A cluster wireless ad hoc network method of a port intelligent operation device

Abstract

The application provides a cluster wireless self-organizing network method of a port intelligent operation device, and belongs to the technical field of wireless communication. The steps are as follows: firstly, a layered architecture initialization of a port communication system is performed, neighbor discovery of the port intelligent operation device is realized, and neighbor device access information packets and channel quality index information are recorded; secondly, cluster head node election is performed through a maximum score priority rule, a local cluster structure composed of cluster head nodes and terminal devices is formed, and a cluster wireless self-organizing network completion judgment mechanism is introduced after the cluster head node election of the intelligent operation device is completed; finally, a multi-path construction and a backup path cache, a main-backup path seamless switching mechanism are performed. The application supports dynamic election of cluster head nodes, supports multi-path caching, can realize seamless communication switching, and solves the problems of slow response speed and high failure rate of the remote control of the port intelligent operation device.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wireless communication, and relates to a cluster wireless ad hoc network method of port intelligent operation equipment, which faces an automated port environment and supports remote control response of a heterogeneous device cluster of intelligent loading and unloading operation equipment and intelligent horizontal transportation equipment. BACKGROUND

[0002] In the cluster control of port intelligent operation equipment, traditional wired communication technology relies on fixed physical connection and is only applicable to scenarios where device paths are fixed and the main control system is close to the collection device. However, port operation has high dynamics, which leads to high deployment cost and poor flexibility of wired deployment, and high maintenance cost and failure rate of cables, making it difficult to achieve global coverage of the yard, thereby seriously restricting the device scheduling efficiency and automation level.

[0003] With the rapid development of wireless communication technology, 5G gradually applies to port industrial scenarios with the advantages of large bandwidth and low latency, supporting remote control and real-time video transmission services. Chinese invention patent CN118740871A proposes a 5G-based gantry crane remote control system, which dynamically improves the video stream transmission priority of the operator's observation area through an intelligent gateway to ensure the real-time performance of the key control picture; Chinese invention patent CN110072204B replaces the optical fiber with a 5G virtual private network to construct a wide-area interconnection architecture of devices and control centers. However, such solutions still face significant challenges: there may be coverage blind spots in complex yard environments; in addition, there is a communication interruption problem due to the frequent movement of intelligent horizontal transportation equipment.

[0004] To solve the above problems, wireless ad hoc network technology has become an important application direction due to its characteristics of not requiring fixed infrastructure and supporting dynamic networking and multi-hop routing. This technology can adapt to complex environments with frequent device movement through node self-relay signals, and its self-organizing architecture can flexibly adjust the network topology, providing new possibilities for remote control of port intelligent devices. SUMMARY

[0005] To solve the problems existing in the prior art, the present application proposes a cluster wireless ad hoc network method of port intelligent operation equipment, which supports dynamic election of cluster head nodes, constructs a target communication link composed of a control center, a wireless base station, cluster head nodes, and terminal devices, supports multi-path caching, and realizes seamless communication switching. The present application can solve the problem of slow remote control response speed and high failure rate of port intelligent operation equipment.

[0006] To achieve the above purpose, the technical solution adopted by the present application is as follows:

[0007] A cluster wireless ad hoc network method of port intelligent operation equipment, comprising the following steps:

[0008] Step 1, port communication system layered architecture initialization. Specifically as follows:

[0009] Step 1.1, according to the distribution density of port intelligent operation equipment, mobile trajectory and existing wireless communication technology, the control center and wireless base station covering the whole port area are deployed.

[0010] Step 1.2, after the deployment of control center and wireless base station covering the whole port area according to the existing wireless communication technology, the dual-mode communication unit of the port intelligent operation equipment is activated.

[0011] The port intelligent operation equipment includes intelligent loading and unloading operation equipment (such as shore cranes, yard cranes, etc.) and intelligent horizontal transportation equipment (such as automatic guided vehicles, unmanned trucks, straddle carriers, etc.).

[0012] The dual-mode communication unit includes two channels, one of which is a low-speed and high-stability narrowband channel suitable for control command issuing, and the other is a high-speed and large-bandwidth broadband channel suitable for intelligent operation equipment state feedback and video monitoring data transmission.

