Implementation method of intelligent monitoring system for underwater environment

Abstract

The application provides an implementation method of an underwater environment intelligent monitoring system, the system is composed of wireless nodes uniformly distributed underwater and wireless nodes uniformly distributed on the water surface, and is respectively referred to as underwater nodes and water surface nodes; the water surface nodes are configured with two communication interfaces, one interface is used for communication with the underwater nodes and is referred to as an underwater interface, and the other interface is used for communication with other water surface nodes and is referred to as a water surface interface; the application does not need artificial inspection, is especially suitable for environment data collection and monitoring in dangerous areas, has the characteristics of real-time, intelligence and networking, and compared with a traditional underwater monitoring system, the application has significant improvement in efficiency, cost, reliability and application scope, provides key technical support for marine resource development, environment protection and disaster prevention and control, and has wide application prospect.

Description

Technical Field

[0001] The present invention relates to the field of monitoring technology, and in particular to a method for realizing an underwater environment intelligent monitoring system. Background Art

[0002] Traditional underwater environmental monitoring systems rely on manual periodic sampling and have the following limitations: (1) The monitoring duration is short. Divers have limited underwater operation time and cannot continuously monitor data. (2) The coverage area is limited. Divers have limited daily operation range and cannot cover the entire monitoring water area. (3) The monitoring data is delayed. Manually collected data needs to be processed on shore, and the delay can be up to several hours or even days.

[0003] This system aims to overcome the above limitations and achieve rapid collection and monitoring of underwater environmental data. Summary of the Invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a method for realizing an underwater environment intelligent monitoring system in view of the shortcomings of the existing technology.

[0005] Technical solution: The present invention discloses a method for implementing an intelligent underwater environment monitoring system. The system is composed of wireless nodes evenly distributed underwater and wireless nodes evenly distributed on the water surface, respectively referred to as underwater nodes and surface nodes. The surface nodes are configured with two communication interfaces: one interface for communicating with the underwater nodes, referred to as the underwater interface, and the other interface for communicating with other surface nodes, referred to as the surface interface.

[0006] The surface node establishes a surface node table by sending a coordinate message and establishes a positioning table by sending a positioning message. The underwater node sends an acquisition message to obtain data generated by underwater nodes at preset coordinates and water depths. If the water depth of the underwater node receiving the acquisition message is less than the water depth in the acquisition message and there is a surface node table entry that matches the coordinates of the acquisition message, the underwater node updates the water depth in the acquisition message to its own water depth and forwards the acquisition message.

[0007] If the surface node that receives the acquisition message has a data table entry that completely matches the data coordinates and data water depth in the acquisition message, it sends an information message;

[0008] If the surface node coordinates are equal to the coordinates in the received acquisition message, a reverse entry is created under any of the following conditions: the first condition is that the acquisition message is received from the surface interface and no reverse entry exists, the coordinates and water depth of the reverse entry are respectively equal to the data coordinates and data water depth in the acquisition message, and the surface flag is equal to 1; the second condition is that the acquisition message is received from the underwater interface and no reverse entry exists, the coordinates and water depth of the reverse entry are respectively equal to the data coordinates and data water depth in the acquisition message, and the surface flag is equal to 0;

[0009] If the surface node coordinates match the acquisition message data coordinates, the acquisition message is forwarded from the underwater interface; otherwise, the acquisition message is forwarded from the surface interface; if the underwater node that receives the acquisition message has a data table entry that matches the data coordinates and data water depth in the acquisition message, the underwater node sends an information message;

[0010] When the surface node that receives the information message has a reverse table entry whose coordinates and water depth are respectively equal to the data coordinates and data depth in the information message, if the surface identification bit of the reverse table entry is 0, the information message is forwarded from the underwater interface, otherwise the information message is forwarded from the surface interface; if the underwater node that receives the information message is the underwater node that sends the acquisition message, the information message is saved, otherwise the information message is forwarded.

[0011] The method further comprises:

[0012] If the underwater node that receives the information message is not the underwater node that sends the acquisition message, the information message is forwarded if any of the following conditions are met: the first condition is that the water depth of the underwater node is less than the water depth in the information message and there is a surface node table entry with coordinates equal to the data coordinates in the information message; the second condition is that the water depth of the underwater node is greater than the water depth in the information message and there is a surface node table entry with coordinates equal to the coordinates in the information message;

[0013] Each underwater node stores a surface node table, where each entry contains coordinates and lifecycle information. The coordinate message includes a message ID, coordinates, water depth, initial hop count, radius, and hop count. In the coordinate message sent by the surface node from the underwater interface, the message ID is 1, the coordinates are equal to the current coordinates, the initial hop count and the hop count are both equal to a preset value H (with a range of [2, 10]), the water depth is 0, and the radius is equal to the communication radius of the surface node. The communication radius of all surface nodes is the same.

