Underwater thruster rental cabinet internal communication system, method, rental cabinet, and medium

Abstract

The application discloses an underwater propeller rental cabinet internal communication system and method, a rental cabinet and a medium, and applies to the technical field of intelligent sharing, and comprises the following steps: a central unit packs upgrade data into upgrade data message nodes and application data into application data message nodes and sends them to a communication processing unit; the communication processing unit stores the upgrade data message nodes and the application data message nodes into a message data table of a corresponding terminal unit in time sequence and then sends them to the corresponding terminal unit; and the terminal unit executes a system upgrade operation based on the upgrade data message nodes or executes a user instruction operation based on the application data message nodes, so that the upgrade data and the application data are sequentially processed through a message processing mechanism of the message nodes and the message data table, and the problem that the underwater propeller rental cabinet stops operation due to system upgrade during use and affects user experience is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent sharing, in particular to an underwater propeller rental cabinet internal communication system and method, a rental cabinet and a medium. BACKGROUND

[0002] With the vigorous development of the sharing economy, various kinds of shared rental equipment have emerged, and underwater propeller rental cabinets are gradually emerging as shared rental equipment in recent years with the growth of underwater activity demand, mainly serving water sports and scientific research activities such as snorkeling, deep diving, underwater photography, underwater scientific research, etc. In the prior art, the underwater propeller rental cabinet usually needs to stop operation during system upgrade to ensure the continuity of the upgraded function, thereby affecting the user experience of the underwater propeller rental cabinet during use. SUMMARY

[0003] The present application provides an underwater propeller rental cabinet internal communication system, method, rental cabinet and medium to solve the problem of affecting user experience of the underwater propeller rental cabinet during use due to system upgrade stopping operation. The technical solution provided by the present application is as follows:

[0004] On the one hand, the present application provides an underwater propeller rental cabinet internal communication system, comprising: a central unit and a communication processing unit arranged inside the body of the underwater propeller rental cabinet, and a terminal unit arranged inside each return bin of the underwater propeller rental cabinet; the central unit is connected with the communication processing unit, and the communication processing unit is connected with each terminal unit respectively;

[0005] The central unit is configured to, when receiving upgrade data issued through a cloud server, pack the upgrade data into an upgrade data message node carrying a first terminal identifier representing each terminal unit and send it to the communication processing unit; and when receiving application data generated through a human-computer interaction interface, pack the application data into an application data message node carrying a second terminal identifier representing the terminal unit corresponding to the application data and send it to the communication processing unit;

[0006] The communication processing unit is configured to, when receiving the upgrade data message node, store the upgrade data message node into the message data table of the terminal unit represented by the first terminal identifier carried by the upgrade data message node according to the receiving time of the upgrade data message node; and when receiving the application data message node, store the application data message node into the message data table of the terminal unit represented by the second terminal identifier carried by the application data message node according to the receiving time of the application data message node; and for each terminal unit message data table, send the upgrade data message node and / or the application data message node arranged in the terminal unit message data table in order of receiving time to the terminal unit.

[0007] the terminal unit is configured to perform a system upgrade operation based on the upgrade data message node when receiving the upgrade data message node, and perform a user instruction operation based on the application data message node when receiving the application data message node.

[0008] Optionally, the communication processing unit is further configured to periodically generate a heartbeat data message node, determine a generation time of the heartbeat data message node as a reception time of the heartbeat data message node, and store the heartbeat data message node into the message data table of each terminal unit according to the reception time of the heartbeat data message node; send the heartbeat data message nodes arranged in the order of the reception time in the message data table of each terminal unit to the terminal unit, determine that the terminal unit is in an online state when a heartbeat response message node returned by the terminal unit is received within a set time range, and determine that the terminal unit is in an offline state when the heartbeat response message node returned by the terminal unit is not received within the set time range.

[0009] the terminal unit is further configured to return a heartbeat response message node to the communication processing unit when receiving the heartbeat data message node.

[0010] Optionally, there are multiple communication links between the communication processing unit and each terminal unit.

[0011] The communication processing unit is configured to periodically perform a heartbeat detection operation on each terminal unit; wherein the heartbeat detection operation comprises: selecting one communication link from the plurality of communication links as a target communication link; for each terminal unit, generating a heartbeat data message node based on a data packet type of the heartbeat data, a network layer address of the terminal unit, and a link type of the target communication link, determining a generation time of the heartbeat data message node as a reception time of the heartbeat data message node, and storing the heartbeat data message node in a message data table of the terminal unit according to the reception time of the heartbeat data message node; for the message data table of each terminal unit, sending the heartbeat data message nodes arranged in the message data table of the terminal unit in the order of the reception time to the terminal unit through the target communication link; when a heartbeat response message node returned by the terminal unit is received within a set time range, determining that the terminal unit is in an online state and a current link type of the terminal unit is the target communication link, and reporting a first heartbeat detection result representing that the terminal unit is in the online state and the current link type of the terminal unit is the target communication link to the central unit; when the heartbeat response message node returned by the terminal unit is not received within the set time range, continuing to perform the heartbeat detection operation, and when the plurality of communication links are all selected as the target communication link and the heartbeat response message node returned by the terminal unit is not received within the set time range, determining that the terminal unit is in an offline state, and reporting a second heartbeat detection result representing that the terminal unit is in the offline state to the central unit.

[0012] Optionally, the central unit is configured to split the upgrade data into a plurality of upgrade data blocks, package each upgrade data block into an upgrade data message node carrying a first terminal identifier representing each terminal unit, and send the upgrade data message node to the communication processing unit.

[0013] The communication processing unit is configured to, when the upgrade data message node is received, store the upgrade data message node in a message data table of a terminal unit represented by a first terminal identifier carried by the upgrade data message node according to a reception time of the upgrade data message node; for the message data table of each terminal unit, sequentially process the upgrade data message nodes arranged in the message data table of the terminal unit in the order of the reception time into upgrade data message nodes adapted to a current link type of the terminal unit, and send the upgrade data message nodes to the terminal unit.

[0014] The terminal unit is configured to, when the upgrade data message node is received, store the upgrade data message node in a twin running area, and when all the upgrade data message nodes are received, perform a system upgrade operation based on all the upgrade data message nodes.

[0015] Optionally, the central unit is configured to package the upgrade data into upgrade data message nodes carrying first terminal identifiers representing the respective terminal units based on the data packet type of the upgrade data, the network layer address of the communication processing unit, and the current link type; and package the application data into application data message nodes carrying second terminal identifiers representing the terminal units corresponding to the application data based on the data packet type of the application data, the network layer address of the communication processing unit, and the current link type.

[0016] Optionally, the communication processing unit is configured to sequentially obtain the message nodes from the message data table of each terminal unit, and send the message nodes to the terminal units through the communication link represented by the current link type of the terminal units after processing the message nodes into message nodes suitable for the current link type of the terminal units; wherein the message nodes in the message data table of the terminal units include at least one of the upgrade data message nodes, the application data message nodes, and the heartbeat data message nodes.