[0013] Step 1.3, after power-on, the intelligent operation equipment sends a registration request to the wireless base station according to the existing wireless communication technology, and obtains a temporary logical address allocated by the wireless base station, completes the process of intelligent operation equipment accessing the control center, and forms a primary downlink communication link composed of control center, wireless base station and terminal equipment. The terminal equipment is the intelligent operation equipment.

[0014] Step 1.4, reserve the target communication link composed of control center, wireless base station, cluster head node and terminal equipment, wherein the cluster head node is dynamically generated by step 3 election.

[0015] Based on the existing wireless communication technology, through the above systematic deployment and access control center process, the port communication system layered architecture initialization is completed.

[0016] Step 2, port intelligent operation equipment neighbor discovery. Specifically as follows:

[0017] Step 2.1, after the completion of port communication system layered architecture initialization, the intelligent operation equipment periodically broadcasts access information package through the narrow channel.

[0018] The content of the access information package includes the current intelligent operation equipment Unique number, current intelligent operation equipment remaining power , physical location , mobility index And the number of neighbor devices .

[0019] The definition of neighbor device is: set a time window If intelligent operating equipment Successfully received intelligent operation equipment within the time window Broadcast access packets Next, define intelligent operating equipment. For intelligent operation equipment Neighboring devices, smart operating devices Also for intelligent operation equipment Neighboring devices, and smart operating devices In intelligent operation equipment within the communication area.

[0020] Step 2.2: After the intelligent operation equipment periodically broadcasts access information packets, it records the access information packets of neighboring devices and channel quality index information. The channel quality index includes received signal strength and channel propagation delay, thereby constructing a system for the intelligent operation equipment. Local initial connection topology matrix As shown in formula (1):

[0021] (1)

[0022] Where j represents the intelligent operating equipment. Neighboring devices; Indicates intelligent operating equipment Receive from smart operation equipment The average signal strength; Q represents the one-way signal propagation delay; Q represents the set of neighboring devices.

[0023] Step 2 enables neighbor discovery for port intelligent operation equipment, while recording neighbor equipment access packets and channel quality indicators, laying the foundation for cluster head node election in the target communication link.

[0024] Step 3: Election of the cluster head node with the highest score. Details are as follows:

[0025] Step 3.1: Based on the neighbor device access information packets and channel quality index information recorded in Step 2, all intelligent operation devices calculate the cluster head node adaptability score. As shown in formula (2):

[0026] (2)

[0027] in, Indicates intelligent operating equipment The remaining battery power; For intelligent operation equipment The maximum battery capacity; Mobility indicators for intelligent operation equipment scheduling; to avoid small amount of zero; to the average signal strength of intelligent job equipment and all neighbor equipment; to the number of neighbor equipment; to the maximum number of neighbor equipment in the whole network; to the weighted coefficient, which is the weight of control energy consumption, stability, signal strength and connectivity respectively.

[0028] Step 3.2, cluster head node election is carried out by the maximum score priority rule. Each intelligent job equipment compares the cluster head node adaptability score of the neighbor equipment corresponding to different communication areas in the communication area where the intelligent job equipment is located, and the intelligent job equipment with the highest score is elected as the cluster head node to form a local cluster structure composed of cluster head nodes and terminal equipment.

[0029] Step 4, cluster wireless ad hoc network completion judgment mechanism. Specifically as follows:

[0030] After the local cluster structure is determined, in order to ensure that each intelligent job equipment completes the target communication link construction, the application introduces a cluster wireless ad hoc network completion judgment mechanism after the cluster head node election of the intelligent job equipment is completed.

[0031] The target communication link is only an expression, including control center, wireless base station, terminal equipment, control center, wireless base station, cluster head node, terminal equipment, control center, wireless base station, cluster head node, cluster head node, terminal equipment, and the corresponding path hop count is 0, 1 and 2 respectively.

[0032] The cluster wireless ad hoc network completion judgment mechanism is that when all intelligent job equipment connectivity indexes satisfy the following conditions at the same time: , keep for consecutive periods, and there is a path with a path hop count not more than for the intelligent job equipment, then the cluster wireless ad hoc network is determined to be completed. The represents the connectivity threshold, and the range is 3-15; the represents the connectivity fluctuation judgment period, and the range is 2-5; the represents the connectivity fluctuation tolerance threshold, and the range is 0.5-3; and the represents the maximum allowed path hop count, and the range is 2-5.