[0014] If the underwater node that receives the coordinate message sent by the surface node has a surface node table entry with coordinates equal to the coordinates in the coordinate message, the underwater node sets the lifecycle of the table entry to the maximum value; otherwise, a surface node table entry is created, the coordinates of the table entry are equal to the coordinates in the coordinate message, and the lifecycle of the table entry is set to the maximum value; the underwater node sets the water depth in the coordinate message to its own water depth, decrements the hop count by 1, and forwards the coordinate message if the hop count is greater than 0;

[0015] When an underwater node receives a coordinate message forwarded by an underwater node, if its water depth is greater than the water depth in the coordinate message and its own water depth h1 satisfies formula (1), the underwater node creates a surface node table entry with the coordinates of the table entry equal to the coordinates in the coordinate message, sets the life cycle of the table entry to the maximum value, sets the water depth in the coordinate message to its own water depth, and decrements the hop count by 1. If the hop count is greater than 0, the coordinate message is forwarded.

[0016] (1)

[0017] Where d is the distance between any two adjacent underwater nodes, h2 is the water depth in the coordinate message, T is the radius in the coordinate message, and H is the initial value of the hop count in the coordinate message.

[0018] The method further comprises:

[0019] Each surface node stores a data table, and each table entry contains the generation time, coordinates, water depth, data and life cycle;

[0020] Each underwater node stores a data table, and each table entry contains the generation time, water depth, data, and life cycle;

[0021] If the life cycle of a data table entry decays to 0, the data table entry is automatically deleted;

[0022] After the underwater node generates data, a data table entry is created. The generation time of the data table entry is the current time, the water depth is the current water depth of the underwater node, the data is the generated data, and the life cycle is the maximum life cycle, which is pre-set;

[0023] Each surface node stores a reverse table. The reverse table entries include coordinates, water depth, surface flag, and life cycle. The surface flag 0 indicates that the surface node sends the message through the underwater interface, and the surface flag 1 indicates that the surface node sends the message through the surface interface.

[0024] The acquisition message contains the message ID, data coordinates, data water depth, water depth, and coordinates; the information message contains the message ID, generation time, life cycle, data coordinates, data water depth, water depth, coordinates, and data; in the acquisition message sent by the underwater node, the message ID is 3, the data coordinates are the preset coordinates, the data water depth is the preset water depth, the water depth is equal to the current water depth, and the coordinates are equal to the coordinates of the pre-specified surface node table item;

[0025] In the information message sent by the water surface node receiving the acquisition message, the message ID is equal to 4, the generation time, the life cycle, the data coordinate, the data water depth and the data are equal to the generation time, the life cycle, the coordinate, the water depth and the data in the data table item respectively, the coordinate and the water depth of the data table item are equal to the data coordinate and the data water depth in the acquisition message respectively, the water depth in the information message is 0, and the coordinate is equal to the current coordinate of the water surface node, and the water surface node sends the information message through the interface receiving the acquisition message.

[0026] The method further comprises:

[0027] In the reverse table item created by the water surface node receiving the acquisition message, the coordinate and the water depth of the reverse table item are equal to the data coordinate and the data water depth in the acquisition message respectively, the life cycle is set to the maximum value, the water surface identification bit is equal to 1 if the water surface node receives the acquisition message from the water surface interface, and the water surface identification bit is equal to 0 otherwise.

[0028] The method further comprises:

[0029] If the water depth of the underwater node receiving the acquisition message is not equal to the data water depth in the acquisition message, and the water depth is greater than the water depth in the acquisition message, and there is a water surface node table item whose coordinate is equal to the data coordinate in the acquisition message, the water depth in the acquisition message is set to the water depth of the underwater node, and the acquisition message is forwarded.

[0030] The method further comprises:

[0031] In the information message sent by the underwater node, the message ID is equal to 4, the generation time, the life cycle, the data water depth and the data are equal to the generation time, the life cycle, the water depth and the data in the data table item respectively, the coordinate and the water depth of the data table item are equal to the data coordinate and the data water depth in the acquisition message respectively, the data coordinate is equal to the data coordinate in the acquisition message, the coordinate is equal to 0, and the water depth in the message is equal to the data water depth in the acquisition message.

