Demodulate the combined signal to obtain demodulated data, and decode the demodulated data using a Viterbi algorithm to correct errors generated during the transmission process to obtain the final data, thereby completing data transmission.

9. A sensor data transmission method according to claim 8, characterized in that: Step S42 includes: S421: Calculate a weighting coefficient for each data copy based on the channel quality parameter, where the weighting coefficient is equal to a ratio of a signal-to-noise ratio of the data copy to the sum of signal-to-noise ratios of all data copies; S422: performing weighted merging of the plurality of data copies according to the weight coefficient of each data copy, wherein the merged data is equal to the sum of the products of each data copy and its corresponding weight coefficient.

10. A sensor data transmission system, characterized in that: In the steps of the method according to any one of claims 1 to 9, the system comprises: Collaboration formation module: detects neighbor nodes of the data sending node and determines the members of the collaboration group according to the signals of the neighbor nodes; Data judgment module: when the data sending node generates data, it judges the priority of the data, and when the data is high priority data, it broadcasts a collaborative sending request to the collaborative group members; Collaboration triggering module: when the neighbor node among the collaborative group members receives the collaborative transmission request, checks a first power level of its own battery and a channel status between the node and the data receiving node, and sends a copy of the data in a specified time slot if the first power level and the channel status meet preset conditions; Data transmission module: When the data receiving node receives multiple data copies from different collaborative group members, it performs diversity combining processing on the multiple data copies to obtain the combined data, and demodulates and decodes the combined signal to complete data transmission.

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