[0017] Optionally, the communication processing unit is configured to perform a message processing operation on the message data table of each terminal unit by the message processor until the message nodes in the message data table of the terminal unit are processed, wherein the message processing operation includes: obtaining a first message node from the message data table of the terminal unit, and sending the first message node to the terminal unit through the communication link represented by the current link type of the terminal unit after processing the first message node into a message node suitable for the current link type of the terminal unit; and deleting the first message node in the message data table of the terminal unit when a response data message node returned by the terminal unit for the first message node is received, so that a second message node in the message data table becomes the first message node.

[0018] In another aspect, the present application provides an underwater propeller rental cabinet, comprising: a body, a plurality of return bins arranged on the body, and an internal communication system of the underwater propeller rental cabinet.

[0019] In another aspect, the present application provides an internal communication method of an underwater propeller rental cabinet, which is applied to a communication processing unit in the internal communication system of the underwater propeller rental cabinet, and comprises:

[0020] When the upgrade data message node issued by the central unit is received, the upgrade data message node is stored in the message data table of the terminal unit represented by the first terminal identifier carried by the upgrade data message node according to the receiving time of the upgrade data message node; wherein the upgrade data message node is a message node carrying the first terminal identifier representing the respective terminal units obtained by the central unit by packaging the upgrade data when the central unit receives the upgrade data issued through the cloud server;

[0021] When receiving the application data message node issued by the central unit, the application data message node is stored in the message data table of the terminal unit represented by the second terminal identifier carried by the application data message node according to the receiving time of the application data message node; wherein the application data message node is a message node carrying the second terminal identifier representing the terminal unit corresponding to the application data, which is obtained by the central unit when receiving the application data generated through the human-computer interaction interface.

[0022] For each terminal unit message data table, the upgrade data message node and / or application data message node arranged in the terminal unit message data table in the order of receiving time are sequentially sent to the terminal unit, so that the terminal unit executes the system upgrade operation based on the upgrade data message node when receiving the upgrade data message node, and executes the user instruction operation based on the application data message node when receiving the application data message node.

[0023] On the other hand, the application provides a computer readable storage medium, the computer readable storage medium stores computer instructions, the computer instructions are executed by the processor to realize the above-mentioned internal communication method of underwater thruster rental cabinet.

[0024] The beneficial effects of the present application are as follows:

[0025] The present application generates upgrade data message nodes and application data message nodes through the central unit, and stores the upgrade data message nodes and application data message nodes into the message data table of the corresponding terminal unit through the communication processing unit, which can utilize the message processing mechanism of the message node and the message data table to sequentially process the upgrade data and the application data, so as to perform system upgrade during the operation of the underwater thruster rental cabinet, thereby realizing non-sensing remote upgrade and avoiding the problem that the underwater thruster rental cabinet stops operation due to system upgrade during use, affecting user experience.

[0026] Other features and advantages of the present application will be illustrated in the following description, and some can become apparent from the description, or can be understood by implementing the present application. The purpose and other advantages of the present application can be achieved and obtained by the structure particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0028] Figure 1 It is a schematic diagram of the internal communication system of the underwater thruster rental cabinet in the embodiments of the present application;

[0029] Figure 2 The component structure diagram of the message node in the embodiment of the present application;

[0030] Figure 3 The component structure diagram of the data field in the embodiment of the present application;

[0031] Figure 4 The message node queue diagram of the message data table in the embodiment of the present application;

[0032] Figure 5 The polling processing diagram of the message data table by the message processor in the embodiment of the present application;

[0033] Figure 6 The sequential processing diagram of the message node by the message processor in the embodiment of the present application;

[0034] Figure 7 The generation and processing diagram of the application data message node in the embodiment of the present application;

[0035] Figure 8 The generation and processing diagram of the upgrade data message node in the embodiment of the present application;

[0036] Figure 9 The generation and processing diagram of the hub data message node in the embodiment of the present application;

[0037] Figure 10 The flow diagram of the internal communication method of the underwater thruster rental cabinet in the embodiment of the present application;

[0038] Figure 11 The flow diagram of the terminal unit online and link detection method in the embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and beneficial effects of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] The embodiment of the present application provides an internal communication system of an underwater thruster rental cabinet, which is described with reference to Figure 1As shown, the underwater thruster rental cabinet internal communication system provided by the embodiments of the present application comprises: a central unit and a communication processing unit arranged in the body of the underwater thruster rental cabinet, and a terminal unit arranged in each return bin of the underwater thruster rental cabinet; the central unit is connected with the communication processing unit, and the communication processing unit is connected with each terminal unit respectively;

[0041] The central unit is configured to, when receiving the upgrade data issued through the cloud server, pack the upgrade data into an upgrade data message node carrying a first terminal identifier representing each terminal unit and send the upgrade data message node to the communication processing unit; and when receiving application data generated through the human-computer interaction interface, pack the application data into an application data message node carrying a second terminal identifier representing the terminal unit corresponding to the application data and send the application data message node to the communication processing unit.

[0042] The communication processing unit is configured to, when receiving the upgrade data message node, store the upgrade data message node into a message data table of the terminal unit represented by the first terminal identifier carried by the upgrade data message node according to the receiving time of the upgrade data message node; when receiving the application data message node, store the application data message node into a message data table of the terminal unit represented by the second terminal identifier carried by the application data message node according to the receiving time of the application data message node; and for each message data table of the terminal unit, sequentially send the upgrade data message node and / or the application data message node arranged in the message data table of the terminal unit according to the receiving time to the terminal unit.

[0043] The terminal unit is configured to, when receiving the upgrade data message node, perform a system upgrade operation based on the upgrade data message node; and when receiving the application data message node, perform a user instruction operation based on the application data message node.