[0033] The definition of the intelligent job equipment connectivity index is shown in formula (3):

[0034] (3)

[0035] Wherein, Min represents taking the minimum value.

[0036] After determining that the cluster wireless ad hoc network is completed, the control center issues a cluster wireless ad hoc network completion instruction to officially enable the target communication link.

[0037] Step 5, multi-path construction and backup path caching. Specifically as follows:

[0038] After the completion of the cluster wireless ad hoc network, the information of each intelligent job equipment can be transmitted through the target communication link, but in order to avoid the communication link interruption caused by the frequent movement of the intelligent horizontal transportation equipment, a path redundancy mechanism is introduced. It will construct the communication link with the maximum score in step 3 as the main path.

[0039] Step 5.1, the backup path is the communication link constructed in step 3 according to other rules, and the other rules are to construct according to the second maximum score.

[0040] Step 5.2, the main path and the backup path are collectively referred to as paths, and each path The evaluation function is shown in formula (4):

[0041] (4)

[0042] Wherein, represents the number of path hops; is the path packet delivery rate, which is calculated according to the existing standard; is the path average round-trip delay, which is measured according to the existing technology; is the path stability, which is defined as the link survival rate of the path in consecutive periods; is the adjustment factor, which is the weight of controlling the path hop, the delivery rate, the delay and the stability respectively.

[0043] The evaluation function value of the main path and all backup paths is calculated in real time.

[0044] Step 5.3, when the signal strength of a certain intelligent job equipment on the main path , and the duration exceeds the set time window , it is determined that the link quality of the main path is deteriorated. The is the set minimum signal strength threshold, which is in the range of-95~-75dBm;

[0045] When the link quality of the main path is deteriorated, all backup paths are scored and sorted in real time based on The backup path with high score and meeting the cluster wireless ad hoc network completion judgment mechanism is selected to replace the main path.

[0046] Step 6, seamless switching mechanism of main and backup paths. Specifically as follows:

[0047] Step 6.1, when the main path switches to the standby path, the cluster head node in the local cluster structure composed of the cluster head node and the terminal device changes, such as from cluster head node A to relay node B.

[0048] The cluster head node A is one of the cluster head nodes in the target communication link of the main path. The relay node B is one of the cluster head nodes in the communication link of the standby path, and the relay node B replaces the cluster head node A, such as the local cluster structure composed of the cluster head node A and the terminal device will become the local cluster structure composed of the relay node B and the terminal device.

[0049] When the relay node B does not completely take over the information, the cluster head node A informs the relay node B to enter the monitoring state, and the intelligent operation device sends data to both of them at the same time, and the control center uses the maximum ratio combination algorithm for signal fusion, as shown in formula (5):

[0050] (5)

[0051] Wherein, when A is A, is the receiving signal of the control center through the main path, when B is B, is the receiving signal of the control center through the standby path; is the weight: the lower the bit error rate, the higher the weight; is the fused signal.

[0052] Step 6.2, when the standby path where the relay node B is located has a path packet success delivery rate for consecutive multiple periods, the main path can be switched to the standby path. The is a set threshold, ranging from 90% to 100%.

[0053] Step 6.3, after the main path switches to the standby path, the relay node B completely takes over the information, updates the cluster head node to the relay node B, and seamlessly completes the communication link switching.

[0054] The beneficial effects of the present application are:

[0055] The present application supports automatic networking of heterogeneous intelligent operation equipment clusters such as intelligent loading and unloading operation equipment and intelligent horizontal transportation equipment, constructs a target communication link composed of a control center, a wireless base station, a cluster head node and a terminal device, and introduces a multi-path redundancy mechanism to support seamless switching to a standby path when the main path link quality deteriorates, and can solve the problem of slow response speed and high failure rate of port intelligent operation equipment remote control. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1The embodiment steps of the cluster wireless ad hoc network method of the port intelligent operation equipment are shown in the figure.

