Return bin access detection system, method, rental cabinet and medium

Abstract

The application discloses a return bin access detection system and method, a rental cabinet and a medium, which are applied to the technical field of intelligent sharing and are used to solve the problem that the cabinet capacity of an existing underwater propeller rental cabinet is difficult to adapt to site demand, and the system comprises the following steps: a communication processing unit sends a broadcast probe data packet; when the address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, a return bin communication unit generates a probe response data packet based on the device identification information of the return bin and sends the probe response data packet to the communication processing unit; when the data packet type of the probe response data packet is a new bin response, the communication processing unit determines the return bin represented by the device identification information in the probe response data packet as a new bin, sends a new bin access data packet to a central unit, the central unit allocates a network layer address to the new bin and marks the new bin as online so that the new bin completes registration. Through the new bin access detection mechanism, any number of return bins can access the underwater propeller rental cabinet to adapt to site demand.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent sharing, in particular to a return bin access detection 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 thruster rental cabinets are a kind of shared rental equipment that has gradually emerged 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. They are usually placed in places such as the seaside, swimming pools or diving centers to facilitate users to rent them at any time. In practical applications, underwater thruster rental cabinets are usually of fixed capacity, but in underwater thruster rental businesses, the cabinet capacity of underwater thruster rental cabinets required by different sites is different. For example, when the site area is large and the passenger flow is large, the required cabinet capacity is large, and the fixed capacity of the underwater thruster rental cabinet is difficult to adapt to the needs of different sites. SUMMARY

[0003] The present application provides a return bin access detection system, method, rental cabinet and medium to solve the problem that the cabinet capacity of the existing underwater thruster rental cabinet is difficult to adapt to the site demand. The technical solutions provided by the present application are as follows:

[0004] On the one hand, the present application provides a return bin access detection system applied to an underwater thruster rental cabinet, and the underwater thruster rental cabinet is connected to a return bin; wherein the return bin access detection system comprises a central unit, a communication processing unit and a return bin communication unit; the central unit and the communication processing unit are both arranged inside the underwater thruster rental cabinet, and the central unit is in communication connection with the communication processing unit; the return bin communication unit is arranged inside the return bin, and the return bin communication unit is connected with the communication processing unit through a communication bus;

[0005] The communication processing unit is configured to periodically send a broadcast probe data packet, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery; when a probe response data packet sent by the return bin communication unit in response to the broadcast probe data packet is received, the probe response data packet is analyzed, and when the source address of the probe response data packet is a default address and the data packet type is a new bin response, it is determined that the return bin represented by the device identification information in the probe response data packet is a newly connected return bin, and a new bin access data packet including at least the device identification information of the newly connected return bin is sent to the central unit;

[0006] The return bin communication unit is configured to receive the broadcast probe data packet, analyze the broadcast probe data packet, generate a probe response data packet based on the device identification information of the return bin when the destination address of the broadcast probe data packet is the broadcast address and the data packet type is topology discovery, and send the probe response data packet to the communication processing unit, wherein the source address of the probe response data packet is the default address and the data packet type is new bin response.

[0007] The central unit is configured to allocate a network layer address to a new access return bin represented by device identification information in the new bin access data packet when the new bin access data packet is received, and send an address unicast data packet including at least the network layer address to the return bin communication unit inside the new access return bin through the communication processing unit; and mark the return bin communication unit inside the new access return bin as online to complete the registration of the new access return bin when an address confirmation data packet returned by the return bin communication unit inside the new access return bin through the communication processing unit is received.

[0008] Optionally, the communication processing unit is configured to generate a new bin access data packet based on the device identification information and the default address of the new access return bin, and send the new bin access data packet to the central unit; analyze the address unicast data packet when the address unicast data packet is received, send the address unicast data packet to the return bin communication unit represented by the device identification information in the address unicast data packet when the destination address of the address unicast data packet is the default address and the data packet type is address allocation; and report the address confirmation data packet to the central unit when the address confirmation data packet returned by the return bin communication unit is received.

[0009] The return bin communication unit is configured to receive the address unicast data packet, analyze the address unicast data packet, update the default address to the network layer address in the address unicast data packet when the destination address of the address unicast data packet is the default address and the data packet type is address allocation, and return an address confirmation data packet to the communication processing unit after determining that the device identification information in the address unicast data packet matches the device identification information of the return bin communication unit.