[0044] In the embodiments of the present application, when designing the underwater thruster rental cabinet, the internal communication mode of the underwater thruster rental cabinet needs to be designed according to the use environment, that is, the communication mode between the central unit and the communication processing unit and the communication mode between the communication processing unit and each terminal unit, such as network cable (such as Ethernet), RS485, RS232, CAN, etc. When the underwater thruster rental cabinet is expanded, the terminal units inside the newly accessed return bin may have different communication modes with the terminal units inside the original return bin, that is, there may be multiple communication links between different underwater thruster rental cabinets and between the communication processing unit and each terminal unit inside the same underwater thruster rental cabinet. Therefore, in the upgrading process of the underwater thruster rental cabinet, in order to adapt to different internal communication modes, an upgrading program can be written for different internal communication modes, but this will lead to redundant upgrading code and high upgrading cost. Therefore, the embodiments of the present application propose an underwater thruster rental cabinet internal communication system architecture based on a central unit, a communication processing unit and multiple terminal units. Specifically, a single communication link can be selected between the central unit and the communication processing unit, such as one of a wired communication link, an RS485 communication link, an RS232 communication link and a CAN communication link. There are multiple communication links between the communication processing unit and each terminal unit. The hardware part of the communication processing unit is provided with multiple communication interfaces, and the software part is built-in with a driver program of multiple communication protocols to support the connection with terminal units of different communication modes. The communication processing unit includes a multi-interface module and a first communication protocol adapter. The multi-interface module includes multiple communication interface modules integrated inside the communication processing unit, each of which supports one of the communication modes such as network cable (such as Ethernet), RS485, RS232 and CAN. The first communication protocol adapter is used to convert and adapt data of different communication modes to ensure seamless transmission of data between different communication links. The first communication protocol adapter can be implemented by software (such as implementing multiple protocol stacks in the operating system) or by hardware (such as using a dedicated communication interface chip).The hardware part of the terminal unit is provided with at least one communication interface, and the software part is built-in with a driver of at least one communication protocol to realize the connection with the communication processing unit, wherein the terminal unit comprises at least one communication interface module and a second communication protocol adapter; preferably, the terminal unit can comprise at least two communication interface modules, each of which supports one of the communication modes such as a network cable (such as Ethernet), RS485, RS232 and CAN, so as to better adapt to different network environments through the redundant link design and improve the reliability and fault tolerance of data transmission between the communication processing unit and the terminal unit; the second communication protocol adapter is used for decoding and converting the received data to ensure that the data can be correctly transmitted to the processing module of the terminal unit, and the second communication protocol adapter can be realized by software (such as realizing multiple protocol stacks in an operating system) or by hardware (such as using a dedicated communication interface chip). In this way, the central unit and the communication processing unit are connected in communication through one of the wired communication link, the RS485 communication link, the RS232 communication link and the CAN communication link, the communication processing unit and each terminal unit are connected in communication through at least two of the wired communication link, the RS485 communication link, the RS232 communication link and the CAN communication link, and the communication link is automatically switched according to the network state, so as to realize fast and stable data transmission. In addition, for the internal communication system architecture of the underwater thruster rental cabinet, a universal and decoupled internal communication mode based on a message node and a message data table is also proposed, and through the message node packaging of the central unit and the message data table processing of the communication processing unit, the details of different communication modes can be abstracted, so that the upgrade data only needs to be issued to the central unit and transmitted to the communication processing unit, without the need to develop an upgrade program for different communication modes respectively, so as to realize the decoupling of the communication mode and the upgrade logic, and further reduce the code redundancy and maintenance cost.

[0045] In the embodiments of the present application, the central unit has human-computer interaction processing function and cloud message processing function, which can process the upgrade data issued by the cloud server into upgrade data message nodes carrying first terminal identifier and process the user operation on the human-computer interaction interface into application data message nodes carrying second terminal identifier, wherein the first terminal identifier carried by the upgrade data message node is a unique identifier representing all terminal units, for example, device number and / or network layer address of all terminal units, or for example, specific identifier such as ALL and / or hash value calculated based on device number and / or network layer address of all terminal units, and the second terminal identifier carried by the application data message node is a unique identifier representing a single terminal unit, for example, device number and / or network layer address of the terminal unit, so that the communication processing unit can distinguish the terminal units corresponding to the upgrade data and the application data through the first terminal identifier and the second terminal identifier; the communication processing unit has message processing function, which can generate corresponding message data table for each terminal unit, and can receive the upgrade data message nodes and the application data message nodes issued by the central unit and store them into the message data table of the corresponding terminal unit, and can also process the upgrade data message nodes and / or application data message nodes in the message data table of each terminal unit into upgrade data message nodes and / or application data message nodes adapted to the current link type of the corresponding terminal unit in sequence and send them to the corresponding terminal unit, so as to realize the sequential processing and sending of the upgrade data message nodes and the application data message nodes; the terminal unit has user operation response function and system upgrade function, which can receive the upgrade data message nodes and / or application data message nodes sent by the communication processing unit, and when receiving the upgrade data message nodes, perform system upgrade operation based on the upgrade data message nodes, and when receiving the application data message nodes, perform user instruction operation based on the application data message nodes, so that the central unit generates the upgrade data message nodes and the application data message nodes, the communication processing unit stores the upgrade data message nodes and the application data message nodes into the message data table of the corresponding terminal unit, and the message processing mechanism of the message nodes and the message data table can be used to sequentially process the upgrade data and the application data, thereby realizing remote upgrade without feeling in the operation process of the underwater thruster rental cabinet, and avoiding the problem that the underwater thruster rental cabinet stops operation due to system upgrade during use and affects user experience.

[0046] In a possible implementation, the communication processing unit is further configured to periodically generate a heartbeat data message node, determine a generation time of the heartbeat data message node as a receiving time of the heartbeat data message node, and store the heartbeat data message node into the message data table of each terminal unit according to the receiving time of the heartbeat data message node; send, for each terminal unit, the heartbeat data message nodes arranged in the message data table of the terminal unit in order of the receiving time to the terminal unit, and determine that the terminal unit is in an online state when a heartbeat response message node returned by the terminal unit is received within a set time range, and determine that the terminal unit is in an offline state when the heartbeat response message node returned by the terminal unit is not received within the set time range.

[0047] The terminal unit is further configured to return a heartbeat response message node to the communication processing unit when the heartbeat data message node is received.

[0048] In the embodiments of the present application, the message node further includes a heartbeat data message node, and the communication processing unit further has a heartbeat detection function, which can periodically generate the heartbeat data message node and store the heartbeat data message node into the message data table of each terminal unit, so as to send the heartbeat data message nodes in each message data table to the corresponding terminal unit by processing the heartbeat data message nodes in the message data table of each terminal unit, and further detect the online state of each terminal unit according to the response result of each terminal unit to the heartbeat data message node.

[0049] In a possible implementation, there are multiple communication links between the communication processing unit and each terminal unit; wherein the multiple communication links include but are not limited to a wired communication link (such as an Ethernet), an RS232 communication link, an RS485 communication link and a CAN communication link.

[0050] The communication processing unit is configured to periodically perform a heartbeat detection operation on each terminal unit; wherein the heartbeat detection operation comprises: selecting one communication link from the plurality of communication links as a target communication link; for each terminal unit, generating a heartbeat data message node based on a data packet type of the heartbeat data, a network layer address of the terminal unit, and a link type of the target communication link, determining a generation time of the heartbeat data message node as a reception time of the heartbeat data message node, and storing the heartbeat data message node in a message data table of the terminal unit according to the reception time; for the message data table of each terminal unit, sending the heartbeat data message nodes arranged in the message data table of the terminal unit according to the reception time to the terminal unit through the target communication link; when a heartbeat response message node returned by the terminal unit is received within a set time range, determining that the terminal unit is in an online state and that a current link type of the terminal unit is the target communication link, and reporting a first heartbeat detection result representing that the terminal unit is in the online state and that the current link type of the terminal unit is the target communication link to the central unit; when the heartbeat response message node returned by the terminal unit is not received within the set time range, continuing to perform the heartbeat detection operation, and when the heartbeat response message node returned by the terminal unit is not received within the set time range after all the communication links are selected as the target communication link, determining that the terminal unit is in an offline state, and reporting a second heartbeat detection result representing that the terminal unit is in the offline state to the central unit.