[0057] Figure 2 The figure is a schematic diagram of a target communication link. DETAILED DESCRIPTION

[0058] To further illustrate the technical solutions of the present application, the following specific embodiments are combined to elaborate the embodiment steps (as shown in the figure) and key configurations of the cluster wireless ad hoc network method of the port intelligent operation equipment. Figure 1

[0059] Step 1, initialization of the hierarchical architecture of the port communication system. Specifically as follows:

[0060] Step 1.1, according to the distribution density and moving trajectory of the port intelligent operation equipment, combined with the wireless communication technology specification, install the fan-shaped wireless base station Imt-8000 wireless communication system base station on the high-pole lamp and the main road lighting pole in the yard. The deployment of the wireless base station needs to meet the condition that the coverage radius is not more than 30 kilometers and the installation height is higher than the highest point of the equipment, to ensure that the signal is transmitted without obstruction. The control center synchronously configures the core switch to connect all the wireless base stations through the optical fiber link, forming the basic communication skeleton.

[0061] Step 1.2, after the deployment of the control center and the wireless base station covering the whole port area according to the existing technology, the dual-mode communication unit of the port intelligent operation equipment is activated.

[0062] The port intelligent operation equipment includes intelligent loading and unloading operation equipment (such as shore cranes, yard cranes) and intelligent horizontal transportation equipment (such as automatic guided vehicles, unmanned trucks, straddle carriers).

[0063] The dual-mode communication unit has one channel for low-speed and high-stability narrowband channel, which is suitable for control command issuing, and the other channel for high-speed and large-bandwidth wideband channel, which is suitable for intelligent operation equipment state feedback and video monitoring data transmission.

[0064] Step 1.3, after the port intelligent operation equipment is powered on, it sends a registration request to the wireless base station according to the existing wireless communication protocol, carrying the device unique number and type information. The wireless base station allocates a temporary logical IP address for each port intelligent operation equipment, which is uniformly formatted as 10.10.device number.100, and the subnet mask is fixed as 255.255.0.0. Thus, a primary downlink communication link composed of the control center, the wireless base station and the terminal equipment is established.

[0065] Step 1.4, a logical interface is pre-reserved in the wireless base station network configuration to provide access conditions for the target communication link, wherein the cluster head node is dynamically generated by step 3 election.

[0066] ​Based on the existing wireless communication protocol and wireless communication technology specification, through the above systematic deployment and access process, the initialization of the port communication system layered architecture is completed.

[0067] Step 2, the port intelligent operation equipment neighbor discovery. Specifically as follows:

[0068] Step 2.1, after the initialization of the port communication system layered architecture, the intelligent operation equipment broadcasts the access information package through the narrow channel with 5s as the period.

[0069] The content of the access information package includes the current intelligent operation equipment Unique number, the remaining power of the current intelligent operation equipment , physical location , mobility index And the number of neighbor devices .

[0070] The definition of the neighbor device is: set a time window , if the intelligent operation equipment successfully receives the access information package broadcasted by the intelligent operation equipment Within the time window Times, define the intelligent operation equipment As the neighbor device of the intelligent operation equipment , the intelligent operation equipment Also as the neighbor device of the intelligent operation equipment , and the intelligent operation equipment In the communication area of the intelligent operation equipment .

[0071] Step 2.2, after completing the periodic broadcast of the access information package by the intelligent operation equipment, the intelligent operation equipment records the neighbor device access information package and channel quality index information, wherein the channel quality index includes the received signal strength and channel propagation delay, thereby constructing the local initial connection topology matrix of the intelligent operation equipment As shown in formula (1):

[0072] (1)

[0073] Wherein, j is the neighbor device of the intelligent operation equipment ; Indicates the average signal strength received by the intelligent operation equipment From the intelligent operation equipment ; Is the one-way signal propagation delay; Q is the neighbor device set.

[0074] ​Step 2 enables neighbor discovery for port intelligent operation equipment, while recording neighbor equipment access packets and channel quality indicators, laying the foundation for cluster head node election in the target communication link.

[0075] Step 3: Election of the cluster head node with the highest score. Details are as follows:

[0076] Step 3.1: Based on the neighbor device access information packets and channel quality index information recorded in Step 2, all intelligent operation devices calculate the cluster head node adaptability score. As shown in formula (2):

[0077] (2)

[0078] in, Indicates intelligent operating equipment The remaining battery power; For intelligent operation equipment The maximum battery capacity; Mobility indicators for intelligent operation equipment scheduling; The average signal strength between the smart operating device and all neighboring devices; Number of neighboring devices; This represents the maximum number of neighboring devices across the entire network.