[0010] The central unit is configured to analyze the new bin access data packet to obtain device identification information and a default address when the new bin access data packet is received, allocate a network layer address to a new access return bin represented by the device identification information, generate an address unicast data packet based on the network layer address, and send the address unicast data packet to the communication processing unit, wherein the destination address of the address unicast data packet is the default address and the data packet type is address allocation, and the address unicast data packet includes at least the device identification information and the network layer address; and mark the return bin communication unit as online to complete the registration of the new access return bin when an address confirmation data packet is received.

[0011] Optionally, the brain unit is further configured to re-allocate the storage logical blocks based on the number of online return bin communication units, and send the logical address information of the re-allocated storage logical blocks to the communication processing unit;

[0012] The communication processing unit is further configured to broadcast the logical address information of the re-allocated storage logical blocks to each online return bin communication unit when the logical address information of the re-allocated storage logical blocks is received.

[0013] Optionally, the communication processing unit is further configured to send a heartbeat detection data packet to each return bin communication unit, and determine that the return bin communication unit is in an online state if a heartbeat response data packet returned by the return bin communication unit is received, or determine that the return bin communication unit is in an offline state if the heartbeat response data packet returned by the return bin communication unit is not received.

[0014] Optionally, there are multiple communication links between the communication processing unit and each return bin communication unit.

[0015] The communication processing unit is further configured to determine that the return bin communication unit is in an offline state when no heartbeat response data packet returned by the return bin communication unit is received after sending a heartbeat detection data packet through each communication link.

[0016] In another aspect, the present application provides a return bin access detection method applied to the communication processing unit in the return bin access detection system, comprising:

[0017] Periodically sending a broadcast probe data packet, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery;

[0018] Receiving a probe response data packet sent by the return bin communication unit for the broadcast probe data packet, wherein the probe response data packet is generated based on the device identification information of the return bin when the return bin communication unit analyzes that the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, the source address of the probe response data packet is a default address and the data packet type is new bin response;

[0019] Analyzing the probe response data packet, and determining that the return bin represented by the device identification information in the probe response data packet is a newly accessed return bin when it is analyzed that the source address of the probe response data packet is a default address and the data packet type is new bin response;

[0020] Sending a new bin access data packet including at least the device identification information of the newly accessed return bin to the brain unit to trigger the brain unit to allocate a network layer address for the newly accessed return bin represented by the device identification information, and send an address unicast data packet including at least the network layer address to the communication processing unit;

[0021] Upon receiving the address unicast data packet sent by the hub unit, the address unicast data packet is sent to the return warehouse communication unit inside the newly accessed return warehouse;

[0022] Upon receiving the address confirmation data packet returned by the return warehouse communication unit inside the newly accessed return warehouse, the address confirmation data packet is sent to the hub unit to trigger the hub unit to mark the return warehouse communication unit inside the newly accessed return warehouse as online so as to complete the registration of the newly accessed return warehouse.

[0023] In another aspect, the application provides a return warehouse access detection method, applied to the return warehouse communication unit in the return warehouse access detection system, comprising:

[0024] receiving the broadcast probe data packet sent by the communication processing unit, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery;

[0025] analyzing the broadcast probe data packet, and when the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, generating a probe response data packet based on the device identification information of the return warehouse, wherein the source address of the probe response data packet is a default address and the data packet type is new warehouse response;

[0026] sending the probe response data packet to the communication processing unit to trigger the communication processing unit to determine that the return warehouse represented by the device identification information in the probe response data packet is a newly accessed return warehouse when the source address of the probe response data packet is a default address and the data packet type is new warehouse response, and send a new warehouse access data packet including at least the device identification information of the newly accessed return warehouse to the hub unit, and upon receiving the address unicast data packet sent by the hub unit after assigning a network layer address to the newly accessed return warehouse represented by the device identification information, send the address unicast data packet to the return warehouse communication unit inside the newly accessed return warehouse;

[0027] Upon receiving the address unicast data packet, sending an address confirmation data packet to the hub unit through the communication processing unit to trigger the hub unit to mark the return warehouse communication unit inside the newly accessed return warehouse as online so as to complete the registration of the newly accessed return warehouse.