[0051] In the embodiment of the present application, the communication processing unit generates heartbeat data message nodes of different communication link types in sequence and stores them in the message data table of each terminal unit, so as to send the heartbeat data message nodes to each terminal unit by processing the message data table of each terminal unit. If the terminal unit returns a heartbeat response message node after the heartbeat data message node of a certain communication link type is sent to the terminal unit, the communication processing unit determines that the communication link type is the current communication link type of the terminal unit and reports it to the central unit, so that the central unit generates corresponding message nodes when application data or upgrade data is received subsequently; if the terminal unit does not respond after the heartbeat data message nodes of all communication link types are sent to the terminal unit in sequence, the communication processing unit determines that the terminal unit is in an offline state and reports it to the central unit, so that the central unit avoids the terminal unit when responding to a user rental operation. In this way, by periodically generating heartbeat data message nodes by the communication processing unit and storing them in the message data table of each terminal unit, the heartbeat data message nodes can be sent to the corresponding terminal unit by using the message data table of each terminal unit, and then the online state and the current link type of each terminal unit can be detected according to the response result of each terminal unit to the heartbeat data message node, thereby realizing the online state and link type detection of each terminal unit.

[0052] In a possible implementation, the central unit is configured to split the upgrade data into a plurality of upgrade data blocks, and pack each upgrade data block into an upgrade data message node carrying a first terminal identifier representing a respective terminal unit and send the upgrade data message node to the communication processing unit;

[0053] The communication processing unit is configured to, upon receiving the upgrade data message node, store the upgrade data message node into a message data table of the terminal unit represented by the first terminal identifier carried by the upgrade data message node according to a receiving time of the upgrade data message node; and for each message data table of the terminal unit, sequentially process the upgrade data message nodes arranged in the message data table of the terminal unit according to the receiving time into upgrade data message nodes adapted to a current link type of the terminal unit and send the upgrade data message nodes to the terminal unit.

[0054] The terminal unit is configured to, upon receiving the upgrade data message node, store the upgrade data message node into a twin running area, and upon receiving all the upgrade data message nodes, perform a system upgrade operation based on all the upgrade data message nodes.

[0055] In the embodiments, if remote upgrade of the terminal unit is needed, the cloud server is configured to send upgrade data such as an upgrade program to the central unit, the central unit is configured to perform sharding processing on the upgrade data to obtain a plurality of upgrade data blocks, and sequentially process each upgrade data block into an upgrade data message node and send the upgrade data message node to the communication processing unit, the communication processing unit is configured to store each upgrade data message node into a corresponding message data table, and perform traversal processing on the message data table to send the upgrade data to the terminal unit to perform a system upgrade operation, thereby completing the remote upgrade without user awareness, and avoiding the problem that the underwater thruster rental cabinet stops operation due to system upgrade during use and affects user experience. Moreover, the cache area of the terminal unit includes a current running area and a twin running area, the current running area is used to run an old version of firmware, and the twin running area is an idle and writable cache area used to receive a new version of firmware. After the terminal unit receives the upgrade data message node, the terminal unit writes the upgrade data message node into the twin running area, and upon receiving all the upgrade data message nodes, the terminal unit switches a pointer to the twin running area, so as to perform an atomic restart based on all the upgrade data message nodes saved in the twin running area, that is, perform a system upgrade. If the upgrade fails, the pointer is automatically rolled back to the current running area to run the old version of firmware to realize a rollback without user awareness, thereby completing the system upgrade without service interruption.

[0056] In a possible implementation, the communication processing unit is configured to, for each terminal unit, predict, based on historical communication data (such as normalized per-hour packet loss rate, RTT, RSRP, temperature, humidity, load, etc.) of the terminal unit in a historical time range (for example, in the last 24 hours), a network quality score prediction curve of each communication link of the terminal unit in a future time range (for example, in the next 30 seconds), and determine, based on the network quality score prediction curve of each communication link of the terminal unit, that the terminal unit triggers switching from a current communication link to a target communication link in the future time range, where the target communication link has the highest network quality score and is online at the physical layer and the link layer among all the communication links.

[0057] In the embodiments of the present application, the network quality score prediction curve of each communication link of the terminal unit in the future time range is predicted by using the LSTM model, and the communication link switching is triggered according to the network quality score prediction curve, so that the switching can be triggered in advance when the network quality of the current communication link is poor, the after-the-fact remedy is changed into pre-avoidance, and the communication quality can be ensured.

[0058] In a possible implementation, the core unit is configured to split the upgrade data into a plurality of upgrade data blocks according to a fixed fragmentation size, and pack each upgrade data block into an upgrade data message node carrying a first terminal identifier (that is, a unique identifier representing each terminal unit) and send the upgrade data message node to the communication processing unit.

[0059] The communication processing unit is configured to perform integrity verification on the upgrade data block in the upgrade data message node by using a data verification mechanism (such as CRC verification) when the upgrade data message node is received, and save the upgrade data block to a local storage area until all the upgrade data blocks issued by the core unit are saved in the local storage area after the integrity verification of the upgrade data block is passed.

[0060] In the embodiments of the present application, the communication link between the core unit and the communication processing unit is generally stable, has a low packet loss rate, and has a high available bandwidth, so that the data transmission efficiency can be improved by using a larger fixed fragmentation size for fragmenting and transmitting the upgrade data, and the data integrity can be ensured by performing integrity verification on the upgrade data block in the upgrade data message node by using the data verification mechanism (such as CRC verification) by the communication processing unit.

[0061] In a possible implementation, the communication processing unit is configured to periodically collect the current network quality indicators (such as the current available bandwidth, the current packet loss rate, the current round-trip time, etc.) of the current communication link of each terminal unit by the heartbeat detection operation in a sliding window manner, where one sliding window includes n heartbeat detection periods, and n is a positive integer greater than 1; for each terminal unit, the current fragment size of the upgrade data is dynamically adjusted according to the current network quality indicators (such as the current available bandwidth, the current packet loss rate, the current round-trip time, etc.) of the current communication link of the terminal unit, and after the all upgrade data stored in the local storage area is fragmented into multiple upgrade data blocks according to the current fragment size, each upgrade data block is packed into an upgrade data message node adapted to the current link type of the terminal unit and stored in the message data table of the terminal unit, and the message data table is iterated by the message processor to send the upgrade data message node to the terminal unit to perform the system upgrade operation; where each upgrade data message node includes at least a pointer field and a data field; the data field includes at least the network layer address (i.e., the destination address) of the terminal unit, the current communication link type between the communication processing unit and the terminal unit, the data packet type (i.e., the upgrade data type), and the data packet; the data packet includes at least the upgrade data block, the data block size (i.e., the current fragment size), and the data block sequence number (i.e., the fragment sequence number).