[0079] Step 3.2: Each intelligent operating device broadcasts its own cluster head node adaptability score within the communication area. By comparing the cluster head node adaptability scores of neighboring devices, the device with the highest cluster head node adaptability score (excluding the intelligent operating device itself) is elected as the cluster head node. This forms a local cluster structure composed of cluster head nodes and terminal devices, with the coverage radius strictly controlled within 500 meters.

[0080] Step 4: The clustered wireless self-organizing network completes the judgment mechanism. Details are as follows:

[0081] After determining the local cluster structure, to ensure that each intelligent operating device can complete the construction of a communication link consisting of the control center, wireless base station, cluster head node, and terminal equipment, all intelligent operating devices calculate connectivity indicators. As shown in formula (3):

[0082] (3)

[0083] in, This indicates taking the minimum value;

[0084] when dBm / s and the change amplitude remains less than 0.5 dBm / s for three consecutive cycles. If the intelligent operating equipment has a path with no more than 3 hops, the cluster wireless self-organizing network is considered complete once the condition is met.

[0085] Since there is a path with a hop count of no more than 3, all possible communication links (as shown in Figure 2 ) include: control center, wireless base station, terminal device, control center, wireless base station, cluster head node, terminal device, control center, wireless base station, cluster head node, cluster head node, terminal device, control center, wireless base station, cluster head node, cluster head node, cluster head node, terminal device, but in order to distinguish from the control link composed of control center, wireless base station, terminal device, it is uniformly called the target communication link composed of control center, wireless base station, cluster head node, terminal device.

[0086] After determining that the cluster wireless ad hoc network is completed, the control center issues a cluster wireless ad hoc network completion instruction to officially enable the target communication link.

[0087] Step 5, multi-path construction and standby path caching. Specifically as follows:

[0088] Step 5.1, the communication link constructed in step 3 with the highest score is taken as the main path, and the communication links constructed in step 3 according to the second and third scores are taken as standby paths.

[0089] Step 5.2: The evaluation function of each path is shown in formula (4):

[0090] (4)

[0091] Wherein, represents the path hop count; is the path packet success delivery rate, which is calculated according to the IETF-RFC standard; is the path average round-trip delay, which is measured by ICMP; is the path stability, which is defined as the link survival rate of the path in the last 3 consecutive periods.

[0092] Step 5.3, when the signal strength of a certain intelligent job device on the main path is dBm and the duration exceeds the time window s, it is determined that the main path link quality is deteriorated.

[0093] When the main path link quality is deteriorated, all standby paths are scored and sorted in real time based on , and the standby path with the highest score is selected to replace the main path.

[0094] Step 6, main and standby path seamless switching mechanism. Specifically as follows:

[0095] Step 6.1, when the main path switches to the standby path, the cluster head node in the local cluster structure composed of the cluster head node and the terminal device changes, such as from cluster head node A to relay node B.

[0096] The cluster head node A is one of the cluster head nodes in the target communication link of the main path. The relay node B is one of the cluster head nodes in the communication link of the standby path.

[0097] When the relay node B does not completely take over the information, the cluster head node A informs the relay node B to enter the monitoring state. The intelligent operation device sends data to both at the same time, and the control center uses the maximum ratio combination algorithm for signal fusion, as shown in formula (5):

[0098] (5)

[0099] Wherein, when A is A, is the received signal of the control center through the main path, when B is B, is the received signal of the control center through the standby path. is the weight: the lower the bit error rate , the higher the weight; is the fused signal.

[0100] Step 6.2, when the standby path where the relay node B is located has a path packet successful delivery rate of more than 98% for 3 consecutive periods, the main path can be switched to the standby path

[0101] Step 6.3, when the main path switches to the standby path, the relay node B completely takes over the information, updates the cluster head node to the relay node B, and seamlessly completes the communication link switching.

[0102] The above is a specific embodiment of the cluster wireless ad hoc network method of the port intelligent operation device of the present application. In the implementation process, the parameters can be adjusted according to the port area, operation density, device type and other factors.

[0103] The above-described embodiments only express the implementation of the present application, but cannot be interpreted as a limitation on the scope of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of protection of the present application.