[0032] The method further comprises:

[0033] In the information message forwarded by the underwater node, the water depth is equal to the water depth of the underwater node.

[0034] The method further comprises:

[0035] The water surface node receiving the information message selects all the reverse table items whose coordinate and water depth are equal to the data coordinate and the data water depth in the information message respectively, and deletes all the selected reverse table items.

[0036] The method further comprises:

[0037] If the surface node that receives the information message does not have a data table entry whose water depth and coordinates are respectively equal to the data water depth and data coordinates in the information message, then a data table entry is created, and the generation time, coordinates, water depth, data and life cycle of the entry are respectively equal to the generation time, data coordinates, data water depth, data and life cycle in the information message.

[0038] The method further comprises:

[0039] Each surface node stores a positioning table. A positioning table entry contains coordinates and lifecycle. A positioning message contains a message ID and coordinates. In the positioning message sent by the surface node from the surface interface, the message ID is 2 and the coordinates are its current coordinates.

[0040] The surface node that receives the positioning message determines whether there is a positioning table entry whose coordinates are equal to the coordinates in the positioning message. If so, the life cycle of the positioning table entry is set to the maximum value. Otherwise, a positioning table entry is created, the coordinates of the table entry are equal to the coordinates in the positioning message, and the life cycle is set to the maximum value.

[0041] Beneficial effects: The present invention provides a method for implementing an intelligent underwater environment monitoring system. The present invention does not require manual inspections and is particularly suitable for environmental data collection and monitoring in dangerous areas. It has the characteristics of real-time, intelligent, and networked. Compared with traditional underwater monitoring systems, the present invention has significant improvements in efficiency, cost, reliability, and breadth of application. It provides key technical support for marine resource development, environmental protection, and disaster prevention and control, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0043] Figure 1 The figure is a flow chart of the method for implementing the underwater environment intelligent monitoring system of the present invention.

[0044] Figure 2 Create a flow chart for the surface node table.

[0045] Figure 3 This is the flow chart of the positioning table.

[0046] Figure 4 This is the flow chart of underwater environment monitoring. DETAILED DESCRIPTION

[0047] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It is apparent that the described embodiments are only a portion of the embodiments of the present invention, rather than all of them. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without requiring creative effort are within the scope of protection of the present invention.

[0048] Figure 1 The figure is a flow chart of the method for implementing the underwater environment intelligent monitoring system of the present invention. Figure 2 Create a flow chart for the surface node table. The system consists of wireless nodes evenly distributed underwater and wireless nodes distributed on the water surface. The wireless nodes distributed underwater are called underwater nodes, such as robots and sensor nodes, and the wireless nodes distributed on the water surface are called surface nodes, such as surface buoys.

[0049] The distance between any two adjacent underwater nodes is the same, and this value is pre-set;

[0050] The surface node is equipped with a positioning system, such as the Global Positioning System. It is also equipped with two communication interfaces to obtain the current two-dimensional coordinates in real time. The surface node is equipped with two interfaces: one for sending messages to the underwater node, called the underwater interface, and the other for sending messages to the surface node, called the surface interface. The underwater node is equipped with one interface.

[0051] The coordinates of each water surface node are unique;

[0052] Each underwater node stores a surface node table, where an entry contains coordinates and life cycle; the surface node table is initially empty;

[0053] The water depth of underwater nodes is pre-set;

[0054] The coordinate message includes the message ID, coordinates, water depth, initial hop count, radius, and hop count;

[0055] The surface node periodically sends coordinate messages to establish the surface node table:

[0056] Step 101: Start;

[0057] Step 102: The surface node sends a coordinate message from the underwater interface. The message ID of the message is 1, the coordinates are equal to the current coordinates, the initial hop count and the hop count are both equal to the preset value H, which ranges from 2 to 10, the water depth is 0, and the radius is equal to the communication radius of the surface node. The communication radius of all surface nodes is the same.

[0058] Step 103: The underwater node that receives the coordinate message sent by the surface node determines whether there is a surface node table entry with coordinates equal to the coordinates in the coordinate message. If so, the lifecycle of the table entry is set to the maximum value. Otherwise, a surface node table entry is created with coordinates equal to the coordinates in the coordinate message, and the lifecycle of the table entry is set to the maximum value.

[0059] Step 104: The underwater node that receives the coordinate message sent by the surface node sets the water depth in the coordinate message as its own water depth, and decreases the hop count by 1. If the hop count is greater than 0, execute step 105; otherwise, execute step 111.