[0028] In another aspect, the application provides a return warehouse access detection method, applied to the hub unit in the return warehouse access detection system, comprising:

[0029] When receiving the new bin access data packet sent by the communication processing unit, at least including the device identification information, the new access return bin represented by the device identification information in the new bin access data packet is allocated a network layer address, wherein the new bin access data packet is sent by the communication processing unit after periodically sending a broadcast probe data packet, and when receiving a probe response data packet sent by the return bin communication unit for the broadcast probe data packet, the probe response data packet is parsed, and when the source address of the probe response data packet is the default address and the data packet type is the new bin response, it is determined that the return bin represented by the device identification information in the probe response data packet is the new access return bin, and then sent;

[0030] By sending an address unicast data packet including at least the network layer address to the return bin communication unit inside the new access return bin through the communication processing unit;

[0031] When receiving the address confirmation data packet returned by the return bin communication unit inside the new access return bin through the communication processing unit, the return bin communication unit inside the new access return bin is marked as online to complete the registration of the new access return bin.

[0032] On the other hand, the application provides an underwater propeller rental cabinet, comprising: a return bin, and the return bin access detection system.

[0033] On the other hand, the application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are executed by a processor to realize the return bin access detection method.

[0034] The beneficial effects of the application are as follows:

[0035] The application periodically sends a broadcast probe data packet through the communication processing unit, can trigger the return bin communication unit to generate a probe response data packet based on the device identification information of the return bin when it analyzes that the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, and send it to the communication processing unit, so that the communication processing unit can determine that the return bin represented by the device identification information in the probe response data packet is a newly accessed return bin when it analyzes that the source address of the probe response data packet is a default address and the data packet type is a new bin response, and then the communication processing unit can trigger the central unit to assign a network layer address to the newly accessed return bin represented by the device identification information by sending a new bin access data packet including at least the device identification information of the newly accessed return bin to the central unit, and then the central unit can mark the return bin communication unit inside the newly accessed return bin as online when it receives the address confirmation data packet returned by the return bin communication unit inside the newly accessed return bin through the communication processing unit, so that the newly accessed return bin completes registration, thereby realizing automatic discovery of the newly accessed return bin, enabling the newly accessed return bin to be quickly and accurately identified and integrated into the underwater thruster rental cabinet, greatly improving the expandability and flexibility of the underwater thruster rental cabinet, and providing strong support for adapting to different deployment site requirements.

[0036] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and achieved by the structure particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0037] The drawings described herein are intended 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 description serve to explain the present application. They do not constitute an improper limitation on the present application. In the drawings:

[0038] Figure 1 A system composition schematic diagram of the return bin access detection system in the embodiment of the present application;

[0039] Figure 2 A data field composition schematic diagram of the communication data packet in the embodiment of the present application;

[0040] Figure 3 A generation and sending process schematic diagram of the hop detection data packet in the embodiment of the present application;

[0041] Figure 4 A return bin communication unit online and link detection flow schematic diagram in the embodiment of the present application;

[0042] Figure 5 Fig. 1 is a schematic diagram of a general process of a return bin access detection method in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purposes, technical solutions and beneficial effects of the present application clearer, the technical solutions 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.

[0044] The embodiment of the present application provides a return bin access detection system applied to an underwater propeller rental cabinet, wherein the underwater propeller rental cabinet is connected with a return bin. As shown in Figure 1 The return bin access detection system comprises a central unit, a communication processing unit and a return bin communication unit. The central unit and the communication processing unit are arranged inside the underwater propeller rental cabinet, and the central unit is in communication connection with the communication processing unit. The return bin communication unit is arranged inside the return bin, and the return bin communication unit is connected with the communication processing unit through a communication bus.

[0045] The communication processing unit is configured to periodically send a broadcast probe data packet, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery. When a probe response data packet sent by the return bin communication unit in response to the broadcast probe data packet is received, the probe response data packet is parsed. When it is parsed that the source address of the probe response data packet is a default address and the data packet type is a new bin response, it is determined that the device identification information represented in the probe response data packet represents a newly connected return bin, and a new bin access data packet including at least the device identification information of the newly connected return bin is sent to the central unit.

[0046] The return bin communication unit is configured to, when the broadcast probe data packet is received, parse the broadcast probe data packet. When it is parsed that the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, a probe response data packet is generated based on the device identification information of the return bin, and the probe response data packet is sent to the communication processing unit, wherein the source address of the probe response data packet is a default address and the data packet type is a new bin response.