Claims

1. A method for clustered wireless self-organizing networks of intelligent port operation equipment, characterized in that, The aforementioned clustered wireless ad hoc network method includes the following steps: Step 1: Initialize the layered architecture of the port communication system; The layered architecture of the port communication system was initialized through a systematic deployment and access control center process; specifically: Deploy a control center and wireless base stations covering the entire Hong Kong area. After powering on, the intelligent operating equipment sends a registration request to the wireless base station to complete the process of the intelligent operating equipment accessing the control center and form a primary downlink communication link. Step 2, Neighbor discovery for port intelligent operation equipment; specifically: Step 2.1: After completing the initialization of the port communication system's layered architecture, the intelligent operating equipment periodically broadcasts access packets through the narrow channel. Step 2.2: The intelligent operation device records the access information packets and channel quality index information of neighboring devices to construct the intelligent operation device. Local initial connection topology matrix ; Step 3: Election of the cluster head node with the highest score; specifically: Step 3.1: All intelligent operation devices calculate the cluster head node fitness score. ; Step 3.2, elect cluster head nodes according to the maximum score priority rule: Each intelligent operating device compares the cluster head node adaptability scores of its neighboring devices in different communication areas within its communication area. The intelligent operating device with the highest score is elected as the cluster head node, forming a local cluster structure composed of cluster head nodes and terminal devices; and the communication link constructed with the maximum score priority is used as the main path. Step 4: The cluster wireless self-organizing network completes the judgment mechanism; After the election of cluster head nodes for intelligent operating equipment is completed, a cluster wireless self-organizing network is introduced to complete the judgment mechanism. Step 5: Multi-path construction and alternative path caching; After the clustered wireless self-organizing network is completed, information from each intelligent operating device is transmitted through the target communication link, and a path redundancy mechanism is introduced; specifically: Step 5.1: Construct alternative paths based on the second-highest score; Step 5.2: Refer to the primary path and backup paths collectively as paths, and calculate the evaluation function values ​​for the primary path and all backup paths; Step 5.3, when the signal strength of a certain intelligent operation device on the main path... And lasting longer than the set time window. If the quality of the primary path link deteriorates, then all backup paths are scored and sorted in real time based on the evaluation function value, and the backup path with the highest score and that meets the judgment mechanism for the completion of the cluster wireless self-organizing network is selected to replace the primary path. Step 6, seamless primary / backup path failover mechanism, specifically: Step 6.1: When the primary path switches to the backup path, the cluster head node in the local cluster structure changes from cluster head node A to relay node B. Step 6.2, when the backup path where relay node B is located has a packet delivery success rate over multiple consecutive periods. Then the primary path can be switched to the backup path; where The set threshold; Step 6.3: After the primary path is switched to the backup path, relay node B takes over the information completely, updates the cluster head node to relay node B, and seamlessly completes the communication link switch.

2. The method for clustered wireless self-organizing network of intelligent port operation equipment according to claim 1, characterized in that, Step 1 specifically includes: Step 1.1: Based on the distribution density, movement trajectory, and wireless communication technology of the port's intelligent operation equipment, deploy the control center and wireless base stations covering the entire port area; Step 1.2: After completing the deployment of wireless base stations covering the control center and the entire port area, power on and activate the dual-mode communication unit of the port's intelligent operation equipment. The port intelligent operation equipment includes intelligent loading and unloading equipment and intelligent horizontal transport equipment; the dual-mode communication unit includes a narrowband channel and a broadband channel. Step 1.3: After powering on, the intelligent operating device sends a registration request to the wireless base station and obtains a temporary logical address assigned by the wireless base station. This completes the process of the intelligent operating device accessing the control center and forms a primary downlink communication link consisting of the control center, the wireless base station, and the terminal device. The terminal device is the intelligent operating device. Step 1.4: Reserve a target communication link consisting of a control center, wireless base station, cluster head node, and terminal equipment, wherein the cluster head node is dynamically generated by election.

3. The method for clustered wireless self-organizing network of intelligent port operation equipment according to claim 2, characterized in that, In step 2: In step 2.1: The access information packet includes the current intelligent operating equipment. Unique ID, remaining battery power of the current intelligent operating device Physical location Mobility indicators Number of neighboring devices ; The neighboring device is defined as: a set time window. If intelligent operating equipment Successfully received intelligent operation equipment within the time window Broadcast access packets Next, define intelligent operating equipment. For intelligent operation equipment Neighboring devices, smart operating devices Also for intelligent operation equipment Neighboring devices, and smart operating devices In intelligent operation equipment within the communication area; In step 2.2: the channel quality indicators include received signal strength and channel propagation delay.