[0060] Step 105: The underwater node that receives the coordinate message sent by the surface node forwards the coordinate message;

[0061] Step 106: The underwater node that receives the coordinate message forwarded by the underwater node determines whether its own water depth is greater than the water depth in the coordinate message. If so, it executes step 107; otherwise, it executes step 111.

[0062] Step 107: The underwater node that receives the coordinate message forwarded by the underwater node determines whether its own water depth h1 satisfies formula (1), where d is the distance between any two adjacent underwater nodes, h2 is the water depth in the coordinate message, T is the radius in the coordinate message, and H is the initial value of the hop count in the coordinate message. If so, step 108 is executed; otherwise, step 111 is executed.

[0063] (1)

[0064] Step 108: The underwater node that receives the coordinate message forwarded by the underwater node determines whether there is a surface node table entry whose coordinates are equal to the coordinates in the coordinate message. If so, the lifecycle of the table entry is set to the maximum value. Otherwise, a surface node table entry is created, the coordinates of the table entry are equal to the coordinates in the coordinate message, and the lifecycle of the table entry is set to the maximum value.

[0065] Step 109: The underwater node that receives the coordinate message forwarded by the underwater node sets the water depth in the coordinate message as its own water depth, and decrements the hop count by 1. If the hop count is greater than 0, execute step 110; otherwise, execute step 111.

[0066] Step 110: The underwater node that receives the coordinate message forwarded by the underwater node forwards the coordinate message and executes step 106;

[0067] Step 111: End.

[0068] Underwater nodes can obtain water depth through pressure sensors, but it is difficult to obtain two-dimensional coordinates because underwater nodes cannot be equipped with a global positioning system (GPS). Therefore, the present invention proposes the above algorithm to enable underwater nodes to obtain two-dimensional coordinates. Through the above process, the surface node notifies the underwater node located vertically below it of its own coordinates. In this way, the underwater node can establish a surface node table and then obtain its own three-dimensional coordinates, namely the horizontal coordinate, vertical coordinate and water depth. To improve the accuracy of the three-dimensional coordinates, the present invention proposes formula (1), that is, the error of the horizontal coordinate or vertical coordinate of the underwater node is no greater than the transmission radius of the surface node.

[0069] Figure 3 This is a flowchart of the positioning table. Each surface node stores a positioning table, and a positioning table entry contains coordinates and life cycle;

[0070] The positioning message contains the message ID and coordinates;

[0071] Each surface node performs the following operations periodically:

[0072] Step 201: Start;

[0073] Step 202: The surface node sends a positioning message from the surface interface. The message ID of the message is 2, and the coordinates are its current coordinates.

[0074] Step 203: The surface node that receives the positioning message determines whether there is a positioning entry whose coordinates are equal to the coordinates in the positioning message. If so, the lifecycle of the positioning entry is set to the maximum value. Otherwise, a positioning entry is created with the coordinates equal to the coordinates in the positioning message, and the lifecycle is set to the maximum value.

[0075] Step 204: End.

[0076] The surface node obtains the real-time coordinates of the neighboring surface nodes through the above process, thereby obtaining the data created by the underwater node with the specified three-dimensional coordinates, improving data accuracy, and implementing collaborative analysis and diagnosis.

[0077] Figure 4 This is a flowchart for underwater environment monitoring. Each surface node stores a data table, and each table entry contains the generation time, coordinates, water depth, data, and life cycle;

[0078] Each underwater node stores a data table, and each table entry contains the generation time, water depth, data, and life cycle;

[0079] In the initial state, the data table of the surface node or underwater node is empty;

[0080] If the life cycle of a data table entry decays to 0, the data table entry is automatically deleted;

[0081] When an underwater node generates data, such as temperature, a data table entry is created. The generation time of the data table entry is the current time, the water depth is the current water depth, the data is the generated data, and the life cycle is the maximum life cycle, which is preset, for example, 10s.

[0082] Each surface node stores a reverse table. A reverse table entry contains coordinates, water depth, surface identification bit and life cycle. The surface identification bit is equal to 0 or 1. 0 means that the surface node sends data through the underwater interface, and 1 means that the surface node sends data through the surface interface.