[0047] The central unit is configured to, when receiving a new access data packet, allocate a network layer address to a new access return bin represented by the device identification information in the new access data packet, and send an address unicast data packet including at least the network layer address to the return bin communication unit in the new access return bin through the communication processing unit; when receiving an address confirmation data packet returned by the return bin communication unit in the new access return bin through the communication processing unit, mark the return bin communication unit in the new access return bin as online to complete the registration of the new access return bin.

[0048] In the embodiments of the present application, the underwater thruster rental cabinet includes a main cabinet and a plurality of return bin bodies. The main cabinet is internally provided with a central processing unit, a communication processing unit, a power management unit, a shared DC bus and the like. Each return bin body is a hot-pluggable extended storage cabinet for storing underwater thrusters and their batteries. Each return bin body includes a plurality of return bins, and each return bin is internally provided with a return bin communication unit. The power management unit supplies power and manages power for the central processing unit, the communication processing unit and the return bin communication unit through the shared DC bus. The central processing unit and the communication processing unit are communicatively connected through one of a plurality of communication modes such as a network cable, RS485, RS232 and CAN. The communication processing unit and each return bin communication unit are communicatively connected through at least one of a plurality of communication modes such as a network cable, RS485, RS232 and CAN. The hardware part of the communication processing unit is provided with a plurality of communication interfaces, and the software part is built-in with a plurality of communication protocol drivers to support the connection with return bin communication 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 a plurality of communication interface modules integrated in the communication processing unit, and each communication interface module supports one of a plurality of communication modes such as a 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 a plurality of protocol stacks in an operating system) or by hardware (such as using a dedicated communication interface chip). The hardware part of the return bin communication unit is provided with at least one communication interface, and the software part is built-in with at least one communication protocol driver to realize the connection with the communication processing unit. The return bin communication unit includes at least one communication interface module and a second communication protocol adapter. Preferably, the return bin communication unit can include at least two communication interface modules, each of which supports one of a plurality of communication modes such as a network cable (such as Ethernet), RS485, RS232 and CAN, so as to better adapt to different network environments and improve the reliability and fault tolerance of data transmission between the communication processing unit and the return bin communication unit through redundant link design. The second communication protocol adapter is used to decode and convert the received data to ensure that the data can be correctly transmitted to the processing module of the return bin communication unit. The second communication protocol adapter can be implemented by software (such as implementing a plurality of protocol stacks in an operating system) or by hardware (such as using a dedicated communication interface chip).Thus, the central unit and the communication processing unit are connected in communication through one of a wired communication link, an RS485 communication link, an RS232 communication link, and a CAN communication link, the communication processing unit and each return bin communication 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 a network state, so that fast and stable communication data packet transmission can be achieved.

[0049] In practical applications, the communication data packets mainly include broadcast probe data packets, probe response data packets, new bin access data packets, address unicast data packets, address confirmation data packets, heartbeat detection data packets, and heartbeat response data packets, as shown in Figure 2 The data field of the communication message includes an address, a data packet type, a link type, and a data packet. The address includes a source address and a destination address. The data packet is specific data. The data packet type is used to reflect the purpose of the data packet, including but not limited to a topology discovery type, a probe response type, an address allocation type, an address confirmation type, a heartbeat data type, a heartbeat response type, etc. The link type is used to reflect the current physical connection form of the two parties in communication, that is, the current communication link, including but not limited to a wired network communication link, an RS232 communication link, an RS485 communication link, and a CAN communication link, etc. Thus, the communication processing unit periodically generates and sends a broadcast probe data packet to each return bin communication unit based on the data packet type (i.e., the topology discovery type), the destination address (i.e., the broadcast address), and the current link type of each return bin communication unit, which can trigger the return bin communication unit to generate and send a probe response data packet to the communication processing unit based on the device identification information of the return bin when the destination address of the broadcast probe data packet is analyzed to be the broadcast address and the data packet type is analyzed to be the topology discovery, so that the communication processing unit can determine that the return bin represented by the device identification information in the probe response data packet is a newly accessed return bin when the source address of the probe response data packet is analyzed to be the default address and the data packet type is analyzed to be the new bin response, and then the communication processing unit can trigger the central unit to allocate a network layer address to the newly accessed return bin represented by the device identification information by sending a new bin access data packet including at least the device identification information of the newly accessed return bin to the central unit, and then the communication processing unit sends the address confirmation data packet to the return bin communication unit inside the newly accessed return bin, so that the central unit can mark the return bin communication unit inside the newly accessed return bin as online when the central unit receives the address confirmation data packet returned by the return bin communication unit inside the newly accessed return bin through the communication processing unit, so that the newly accessed return bin completes registration, thereby realizing automatic discovery of the newly accessed return bin, enabling the newly accessed return bin to be quickly and accurately identified and integrated into the underwater thruster rental cabinet, greatly improving the expandability and flexibility of the underwater thruster rental cabinet, and providing strong support for adapting to different deployment site requirements.