[0062] In the embodiments of the present application, the communication link between the terminal unit and the communication processing unit is various, and the network condition is unstable, therefore, the central unit calculates the current network health score of the current communication link of the terminal unit according to the current network quality indicators (such as the current available bandwidth, the current packet loss rate, the current round-trip time, etc.) of the current communication link of the terminal unit, and determines the fragment size corresponding to the network health score interval into which the current network health score falls as the current fragment size of the upgrade data block according to the corresponding relationship between the pre-defined network health score interval and the fragment size, so that the fragment size of the upgrade data is dynamically adjusted according to the current network quality indicators (available bandwidth, packet loss rate, round-trip time), and reliable transmission can be completed with the minimum number of retransmissions in a weak network environment. For example, the calculation method of the current network health score is as follows:

[0063] S net =w1 (1-P loss )+w2 (B avail / B max )+w3 (RTT max / RTT)

[0064] wherein, w1, w2, w3 are weights (e.g., w1=0.5, w2=0.3, w3=0.2); P loss is the current packet loss rate; B avail is the current available bandwidth; B max is a preset maximum bandwidth, used for normalizing the current available bandwidth, to ensure that the bandwidth index has comparability in the network health score; RTT is the current round-trip time, RTT max is a preset maximum round-trip time, used for normalizing the current round-trip time, to ensure that the round-trip time index has comparability in the network health score.

[0065] For example, the correspondence between the network health score interval and the size of the slice is shown in Table 1:

[0066] Table 1.

[0067]

[0068] In one possible implementation, the communication processing unit is configured to, for each terminal unit, perform RS(k, n) erasure coding on each upgraded data block obtained through slicing to generate n code symbols of each upgraded data block, and assign a globally unique symbol sequence number to each code symbol, wherein the n code symbols include k source symbols and n-k redundant symbols, k≤n, and the redundancy rate R=(n-k) / k; for each code symbol, pack the code symbol, the globally unique symbol sequence number of the code symbol, the slice sequence number of the upgraded data block corresponding to the code symbol, RS parameters (i.e., k and n), and a CRC check value into an upgraded data message node; and according to the real-time weight proportion of at least two communication links of the terminal unit, distribute the n upgraded data message nodes of the same upgraded data block to the at least two communication links and send the n upgraded data message nodes to the terminal unit concurrently.

[0069] The terminal unit is configured to receive the upgrade data message nodes through the at least two communication links simultaneously, perform CRC check on each upgrade data message node, discard the upgrade data message node immediately if the CRC check fails, and perform a duplicate check on the upgrade data message nodes in a sliding window by using the global unique symbol sequence number of the received upgrade data message node as a key and using a sliding window duplicate check mechanism, wherein the duplicate check includes: if the global unique symbol sequence number of the upgrade data message node in the sliding window is less than a window reference of the sliding window, determining that the upgrade data message node is a duplicate message node and discarding the upgrade data message node; if the global unique symbol sequence number of the upgrade data message node in the sliding window is greater than or equal to a sum of the window reference and a window depth of the sliding window, determining that the upgrade data message node is an overflow message node and discarding the upgrade data message node; if the global unique symbol sequence number of the upgrade data message node in the sliding window is greater than or equal to the window reference of the sliding window and less than the sum of the window reference and the window depth of the sliding window, storing the upgrade data message node in a corresponding slot of a buffer; when k consecutive upgrade data message nodes in the sliding window are filled in the slot, performing RS decoding on the k upgrade data message nodes to recover an upgrade data block corresponding to the k upgrade data message nodes; and writing the recovered upgrade data block in a twin running area according to a fragment sequence number until all the upgrade data blocks are received, and triggering an atomic restart upgrade.

[0070] In the embodiments of the application, each upgrade data block is encoded by using RS(k, n) erasure coding, and the n encoded symbols are transmitted in parallel by using at least two communication links according to a real-time weight ratio, so that the system upgrade can be completed under the condition that the communication processing unit has zero retransmission and the terminal unit has zero duplication and zero disorder, thereby improving the system upgrade efficiency and stability.

[0071] In a possible implementation, the RS parameters, i.e., k and n, of each terminal unit are dynamically adjusted according to a current network health score and a current packet loss rate of a current communication link of the terminal unit, and the mapping relationship is shown in Table 2.

[0072] Table 2.

[0073]

[0074] In a possible implementation, the real-time weight ratio of the at least two communication links of the terminal unit is dynamically adjusted according to a current network health score of the at least two communication links.

[0075] In the embodiment of the present application, there are at least two communication links between the terminal unit and the communication processing unit, among the at least two communication links, the current communication link is the primary communication link, and the other communication links are backup communication links. When transmitting the upgrade data, the upgrade data is fragmented according to the current network health score of the current communication link, and n encoded symbols of each upgrade data block are transmitted in parallel according to the real-time weight proportion determined according to the current network health score of each communication link. The real transmission environment such as the available bandwidth, packet loss rate, RTT of the current communication link can be used to improve the fragmentation accuracy, and the remaining links can be used as redundant injection channels to improve the transmission efficiency, so that the fast and stable transmission of the upgrade data is completed.

[0076] In a possible implementation, the communication processing unit is configured to record the fragment sequence number of the upgrade data block in the sent upgrade data message node and the acknowledgement state of the terminal unit for the upgrade data message node. If the acknowledgement state of the terminal unit for the upgrade data message node is not received within the timeout threshold, the communication processing unit is configured to retransmit the upgrade data message node to the terminal unit.

[0077] In the embodiment of the present application, when the communication processing unit does not receive the acknowledgement state of the terminal unit for the upgrade data message node within the timeout threshold, the communication processing unit retransmits the upgrade data message node to the terminal unit, instead of all upgrade data blocks, which can significantly improve the transmission efficiency. Especially in the case of poor network conditions, the return and determination process of the acknowledgement state can ensure the reliable transmission of the upgrade data.

[0078] In a possible implementation, the core unit is configured to package the upgrade data into an upgrade data message node carrying a first terminal identifier representing each terminal unit based on the data packet type of the upgrade data, the network layer address of the communication processing unit and the current link type; and package the application data into an application data message node carrying a second terminal identifier representing the terminal unit corresponding to the application data based on the data packet type of the application data, the network layer address of the communication processing unit and the current link type.