[0083] Get the message including message ID, data coordinates, data water depth, water depth, coordinates;

[0084] The information message contains the message ID, generation time, life cycle, data coordinates, data water depth, water depth, coordinates and data;

[0085] The coordinates of surface node EN1 are CO1, the coordinates of surface node EN2 are CO2, and there is a surface node table entry for underwater node UN1 with coordinates equal to CO1. There is a surface node table entry for underwater node UN2 with coordinates equal to CO2, and the current water depth of the node is D2. There is also a data table entry with a water depth equal to D2 and coordinates equal to CO2, and coordinate CO1 is not equal to coordinate CO2.

[0086] The underwater node UN1 obtains data with coordinates CO2 and water depth D2 through the following process:

[0087] Step 301: Start;

[0088] Step 302: The underwater node UN1 sends an acquisition message with a message ID of 3, a data coordinate of CO2, a data depth of D2, and a coordinate equal to CO1.

[0089] Step 303: If the surface node receives the acquisition message, execute step 306; otherwise, execute step 304;

[0090] Step 304: If the water depth of the underwater node receiving the acquisition message is less than the water depth in the acquisition message and there is a surface node table entry with coordinates equal to the coordinates in the acquisition message, then step 305 is executed; otherwise, step 330 is executed.

[0091] Step 305: The underwater node that receives the acquisition message sets the water depth in the acquisition message as its own water depth, forwards the acquisition message, and executes step 303;

[0092] Step 306: The surface node that receives the acquisition message determines whether there is a data table entry whose coordinates and water depth are respectively equal to the data coordinates and water depth in the acquisition message. If so, step 307 is executed; otherwise, step 308 is executed.

[0093] Step 307: The surface node that receives the acquisition message selects a data table entry, the coordinates and water depth of the entry are respectively equal to the data coordinates and data water depth in the acquisition message, and constructs an information message, the message ID of the message is equal to 4, the generation time, life cycle, data coordinates, data water depth and data are respectively equal to the generation time, life cycle, coordinates, water depth and data in the data table entry, the water depth in the message is 0, and the coordinates are its current coordinates. The surface node sends the information message through the interface that receives the acquisition message, that is, if the acquisition message is received from the surface interface, the information message is sent from the surface interface, otherwise the information message is sent from the underwater interface, and step 322 is executed;

[0094] Step 308: If the coordinates of the surface node receiving the acquisition message are equal to the coordinates in the acquisition message and the acquisition message is received from the surface interface, then step 309 is executed; otherwise, step 311 is executed;

[0095] Step 309: The surface node that receives the acquisition message from the surface interface determines whether there is a reverse entry whose coordinates and water depth are respectively equal to the data coordinates and data water depth in the acquisition message, and whose surface flag is equal to 1. If so, step 322 is executed; otherwise, step 310 is executed.

[0096] Step 310: The surface node that receives the acquisition message from the surface interface creates a reverse entry. The coordinates and water depth of the reverse entry are respectively equal to the data coordinates and data water depth in the acquisition message, the surface flag is equal to 1, and the life cycle is set to the maximum value, and then executes step 314.

[0097] Step 311: If the surface node that receives the acquisition message receives the acquisition message from the underwater interface and the coordinates are equal to the coordinates in the acquisition message, and there is a reverse table entry whose coordinates and water depth are respectively equal to the data coordinates and data water depth in the acquisition message, and the surface flag is equal to 0, then execute step 322; otherwise, execute step 312;

[0098] Step 312: If the surface node that receives the acquisition message receives the acquisition message from the underwater interface and the coordinates are equal to the coordinates in the acquisition message, then execute step 313; otherwise, execute step 330;

[0099] Step 313: The surface node that receives the acquisition message from the underwater interface creates a reverse entry. The coordinates and water depth of the reverse entry are respectively equal to the data coordinates and data water depth in the acquisition message, the surface flag is equal to 0, and the life cycle is set to the maximum value.

[0100] Step 314: The surface node that receives the acquisition message determines whether there are at least two reverse entries whose coordinates and water depths are respectively equal to the data coordinates and data water depths in the acquisition message. If so, step 322 is executed; otherwise, step 315 is executed.

[0101] Step 315: The surface node that receives the acquisition message determines whether its own coordinates are equal to the data coordinates in the acquisition message. If yes, it executes step 317; otherwise, it executes step 316.

[0102] Step 316: The surface node that receives the acquisition message selects a positioning table entry whose coordinates are closest to the data coordinates in the acquisition message, sets the coordinates in the acquisition message to the coordinates in the positioning table entry, sets the water depth to 0, forwards the acquisition message from the surface interface, and executes step 306.