[0050] In a possible implementation, the communication processing unit is configured to generate a new warehouse access data packet based on the device identification information of the new access warehouse and the default address, and send the new warehouse access data packet to the hub unit; when receiving the address unicast data packet sent by the hub unit, the address unicast data packet is parsed, when it is parsed that the destination address of the address unicast data packet is the default address and the data packet type is address allocation, the address unicast data packet is sent to the warehouse communication unit represented by the device identification information in the address unicast data packet; when receiving the address confirmation data packet returned by the warehouse communication unit, the address confirmation data packet is reported to the hub unit; when receiving the address confirmation data packet returned by the warehouse communication unit represented by the device identification information in the address unicast data packet, the address confirmation data packet is reported to the hub unit;

[0051] The warehouse communication unit is configured to, when receiving the address unicast data packet, parse the address unicast data packet, when it is parsed that the destination address of the address unicast data packet is the default address and the data packet type is address allocation, update the default address to the network layer address in the address unicast data packet after determining that the device identification information in the address unicast data packet matches the device identification information of the warehouse communication unit, and return the address confirmation data packet to the communication processing unit;

[0052] The hub unit is configured to, when receiving the new warehouse access data packet, parse the new warehouse access data packet to obtain the device identification information and the default address; allocate a network layer address to the new access warehouse represented by the device identification information, generate an address unicast data packet based on the network layer address, and send the address unicast data packet to the communication processing unit, wherein the destination address of the address unicast data packet is the default address and the data packet type is address allocation, and the address unicast data packet at least includes the device identification information and the network layer address; when receiving the address confirmation data packet, mark the warehouse communication unit as online to make the new access warehouse complete registration.

[0053] In the embodiment of the present application, after the communication processing unit detects that a new return bin is connected to the underwater thruster rental cabinet, the device identification information and the default address of the new return bin are reported to the central unit in the form of a new bin connection data packet, the central unit allocates a network layer address to the return bin communication unit in the new return bin, generates an address multicast data packet with the default address of the new return bin as the destination address and the address allocation as the data packet type, and at least includes the device identification information and the network layer address of the new return bin, and then forwards the address multicast data packet to the communication bus connected to the return bin communication unit in the new return bin through the communication processing unit, so that the return bin communication unit in the new return bin updates the default address to the network layer address in the address multicast data packet after listening to the address multicast data packet, thereby enabling the return bin communication unit in the new return bin to interact with the return bin communication unit in the new return bin using the network layer address, and completing the registration operation of the new return bin.

[0054] In a possible implementation, the central unit is further configured to re-allocate the storage logical blocks based on the number of online return bin communication units, and send the logical address information of the re-allocated storage logical blocks to the communication processing unit.

[0055] The communication processing unit is further configured to broadcast the logical address information of the re-allocated storage logical blocks to each online return bin communication unit when receiving the logical address information of the re-allocated storage logical blocks.

[0056] In the embodiment of the present application, after the registration of the new return bin is completed, the central unit re-allocates the storage logical blocks for each online return bin communication unit based on the number of online return bin communication units, so as to adapt to the change of the network topology, thereby optimizing data storage and management and ensuring efficient operation of the underwater thruster rental cabinet. Moreover, after re-allocating the storage logical blocks based on the number of online return bin communication units, the central unit broadcasts the logical address information of the re-allocated storage logical blocks to all online return bin communication units, so that each return bin communication unit can learn the latest layout of the current network in time, thereby ensuring the cooperative work of the entire underwater thruster rental cabinet.

[0057] In a possible implementation, the communication processing unit is further configured to send a heartbeat detection data packet to each return bin communication unit, and if a heartbeat response data packet returned by the return bin communication unit is received, it is determined that the return bin communication unit is in an online state, and if no heartbeat response data packet returned by the return bin communication unit is received, it is determined that the return bin communication unit is in an offline state.