[0079] In the embodiment of the present application, as shown in Figure 2 The message node includes a pointer field and a data field. The pointer field is used to connect the message nodes, and includes a head pointer pointing to the head message node in the message data table and a tail pointer pointing to the tail message node in the message data table, so as to support the enqueue operation and dequeue operation of the message nodes. The data field is used for data transmission between the core unit and the communication processing unit and between the communication processing unit and the terminal unit. As shown in Figure 3As shown, the data field includes address, data packet type, link type and data packet; the address includes source address and destination address; the data packet is specific data content, including but not limited to: upgrade data, application data, heartbeat data and other specific data content, and terminal identifier corresponding to the specific data content (for example, the first terminal identifier for representing each terminal unit, the second terminal identifier for representing the terminal unit corresponding to the application data), data block size (i.e. current fragment size), data block sequence number (i.e. fragment sequence number) and other attribute data; the data packet type is used to represent the purpose of the data packet, including but not limited to application data type, upgrade data type and heartbeat data type; the link type is used to represent the current physical connection form between the hub unit and the communication processing unit, and the communication processing unit and the terminal unit, i.e. the current communication link type, including but not limited to wired communication link, RS232 communication link, RS485 communication link and CAN communication link.

[0080] In specific implementation, the communication processing unit has a message processing function and a heartbeat detection function, which can generate a corresponding message data table for each terminal unit, and can receive the upgrade data message node and the application data message node issued by the hub unit and the periodically generated heartbeat data message node, and store the upgrade data message node, the application data message node and the heartbeat data message node into the message data table of the corresponding terminal unit for sequential processing, i.e. referring to Figure 4 As shown, the communication processing unit maintains a message data table for each terminal unit, so that the upgrade data message node, the application data message node and the heartbeat data message node in each message data table are sequentially processed into the upgrade data message node, the application data message node and the heartbeat data message node adapted to the current link type of the corresponding terminal unit by the message processor (i.e. the first communication protocol adapter), and then sent to the corresponding terminal unit; the terminal unit has a user operation response function, a system upgrade function and a heartbeat response function, which can receive the upgrade data message node, the application data message node and the heartbeat data message node sent by the communication processing unit, and when receiving the upgrade data message node, perform a system upgrade operation based on the upgrade data message node, when receiving the application data message node, perform a user instruction operation based on the application data message node, and when receiving the heartbeat data message node, perform an online and link detection operation based on the heartbeat data message node. In this way, through the message processing architecture of the message node and the message data table, the remote upgrade process of the terminal unit does not affect the business function, ensuring that the business processing and system upgrade can be successfully performed, so that the no-sense remote upgrade is realized in the business processing process, and the problem that the underwater thruster rental cabinet stops operation due to system upgrade during use and affects user experience is avoided.

[0081] In a possible implementation, the communication processing unit is configured to sequentially acquire a message node from the message data table of each terminal unit, and after processing the message node into a message node adapted to the current link type of the terminal unit, send the message node to the terminal unit through the communication link represented by the current link type of the terminal unit; wherein the message node in the message data table of the terminal unit includes at least one of an upgrade data message node, an application data message node, and a heartbeat data message node. Specifically, the communication processing unit is configured to, for the message data table of each terminal unit, perform a message processing operation on the message data table of the terminal unit by the message processor until the message nodes in the message data table of the terminal unit are processed; wherein the message processing operation includes: acquiring a first message node from the message data table of the terminal unit, and after processing the first message node into a message node adapted to the current link type of the terminal unit, sending the message node to the terminal unit through the communication link represented by the current link type of the terminal unit, and when a response data message node returned by the terminal unit for the first message node is received, deleting the first message node in the message data table of the terminal unit so that a second message node in the message data table becomes the first message node.

[0082] In the embodiments of the present application, as shown in Figure 5 The communication processing unit polls the plurality of message data tables by the message processor (i.e., the first communication protocol adapter), and if there is a message node in the current message data table, processes the message node, and then queries the next message data table, and thus executes repeatedly to ensure that the message data table of each terminal unit is processed in place. When the communication processing unit acquires the message node in the message data table by the message data processor, as shown in Figure 6 The message processor always points to the first message node in the message data table, and thus after processing the message node and receiving the response data message node of the corresponding terminal unit, the message processor deletes the first message node in the current message data table so that the second message node in the message data table is moved forward to become the first message node, and thus executes repeatedly to ensure that each message node in the message data table is processed in place.

[0083] In summary, in the embodiments of the present application, as shown in Figure 7 The user performs user operations such as leasing and returning on the man-machine interaction interface, the central unit processes the user operations into application data, packs the application data into an application data message node, and sends the application data message node to the communication processing unit. The communication processing unit stores the application data message node into the message data table of the corresponding terminal unit, and then sends the application data message node to the corresponding terminal unit after processing the application data message node into an application data message node adapted to the current communication link of the terminal unit according to the arrangement order of the application data message node in the message data table; as shown in Figure 8As shown, the cloud server remotely sends the upgrade data such as upgrade degree to the central unit, the central unit packs the upgrade data into an upgrade data message node and sends it to the communication processing unit, the communication processing unit stores the upgrade data message node into the message data table of the corresponding terminal unit, and then sends the upgrade data message node to the corresponding terminal unit after processing the upgrade data message node into an upgrade data message node suitable for the current communication link of the terminal unit according to the arrangement order of the upgrade data message node in the message data table. In this way, the central unit generates the upgrade data message node and the application data message node, and the communication processing unit stores the upgrade data message node and the application data message node into the message data table of the corresponding terminal unit, so that the upgrade data and the application data can be sequentially processed by using the message processing mechanism of the message node and the message data table, thereby realizing system upgrade during the operation of the underwater thruster rental cabinet, and avoiding the problem that the underwater thruster rental cabinet stops operation due to system upgrade during use, thereby affecting the user experience. Moreover, referring to Figure 9 As shown, the communication processing unit periodically generates a heartbeat data message node, stores the heartbeat data message node into the message data table of the corresponding terminal unit, and then sends the heartbeat data message node to the corresponding terminal unit according to the arrangement order of the heartbeat data message node in the message data table, so that the heartbeat data message node can be used to realize online and link detection of the terminal unit, and at the same time, the load rate of the central unit can be reduced, and the performance, reliability and real-time performance of the internal communication system of the underwater thruster rental cabinet can be improved.

[0084] Based on the above embodiment, the underwater thruster rental cabinet internal communication method provided by the embodiment of the present application is applied to the underwater thruster rental cabinet, and referring to Figure 10 As shown, the underwater thruster rental cabinet internal communication method provided by the embodiment of the present application has the following interactive process:

[0085] Step 201: When the central unit receives the upgrade data issued by the cloud server, the central unit packs the upgrade data into an upgrade data message node including a destination address, a data packet type and a link type.

[0086] Step 202: The central unit sends the upgrade data message node to the communication processing unit.

[0087] Step 203: When the communication processing unit receives the upgrade data message node, the communication processing unit stores the upgrade data message node into the message data table of the terminal unit corresponding to the destination address of the upgrade data message node according to the receiving time of the upgrade data message node.