[0103] Step 317: The surface node that receives the acquisition message forwards the acquisition message from the underwater interface;

[0104] Step 318: If the underwater node receiving the acquisition message is the underwater node UN2, then execute step 321; otherwise, execute step 319;

[0105] Step 319: If the water depth of the underwater node receiving the acquisition message is greater than the water depth in the acquisition message and there is a surface node table entry whose coordinates are equal to the data coordinates in the acquisition message, then step 320 is executed; otherwise, step 330 is executed;

[0106] Step 320: The underwater node that receives the acquisition message sets the water depth in the acquisition message as its own water depth, forwards the acquisition message, and executes step 318;

[0107] Step 321: The underwater node that receives the acquisition message selects a data table entry, whose coordinates and water depth are respectively equal to the data coordinates and data depth in the acquisition message, and sends an information message, whose message ID is equal to 4, whose generation time, life cycle, data depth, and data are respectively equal to the generation time, life cycle, water depth, and data in the data table entry, whose data coordinates are equal to the data coordinates in the acquisition message, whose coordinates are equal to 0, and whose water depth is equal to the data depth in the acquisition message;

[0108] Step 322: If the underwater node receives the information message, execute step 323, otherwise execute step 326;

[0109] Step 323: If the underwater node receiving the information message is the underwater node UN1, then execute step 329; otherwise, execute step 324;

[0110] Step 324: If the water depth of the underwater node receiving the information message is less than the water depth in the information message and there is a surface node table entry whose coordinates are equal to the data coordinates in the information message, or if the water depth of the underwater node is greater than the water depth in the information message and there is a surface node table entry whose coordinates are equal to the coordinates in the information message, then execute step 325; otherwise, execute step 330;

[0111] Step 325: The underwater node that receives the information message sets the water depth in the information message as its own water depth, forwards the information message, and executes step 322;

[0112] Step 326: If the surface node receiving the information message does not have a data table entry whose water depth and coordinates are respectively equal to the data water depth and data coordinates in the information message, then the surface node creates a data table entry whose generation time, coordinates, water depth, data, and life cycle are respectively equal to the generation time, data coordinates, data water depth, data, and life cycle in the information message; the surface node determines whether there is at least one reverse table entry whose coordinates and water depth are respectively equal to the data coordinates and data water depth in the information message; if so, execute step 327; otherwise, execute step 330;

[0113] Step 327: The surface node that receives the information message selects all reverse entries whose coordinates and water depths are respectively equal to the data coordinates and data depth in the information message, and performs the following operations for each reverse entry: sets the water depth in the information message to 0, sets the coordinates in the information message to its own coordinates, and forwards the information message from the underwater interface if the surface flag bit of the reverse entry is 0; otherwise, forwards the information message from the surface interface.

[0114] Step 328: The surface node that receives the information message selects all reverse entries whose coordinates and water depths are respectively equal to the data coordinates and data water depths in the information message, deletes these reverse entries, and executes step 322;

[0115] Step 329: The underwater node that receives the information message saves the information message;

[0116] Step 330: End.

[0117] The underwater node UN1 obtains the data created by the underwater node UN2 by executing steps 301-330, thereby improving the data accuracy and implementing collaborative analysis and diagnosis. The data request in the above process is divided into three parts: the underwater node UN1 sends an acquisition message to the surface node, the surface node forwards the acquisition message to the target surface node, and the target surface node forwards the acquisition message to the target underwater node UN2; the data response is divided into three parts: the underwater node UN2 sends an information message to the surface node, the surface node forwards the information message to the surface node identified by the two-dimensional coordinates of the underwater node UN1, and the surface node forwards the information message to the underwater node UN1. The innovations of this algorithm include: (1) defining a reverse table, and the surface node uses the surface identifier as the interface for forwarding information messages to achieve aggregation, so that multiple underwater nodes can obtain target data at the same time; (2) the underwater node obtains its own three-dimensional coordinates through the surface node table entry, and then provides the data generated by the three-dimensional coordinates; (3) the surface node establishes the shortest path through the positioning table, effectively reducing the power consumption and delay of underwater monitoring, and realizing real-time underwater monitoring.

[0118] Example 1

[0119] Table 1

[0120] Parameter Description Parameter value Data transfer rate 250kbps Number of simulations 50 Transmission radius 200 meters Simulation time 12 hours .

[0121] Based on the simulation parameters in Table 1, this embodiment simulates an implementation method of an underwater environment intelligent monitoring system in the present invention. The performance analysis is as follows: when the underwater node requesting data is far away from the underwater node or surface node providing data, the success rate of obtaining real-time underwater monitoring data decreases. When the underwater node requesting data is close to the underwater node or surface node providing data, the success rate of obtaining real-time underwater monitoring data increases. The average success rate for obtaining underwater monitoring data is 96.85%.