[0058] In the embodiment of the present application, with reference to Figure 3As shown, the communication processing unit periodically determines the network layer address of each return bin communication unit as the destination address, respectively, generates a heartbeat detection data packet including the destination address, the data packet type and the link type, and sends it to each return bin communication unit. When a heartbeat response data packet returned by the return bin communication unit is received within a set time range, it is determined that the return bin communication unit is in an online state. When a heartbeat response data packet returned by the return bin communication unit is not received within a set time range, it is determined that the return bin communication unit is in an offline state. Thus, by periodically generating a heartbeat detection data packet by the communication processing unit and sending it to each return bin communication unit, the online state of each return bin communication unit can be detected according to the response result of each return bin communication unit to the heartbeat detection data packet, and the state detection of each return bin communication unit is realized.

[0059] In a possible implementation, there are multiple communication links between the communication processing unit and each return bin communication unit; wherein the multiple communication links include but are not limited to wired communication links (such as Ethernet communication links), RS232 communication links, RS485 communication links and CAN communication links.

[0060] The communication processing unit is configured to determine that the return bin communication unit is in an offline state when no heartbeat response data packet returned by the return bin communication unit is received after sending a heartbeat detection data packet through each communication link.

[0061] In the embodiment of the application, the communication processing unit generates heartbeat detection data packets of different link types in turn and sends them to each return bin communication unit. If a heartbeat response data packet is returned by the return bin communication unit after sending a heartbeat detection data packet of a certain link type to the return bin communication unit, the communication processing unit determines that the link type is the current communication link type of the return bin communication unit and reports it to the central unit, so that the central unit generates a communication message of the corresponding communication link when receiving application data or upgrade data in the future. If no return bin communication unit responds after sending heartbeat detection data packets of all link types to the return bin communication unit in turn, the communication processing unit determines that the return bin communication unit is in an offline state and reports it to the central unit, so that the central unit filters out the return bin communication unit when responding to user rental operations. In this way, by periodically generating a heartbeat detection data packet by the communication processing unit and sending it to each return bin communication unit, the online state and the current link type of each return bin communication unit can be detected according to the response result of each return bin communication unit to the heartbeat detection data packet, and the online state and link type detection of each return bin communication unit is realized.

[0062] In specific implementation, reference is made to Figure 4 As shown, the general flow of the return bin communication unit online and communication link detection method based on the heartbeat detection data packet is as follows:

[0063] Step 101: The communication processing unit periodically takes the network layer address of each return bin communication unit as the destination address.

[0064] Step 102: The communication processing unit selects one communication link as the target communication link from a plurality of communication links; wherein the plurality of communication links include wired communication link, RS232 communication link, RS485 communication link and CAN communication link; the selection order of the plurality of communication links is the priority order determined based on reliability and transmission rate, and the priority order from high to low is wired communication link, RS485 communication link, CAN communication link and RS232 communication link.

[0065] Step 103: The communication processing unit generates a heartbeat detection data packet based on the destination address, the link type of the target communication link and the data packet type.

[0066] Step 104: The communication processing unit sends the heartbeat detection data packet to each return bin communication unit through the target communication link.

[0067] Step 105: The communication processing unit determines whether the heartbeat response data packet returned by the return bin communication unit is received within a set time range, if yes, step 106 is executed; if no, step 107 is executed.

[0068] Step 106: The communication processing unit determines that the return bin communication unit is in an online state and the current link type of the return bin communication unit is the target communication link, and reports the current state (i.e. online state) and the current link type of the return bin communication unit to the central unit.

[0069] Step 107: The communication processing unit determines whether the plurality of communication links have all been selected as the target communication link, if yes, step 108 is executed; if no, step 102 is returned.

[0070] Step 108: The communication processing unit determines that the return bin communication unit is in an offline state, and reports the current state (i.e. offline state) of the return bin communication unit to the central unit.

[0071] It is worth mentioning that in addition to the above communication processing unit generating heartbeat detection data packets of different link types in turn and sending them to each return bin communication unit for heartbeat detection, the heartbeat detection data packets of different link types can also be generated first and sent to each return bin communication unit in parallel through different communication links for heartbeat detection. For each return bin communication unit, when a heartbeat response data packet returned by the return bin communication unit through any communication link is received within a set time range, it is determined that the return bin communication unit is in an online state and the current link type of the return bin communication unit is the any communication link, and the current state (i.e. online state) and current link type of the return bin communication unit are reported to the central unit. When the heartbeat response data packet returned by the return bin communication unit is not received within the set time range, the steps 101 to 108 are retried to ensure that the current communication link is quickly discovered and the robustness of step-by-step degradation is retained.