4. The method for clustered wireless self-organizing network of intelligent port operation equipment according to claim 3, characterized in that, In step 2.2, the intelligent operation equipment Local initial connection topology matrix As shown in formula (1): （1）； Where j represents the intelligent operating equipment. Neighboring devices; Indicates intelligent operating equipment Receive from smart operation equipment The average signal strength; Q represents the one-way signal propagation delay; Q represents the set of neighboring devices.

5. A clustered wireless self-organizing network method for intelligent port operation equipment according to claim 3, characterized in that, In step 3.1: Based on the neighbor device access information packets and channel quality index information recorded in step 2, all intelligent operation devices calculate the cluster head node adaptability score. As shown in formula (2): （2）； in, Indicates intelligent operating equipment The remaining battery power; For intelligent operation equipment The maximum battery capacity; Mobility indicators for intelligent operation equipment scheduling; To avoid division by zero constants; The average signal strength between the smart operating device and all neighboring devices; Number of neighboring devices; The maximum number of neighboring devices across the entire network; These are weighting coefficients, representing the weights for controlling energy consumption, stability, signal strength, and connectivity, respectively.

6. A clustered wireless self-organizing network method for intelligent port operation equipment according to claim 5, characterized in that, Step 4 specifically includes: The aforementioned cluster wireless self-organizing network completion judgment mechanism is as follows: when the connectivity index of all intelligent operation devices... Simultaneously satisfy: ,continuous Maintaining each cycle Furthermore, the number of hops on a single path of the intelligent operation equipment does not exceed [a certain limit]. If the path is found, the cluster wireless self-organizing network is determined to be complete; the This represents the connectivity threshold, ranging from 3 to 15; The period for judging connectivity fluctuations ranges from 2 to 5. This represents the connectivity fluctuation tolerance threshold, ranging from 0.5 to 3; This indicates the maximum allowed number of path hops, ranging from 2 to 5. The connectivity index of the intelligent operation equipment The definition is shown in formula (3): （3）； in, This indicates taking the minimum value; Once the clustered wireless ad hoc network is determined to be complete, the control center issues a clustered wireless ad hoc network completion command and officially activates the target communication link.

7. A clustered wireless self-organizing network method for intelligent port operation equipment according to claim 5, characterized in that, In step 4: the target communication link is One expression method, in which the communication process includes a control center, a wireless base station, and a terminal device; a control center, a wireless base station, a cluster head node, and a terminal device; and a control center, a wireless base station, a cluster head node, a cluster head node, and a terminal device, with corresponding path hop counts of 0, 1, and 2, respectively.

8. A clustered wireless self-organizing network method for intelligent port operation equipment according to claim 6, characterized in that, In step 5.2: Each path The evaluation function value is calculated using formula (4): （4）； in, Indicates the number of hops in the path; The successful delivery rate of the route packet is calculated according to existing standards. The average round-trip time of the path is measured using existing technology. Path stability is defined as the stability of a path in a continuous path. Link survival rate within a cycle; These are adjustment factors, representing the weights for control path hop count, delivery rate, delay, and stability, respectively.

9. A clustered wireless self-organizing network method for intelligent port operation equipment according to claim 1, characterized in that, In step 5.3, The minimum signal strength threshold is set. The range is -95 to -75 dBm.

10. A method for clustered wireless self-organizing network of intelligent port operation equipment according to claim 8, characterized in that, In step 6: In step 6.1: Cluster head node A is one of the cluster head nodes in the main path target communication link; relay node B is one of the cluster head nodes in the backup path communication link. Relay node B replaces cluster head node A. For example, the local cluster structure composed of cluster head node A and terminal equipment will become a local cluster structure composed of relay node B and terminal equipment. When relay node B has not fully taken over the information, cluster head node A notifies relay node B to enter the listening state. The intelligent operation equipment sends data to both simultaneously. The control center uses the maximum ratio merging algorithm to fuse the signals, as shown in formula (5): （5）； Among them, when When it is A, For the control center to receive signals through the main path, when When it is B, For the control center to receive signals via a backup path; Weighting: The lower the bit error rate, the higher the weight; The fused signal; In step 6.2: the threshold The range is 90% to 100%.

Images