[0122] The present invention provides a method for implementing an intelligent underwater environment monitoring system. Numerous methods and approaches exist for implementing this technical solution. The foregoing merely represents a preferred embodiment of the present invention. It should be noted that those skilled in the art may make improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Any components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A method for implementing an underwater environment intelligent monitoring system, characterized in that: The system is composed of wireless nodes evenly distributed underwater and wireless nodes evenly distributed on the water surface, respectively referred to as underwater nodes and surface nodes; the surface nodes are equipped with two communication interfaces, one interface for communicating with the underwater nodes, called the underwater interface, and the other interface for communicating with other surface nodes, called the surface interface; The surface node establishes a surface node table by sending a coordinate message and establishes a positioning table by sending a positioning message. The underwater node sends an acquisition message to obtain data generated by underwater nodes at preset coordinates and water depths. If the water depth of the underwater node receiving the acquisition message is less than the water depth in the acquisition message and there is a surface node table entry that matches the coordinates of the acquisition message, the underwater node updates the water depth in the acquisition message to its own water depth and forwards the acquisition message. If the surface node that receives the acquisition message has a data table entry that completely matches the data coordinates and data water depth in the acquisition message, it sends an information message; If the surface node coordinates are equal to the coordinates in the received acquisition message, a reverse entry is created under any of the following conditions: the first condition is that the acquisition message is received from the surface interface and no reverse entry exists, the coordinates and water depth of the reverse entry are respectively equal to the data coordinates and data water depth in the acquisition message, and the surface flag is equal to 1; the second condition is that the acquisition message is received from the underwater interface and no reverse entry exists, the coordinates and water depth of the reverse entry are respectively equal to the data coordinates and data water depth in the acquisition message, and the surface flag is equal to 0; If the surface node coordinates match the acquisition message data coordinates, the acquisition message is forwarded from the underwater interface; otherwise, the acquisition message is forwarded from the surface interface; if the underwater node that receives the acquisition message has a data table entry that matches the data coordinates and data water depth in the acquisition message, the underwater node sends an information message; When the surface node that receives the information message has a reverse table entry whose coordinates and water depth are respectively equal to the data coordinates and data depth in the information message, if the surface identification bit of the reverse table entry is 0, the information message is forwarded from the underwater interface, otherwise the information message is forwarded from the surface interface; if the underwater node that receives the information message is the underwater node that sends the acquisition message, the information message is saved, otherwise the information message is forwarded.

2. The method for implementing an underwater environment intelligent monitoring system according to claim 1, characterized in that: The method further comprises: If the underwater node that receives the information message is not the underwater node that sends the acquisition message, the information message is forwarded if any of the following conditions are met: the first condition is that the water depth of the underwater node is less than the water depth in the information message and there is a surface node table entry with coordinates equal to the data coordinates in the information message; the second condition is that the water depth of the underwater node is greater than the water depth in the information message and there is a surface node table entry with coordinates equal to the coordinates in the information message; Each underwater node stores a surface node table, where each entry contains coordinates and lifecycle information. The coordinate message includes a message ID, coordinates, water depth, initial hop count, radius, and hop count. In the coordinate message sent by the surface node from the underwater interface, the message ID is 1, the coordinates are equal to the current coordinates, the initial hop count and the hop count are both equal to a preset value H (with a range of [2, 10]), the water depth is 0, and the radius is equal to the communication radius of the surface node. The communication radius of all surface nodes is the same. If the underwater node that receives the coordinate message sent by the surface node has a surface node table entry with coordinates equal to the coordinates in the coordinate message, the underwater node sets the lifecycle of the table entry to the maximum value; otherwise, a surface node table entry is created, the coordinates of the table entry are equal to the coordinates in the coordinate message, and the lifecycle of the table entry is set to the maximum value; the underwater node sets the water depth in the coordinate message to its own water depth, decrements the hop count by 1, and forwards the coordinate message if the hop count is greater than 0; When an underwater node receives a coordinate message forwarded by an underwater node, if its water depth is greater than the water depth in the coordinate message and its own water depth h1 satisfies formula (1), the underwater node creates a surface node table entry with the coordinates of the table entry equal to the coordinates in the coordinate message, sets the life cycle of the table entry to the maximum value, sets the water depth in the coordinate message to its own water depth, and decrements the hop count by 1. If the hop count is greater than 0, the coordinate message is forwarded. (1) Where d is the distance between any two adjacent underwater nodes, h2 is the water depth in the coordinate message, T is the radius in the coordinate message, and H is the initial value of the hop count in the coordinate message.