[0072] In a possible implementation, the main cabinet of the underwater thruster rental cabinet is further provided with a laser radar sensor, three UWB anchor antennas and a super wide angle camera. An AprilTag two-dimensional code and a UWB beacon are attached to the inner top cover of each return bin of the return bin body newly accessed and / or moved in position.

[0073] The central unit is also configured to identify, based on a point cloud data set collected by the laser radar sensor in a ring-shaped area around the main cabinet (for example, a ring-shaped area with the main cabinet as the center and a radius of 0.5-5 meters), an OBB (Oriented Bounding Box) of a new access and / or a position moved return bin body and a reference plane (such as the ground) in the ring-shaped area around the main cabinet in a global coordinate system to construct a digital twin map; determine a first three-dimensional coordinate of each return bin in the global coordinate system based on a time difference of arrival of the three UWB anchor antennas measured during communication between the three UWB anchor antennas and the UWB beacon attached to the inside of each return bin; identify an AprilTag two-dimensional code based on a two-dimensional code image obtained by the ultra-wide-angle camera shooting the AprilTag two-dimensional code attached to the inside of each return bin, to obtain a unique coding identifier of each return bin and a second three-dimensional coordinate in a camera coordinate system; align the second three-dimensional coordinate of each return bin in the camera coordinate system to the first three-dimensional coordinate in the global coordinate system after converting the second three-dimensional coordinate of each return bin in the camera coordinate system to the global coordinate system, and then perform weighted fusion to obtain a target three-dimensional coordinate of each return bin in the global coordinate system; project the target three-dimensional coordinate of each return bin in the global coordinate system and the unique coding identifier into the digital twin map to bind with the directional bounding box of the corresponding return bin; and project the current state information (such as an online or offline state), device usage frequency information (such as underwater thruster usage rate or battery usage rate), and logical address information of the return bin communication unit inside each return bin reported by the communication processing unit into the digital twin map to bind with the directional bounding box of the corresponding return bin.

[0074] In the embodiments of the present application, the three UWB anchor antennas are arranged in a right-angled triangle at the left front corner of the top of the main cabinet, the right front corner of the top of the main cabinet and the midpoint of the back of the main cabinet, respectively. The area surrounded by the three UWB anchor antennas is a 0.5-5m annular area that may appear in the return bin in the future. It is ensured that each return bin in the return bin body newly accessed and / or moved in position can fall within the annular area, thereby ensuring the positioning accuracy. At the same time, the origin and direction of the UWB anchor antenna are configured to be completely consistent with the origin and axial direction used when the laser radar sensor scans, so that the coordinate systems of the two are the same, i.e., both are global coordinate systems, thereby reducing the once coordinate conversion operation and improving the construction efficiency of the digital twin map. In addition, by constructing a digital twin map recording the unique code identifier, direction bounding box, target three-dimensional coordinates and current state information (such as online or offline state) of each return bin, device usage frequency information (such as underwater thruster usage rate or battery usage rate) and logical address information, after the AR glasses worn by the operation and maintenance personnel and the central unit are connected in the same communication network (such as a WiFi network), the AR glasses can interact with the central unit to visualize the digital twin map, so that the operation and maintenance personnel can see the unique code identifier, direction bounding box, target three-dimensional coordinates and current state information (such as online or offline state) of each return bin in the underwater thruster rental cabinet, device usage frequency information (such as underwater thruster usage rate or battery usage rate) and logical address information and other information through the AR glasses, thereby facilitating the operation and maintenance personnel to master the current situation of each return bin in the underwater thruster rental cabinet. Compared with displaying the current situation of each return bin through the human-computer interaction interface provided by the central unit, the operation of looking up / down at the screen → looking down / up for the bin → looking up / down again to confirm is reduced, and problems such as difficulty in operation and maintenance due to holding tools or holding thrusters with both hands during peak period are avoided, thereby improving the operation and maintenance efficiency.

[0075] Based on the above embodiments, the present application provides a return bin access detection method applied to an underwater thruster rental cabinet, as shown in Figure 5 The interactive process of the return bin access detection method provided by the present application is as follows:

[0076] Step 201: The communication processing unit periodically sends a broadcast probe data packet, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery.