[0088] Step 204: The central unit packs the application data into an application data message node including a destination address, a data packet type and a link type when receiving the application data generated through the human-computer interaction interface.

[0089] Step 205: The central unit sends the application data message node to the communication processing unit.

[0090] Step 206: The communication processing unit stores the application data message node into the message data table of the terminal unit corresponding to the destination address of the application data message node according to the receiving time of the application data message node when receiving the application data message node.

[0091] Step 207: The communication processing unit periodically generates a heartbeat data message node and stores the heartbeat data message node into the message data table of each terminal unit according to the generation time (also as the receiving time) of the heartbeat data message node.

[0092] Step 208: The communication processing unit circulates through the message nodes in the message data table of each terminal unit through the message processor.

[0093] Step 209: The communication processing unit sends the message node in the message data table of the currently circulated terminal unit to the terminal unit after processing the message node into a message node suitable for the current communication link of the terminal unit through the message processor; wherein the currently circulated message node is one of the upgrade data message node, the application data message node and the heartbeat data message node.

[0094] Step 210: The terminal unit executes corresponding operations based on the message node when receiving the message node. For example, the terminal unit executes a system upgrade operation based on the upgrade data message node when the received message node is the upgrade data message node, executes a user instruction operation based on the application data message node when the received message node is the application data message node, and executes an online and link detection operation based on the heartbeat data message node when the received message node is the heartbeat data message node.

[0095] Step 211: The terminal unit returns a response data message node to the communication processing unit; wherein the response data message node is one of an upgrade response message node, an application response message node and a heartbeat response message node.

[0096] Step 212: When the communication processing unit receives the response data message node, the communication processing unit reports corresponding information to the hub unit based on the response data message node. For example, when the received response data message node is an upgrade response message node, the communication processing unit reports information indicating whether the terminal unit is successfully upgraded to the hub unit; when the received response data message node is an application response message node, the communication processing unit reports information indicating whether the warehouse is completed to the hub unit; when the received response data message node is a heartbeat response message node, the communication processing unit reports information indicating the current state (e.g., online or offline) of the terminal unit and / or the current link type to the hub unit.

[0097] The online and communication link detection method based on the heartbeat data message node provided by the embodiment of the present application will be described in detail below. As shown in FIG. 3, the general process of the online and communication link detection method based on the heartbeat data message node provided by the embodiment of the present application is as follows: Figure 11

[0098] Step 301: The communication processing unit periodically sets the network layer address of each terminal unit as a destination address.

[0099] Step 302: The communication processing unit selects one communication link as a target communication link from a plurality of communication links; wherein the plurality of communication links include a wired communication link, an RS232 communication link, an RS485 communication link, and a CAN communication link.

[0100] Step 303: The communication processing unit generates a heartbeat data message node based on the destination address, the link type of the target communication link, and the data packet type, and determines the generation time of the heartbeat data message node as the reception time of the heartbeat data message node.

[0101] Step 304: The communication processing unit stores the heartbeat data message node in the message data table of the terminal unit represented by the destination address according to the reception time of the heartbeat data message node.

[0102] Step 305: The communication processing unit sends the heartbeat data message nodes arranged in the order of the reception time in the message data table of each terminal unit to the terminal unit through the target communication link.

[0103] Step 306: The communication processing unit determines whether a heartbeat response message node returned by the terminal unit is received within a set time range, and if so, step 307 is performed; if not, step 308 is performed.

[0104] Step 307: The communication processing unit determines that the terminal unit is in an online state and the current link type of the terminal unit is the target communication link, and reports the current state (i.e., the online state) of the terminal unit and the current link type to the hub unit.​

[0105] Step 308: The communication processing unit determines whether all the communication links are selected as the target communication link, if yes, step 309 is executed; if no, step 302 is returned.

[0106] Step 309: The communication processing unit determines that the terminal unit is in an offline state, and reports the current state (i.e., the offline state) of the terminal unit to the hub unit.

[0107] Based on the above embodiment, the underwater thruster rental cabinet provided in the embodiment of the present application includes a body, a plurality of return bins arranged on the body, and the above-mentioned underwater thruster rental cabinet internal communication system.

[0108] It is worth mentioning that the hub unit, the communication processing unit and the terminal unit provided in the embodiments of the present application can realize their functions through a processor. Based on this, the present application further provides a computer readable storage medium, which stores computer instructions. When the computer instructions are executed by the processor, the underwater thruster rental cabinet internal communication method provided in the embodiments of the present application is realized. Specifically, the computer instructions can be built-in or installed in the processor. In this way, the processor can realize the underwater thruster rental cabinet internal communication method provided in the embodiments of the present application by executing the built-in or installed computer instructions.

[0109] Moreover, the underwater thruster rental cabinet internal communication method provided in the embodiments of the present application can also be realized as a program product. The program product includes program codes. When the program codes are executed by the processor, the underwater thruster rental cabinet internal communication method provided in the embodiments of the present application is realized.

[0110] The program product provided in the embodiments of the present application can adopt any combination of one or more readable media. Specifically, the readable media can be a readable signal medium or a readable storage medium, and the readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specifically, more specific examples (non-exhaustive list) of the readable storage medium include an electrical connection with one or more wires, a portable disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM), an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0111] The program product provided by the embodiments of the present application can adopt a CD-ROM and include program codes, and can also run on the underwater propeller rental cabinet. However, the program product provided by the embodiments of the present application is not limited to this, and in the embodiments of the present application, the readable storage medium can be any tangible medium containing or storing programs, which can be used by or in combination with an instruction execution system, device or apparatus.

[0112] It should be noted that, although several units or sub-units of the apparatus are mentioned in the foregoing detailed description, such division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into units for embodiment.

[0113] In addition, although the operations of the method of the present application are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in this particular order, or that all of the shown operations must be performed to achieve the desired result. Additionally or alternatively, certain steps can be omitted, a plurality of steps can be combined into one step, and / or one step can be divided into a plurality of steps.

[0114] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to cover all such changes and modifications that fall within the scope of the present application.

[0115] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. An internal communication system for an underwater thruster rental cabinet, characterized in that, include: The central unit and communication processing unit are located inside the main body of the underwater thruster rental cabinet, and the terminal units are located inside each return compartment of the underwater thruster rental cabinet; the central unit is connected to the communication processing unit, and the communication processing unit is connected to each of the terminal units respectively. The central unit is used to package the upgrade data into an upgrade data message node carrying a first terminal identifier for representing each terminal unit when it receives upgrade data sent through the cloud server, and send it to the communication processing unit. When application data generated through the human-computer interaction interface is received, the application data is packaged into an application data message node carrying a second terminal identifier for representing the terminal unit corresponding to the application data and sent to the communication processing unit. The communication processing unit is configured to, upon receiving the upgrade data message node, store the upgrade data message node in the message data table of the terminal unit represented by the first terminal identifier carried by the upgrade data message node, according to the reception time of the upgrade data message node; Upon receiving the application data message node, the application data message node is stored in the message data table of the terminal unit represented by the second terminal identifier carried by the application data message node, according to the receiving time of the application data message node. For each terminal unit's message data table, the upgrade data message nodes and / or application data message nodes arranged in the message data table of the terminal unit according to the receiving time are processed sequentially into upgrade data message nodes and / or application data message nodes that are compatible with the current link type of the terminal unit and sent to the terminal unit. The terminal unit is configured to store the upgrade data message node in the twin runtime area when it receives the upgrade data message node, and perform system upgrade operation based on the upgrade data message node stored in the twin runtime area; Upon receiving the application data message node, the user instruction operation is executed based on the application data message node.