3. The method for implementing an underwater environment intelligent monitoring system according to claim 1, characterized in that: The method further comprises: Each surface node stores a data table, and each table entry contains the generation time, coordinates, water depth, data and life cycle; each underwater node stores a data table, and each table entry contains the generation time, water depth, data and life cycle; if the life cycle of a data table entry decays to 0, the data table entry is automatically deleted; after the underwater node generates data, a data table entry is created, and the generation time of the data table entry is the current time, the water depth is the current water depth of the underwater node, the data is the generated data, and the life cycle is the maximum life cycle, and the value of the maximum life cycle is pre-set; Each surface node stores a reverse table. The reverse table entries include coordinates, water depth, surface flag, and life cycle. The surface flag 0 indicates that the surface node sends the message through the underwater interface, and the surface flag 1 indicates that the surface node sends the message through the surface interface. The acquisition message contains the message ID, data coordinates, data water depth, water depth, and coordinates; the information message contains the message ID, generation time, life cycle, data coordinates, data water depth, water depth, coordinates, and data; in the acquisition message sent by the underwater node, the message ID is 3, the data coordinates are the preset coordinates, the data water depth is the preset water depth, the water depth is equal to the current water depth, and the coordinates are equal to the coordinates of the pre-specified surface node table item; In the information message sent by the surface node that receives the acquisition message, the message ID is equal to 4, the generation time, life cycle, data coordinates, data water depth and data are respectively equal to the generation time, life cycle, coordinates, water depth and data in the data table item, the coordinates and water depth of the data table item are respectively equal to the data coordinates and data water depth in the acquisition message, the water depth in the information message is 0, and the coordinates are equal to its own current coordinates. The surface node sends the information message through the interface that receives the acquisition message.

4. The method for implementing an underwater environment intelligent monitoring system according to any one of claims 1 to 3, characterized in that: In the reverse table entry created by the surface node that receives the acquisition message, the coordinates and water depth of the reverse table entry are equal to the data coordinates and data depth in the acquisition message respectively, and the life cycle is set to the maximum value. If the surface node receives the acquisition message from the surface interface, the surface identification bit is equal to 1, otherwise the surface identification bit is equal to 0.

5. The method for implementing an underwater environment intelligent monitoring system according to any one of claims 1 to 3, characterized in that: If the water depth of the underwater node that receives the acquisition message is not equal to the data water depth in the acquisition message, and the water depth is greater than the water depth in the acquisition message, and there is a surface node table entry whose coordinates are equal to the data coordinates in the acquisition message, then the water depth in the acquisition message is set to its own water depth and the acquisition message is forwarded.

6. The method for implementing an underwater environment intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: In the information message sent by the underwater node, the message ID is equal to 4, the generation time, life cycle, data water depth and data are respectively equal to the generation time, life cycle, water depth and data in the data table item, the coordinates and water depth of the data table item are respectively equal to the data coordinates and data water depth in the acquisition message, the data coordinates are equal to the data coordinates in the acquisition message, the coordinates are equal to 0, and the water depth in the message is equal to the data water depth in the acquisition message.

7. The method for implementing an underwater environment intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: In the information message forwarded by the underwater node, the water depth is equal to the water depth of the underwater node.

8. The method for implementing an underwater environment intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The surface node that receives the information message selects all reverse table entries whose coordinates and water depths are respectively equal to the data coordinates and data water depths in the information message, and deletes all selected reverse table entries.

9. The method for implementing an underwater environment intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: If the surface node that receives the information message does not have a data table entry whose water depth and coordinates are respectively equal to the data water depth and data coordinates in the information message, then a data table entry is created, and the generation time, coordinates, water depth, data and life cycle of the entry are respectively equal to the generation time, data coordinates, data water depth, data and life cycle in the information message.

10. The method for implementing an underwater environment intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: Each surface node stores a positioning table. A positioning table entry contains coordinates and lifecycle. A positioning message contains a message ID and coordinates. In the positioning message sent by the surface node from the surface interface, the message ID is 2 and the coordinates are its current coordinates. The surface node that receives the positioning message determines whether there is a positioning table entry whose coordinates are equal to the coordinates in the positioning message. If so, the life cycle of the positioning table entry is set to the maximum value; otherwise, a positioning table entry is created.

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