2. The communication system inside the underwater thruster rental cabinet as described in claim 1, characterized in that, The communication processing unit is also used to periodically generate heartbeat data message nodes, determine the generation time of the heartbeat data message node as the reception time of the heartbeat data message node, and store the heartbeat data message node in the message data table of each terminal unit according to the reception time of the heartbeat data message node. For each terminal unit's message data table, the heartbeat data message nodes arranged in the message data table of the terminal unit according to the receiving time order are sent to the terminal unit. When the heartbeat response message node returned by the terminal unit is received within a set time range, the terminal unit is determined to be in an online state. When the heartbeat response message node returned by the terminal unit is not received within the set time range, the terminal unit is determined to be in an offline state. The terminal unit is further configured to return a heartbeat response message node to the communication processing unit when it receives the heartbeat data message node.

3. The communication system inside the underwater thruster rental cabinet as described in claim 2, characterized in that, There are multiple communication links between the communication processing unit and each of the terminal units; The communication processing unit is configured to periodically perform heartbeat detection operations on each of the terminal units. The heartbeat detection operation includes: selecting one communication link from the plurality of communication links as the target communication link; for each terminal unit, generating a heartbeat data message node based on the data packet type of the heartbeat data, the network layer address of the terminal unit, and the link type of the target communication link, determining the generation time of the heartbeat data message node as the reception time of the heartbeat data message node, and storing the heartbeat data message node in the terminal unit's message data table according to the reception time of the heartbeat data message node; and for each terminal unit's message data table, sending the heartbeat data message nodes arranged in order of reception time through the target communication link. The message is sent to the terminal unit; when a heartbeat response message node is received from the terminal unit within a set time range, it is determined that the terminal unit is online and the current link type of the terminal unit is the target communication link, and a first heartbeat detection result indicating that the terminal unit is online and the current link type of the terminal unit is the target communication link is reported to the central unit; if no heartbeat response message node is received from the terminal unit within the set time range, the heartbeat detection operation continues until all of the multiple communication links are selected as the target communication link, and if no heartbeat response message node is received from the terminal unit within the set time range, it is determined that the terminal unit is offline, and a second heartbeat detection result indicating that the terminal unit is offline is reported to the central unit.

4. The communication system inside the underwater thruster rental cabinet as described in claim 1, characterized in that, The central unit is used to split the upgrade data into multiple upgrade data blocks, package each upgrade data block into an upgrade data message node carrying a first terminal identifier for representing each terminal unit, and send it to the communication processing unit. The communication processing unit is configured to process the upgrade data message nodes arranged in the message data table of each terminal unit according to the receiving time order into upgrade data message nodes that are compatible with the current link type of the terminal unit, and then send them to the terminal unit. The terminal unit is configured to perform a system upgrade operation based on all the upgrade data message nodes stored in the twin runtime area when it receives all the upgrade data message nodes.

5. The communication system inside the underwater thruster rental cabinet as described in claim 1, characterized in that, The central unit is used to package the upgrade data into upgrade data message nodes carrying a first terminal identifier for representing each terminal unit, based on the data packet type of the upgrade data, the network layer address of the communication processing unit, and the current link type. Based on the data packet type of the application data, the network layer address of the communication processing unit, and the current link type, the application data is packaged into an application data message node carrying a second terminal identifier for representing the terminal unit corresponding to the application data.

6. The communication system inside the underwater thruster rental cabinet as described in any one of claims 1-5, characterized in that, The communication processing unit is configured to sequentially retrieve message nodes from the message data table of each terminal unit, process the message nodes into message nodes that are compatible with the current link type of the terminal unit, and then send them to the terminal unit through the communication link represented by the current link type of the terminal unit; wherein, the message nodes in the message data table of the terminal unit include at least one of upgrade data message nodes, application data message nodes, and heartbeat data message nodes.

7. The communication system inside the underwater thruster rental cabinet as described in claim 6, characterized in that, The communication processing unit is configured to perform message processing operations on the message data table of each terminal unit in a loop using a message processor until all message nodes in the message data table of the terminal unit have been processed. The message processing operations include: obtaining a first message node from the message data table of the terminal unit, processing the first message node into a message node compatible with the current link type of the terminal unit, sending it to the terminal unit through the communication link represented by the current link type of the terminal unit, and upon receiving a response data message node returned by the terminal unit for the first message node, deleting the first message node from the message data table of the terminal unit so that a second message node in the message data table becomes the first message node.

8. A rental cabinet for underwater thrusters, characterized in that, include: The main body, a plurality of return compartments disposed on the main body, and an internal communication system for the underwater thruster rental cabinet as described in any one of claims 1-7.

9. A communication method for an underwater thruster rental cabinet, characterized in that, A communication processing unit applied to the internal communication system of the underwater thruster rental cabinet as described in any one of claims 1-7, comprising: Upon receiving an upgrade data message node from the central unit, the central unit stores the upgrade data message node in the message data table of the terminal unit represented by the first terminal identifier carried by the upgrade data message node, according to the reception time of the upgrade data message node; wherein, the upgrade data message node is a message node carrying a first terminal identifier for representing each terminal unit, obtained by the central unit when receiving upgrade data sent through the cloud server and packaging the upgrade data; Upon receiving an application data message node from the central unit, the application data message node is stored in the message data table of the terminal unit represented by the second terminal identifier carried by the application data message node, according to the reception time of the application data message node; wherein, the application data message node is a message node that carries a second terminal identifier used to represent the terminal unit corresponding to the application data, obtained by the central unit when receiving application data generated through the human-computer interaction interface and packaging the application data; For each terminal unit's message data table, the upgrade data message nodes and / or application data message nodes arranged in the message data table of the terminal unit according to the receiving time are processed sequentially into upgrade data message nodes and / or application data message nodes that are compatible with the current link type of the terminal unit and sent to the terminal unit. This allows the terminal unit to store the upgrade data message node in the twin runtime area when it receives the upgrade data message node, and to perform a system upgrade operation based on the upgrade data message node stored in the twin runtime area. When it receives the application data message node, it executes user instruction operations based on the application data message node.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the communication method inside the underwater thruster rental cabinet as described in claim 9.

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