[0077] Step 202: The return bin communication unit analyzes the broadcast probe data packet, and when the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, a probe response data packet is generated based on the device identifier information of the return bin, wherein the source address of the probe response data packet is a default address and the data packet type is a new bin response.

[0078] Step 203: The return bin communication unit sends the probe response data packet to the communication processing unit.

[0079] Step 204: The communication processing unit parses the probe response data packet, and when the source address of the probe response data packet is the default address and the data packet type is a new bin response, determines that the device identification information in the probe response data packet represents a newly accessed return bin, and generates a new bin access data packet based on the device identification information of the newly accessed return bin and the default address.

[0080] Step 205: The communication processing unit sends the new bin access data packet to the hub unit.

[0081] Step 206: When the hub unit receives the new bin access data packet, the hub unit parses the new bin access data packet to obtain the device identification information and the default address, allocates a network layer address to the newly accessed return bin represented by the device identification information, and generates an address unicast data packet based on the network layer address, wherein the destination address of the address unicast data packet is the default address and the data packet type is address allocation, and the address unicast data packet at least includes the device identification information and the network layer address.

[0082] Step 207: The hub unit sends the address unicast data packet to the communication processing unit.

[0083] Step 208: The communication processing unit parses the address unicast data packet, and when the destination address of the address unicast data packet is the default address and the data packet type is address allocation, the communication processing unit determines that the address unicast data packet is received.

[0084] Step 209: The communication processing unit sends the address unicast data packet to the return bin communication unit represented by the device identification information in the address unicast data packet.

[0085] Step 210: The return bin communication unit parses the address unicast data packet, and when the destination address of the address unicast data packet is the default address and the data packet type is address allocation, the return bin communication unit determines that the device identification information in the address unicast data packet matches the device identification information of the return bin, and updates the default address to the network layer address in the address unicast data packet.

[0086] Step 211: The return bin communication unit returns an address confirmation data packet to the communication processing unit.

[0087] Step 212: The communication processing unit reports the address confirmation data packet to the hub unit.

[0088] Step 213: The hub unit marks the newly accessed return bin as online to complete the registration of the newly accessed return bin.

[0089] Based on the above embodiment, the application provides an underwater propeller rental cabinet, comprising: a return bin, and a return bin access detection system.

[0090] It is worth mentioning that the central unit, the communication processing unit and the return bin communication unit mentioned in the embodiments of the application can realize the functions thereof through the processor. Based on this, the embodiments of the application further provide a computer readable storage medium, which stores computer instructions. When the computer instructions are executed by the processor, the return bin access detection method provided by the embodiments of the application is realized. Specifically, the computer instructions can be built-in or installed in the processor. In this way, the processor can realize the return bin access detection method provided by the embodiments of the application by executing the built-in or installed computer instructions.

[0091] Moreover, the return bin access detection method provided by the embodiments of the application can also be realized as a program product. The program product comprises program codes. When the program codes are executed by the processor, the return bin access detection method provided by the embodiments of the application is realized.

[0092] The program product provided by the embodiments of the application can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. 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. Specifically, more specific examples (non-exhaustive list) of the readable storage medium include an electrical connection with one or more wires, a portable disc, a hard disk, RAM, ROM, erasable programmable read-only memory (EPROM), an optical fiber, a portable compact disc 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.

[0093] The program product provided by the embodiments of the 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 application is not limited to this. In the embodiments of the application, the readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, device or component.

[0094] It should be noted that, although several units or sub-units of the apparatus are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, according to an embodiment 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 several units to be embodied.

[0095] Moreover, although the operations of the method(s) herein are described in a particular, sequential order, this order is not meant to be a limitation and is not intended to imply that

[0096] Although preferred embodiments of the application have been described herein, those skilled in the art will readily devise many additional variations of these preferred embodiments that will fall within the scope of the present application. Accordingly, the appended claims are intended to encompass all such variations as falling within the scope of the application.

[0097] Obviously, numerous modifications and variations of the present embodiments are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described herein.

Claims

1. A return bin access detection system, characterized by, The underwater propeller rental cabinet is connected with a return bin; wherein, the return bin access detection system comprises a central unit, a communication processing unit and a return bin communication unit; the central unit and the communication processing unit are arranged inside the underwater propeller rental cabinet, and the central unit is in communication connection with the communication processing unit; the return bin communication unit is arranged inside the return bin, and the return bin communication unit is connected with the communication processing unit through a communication bus; The communication processing unit is configured to periodically send a broadcast probe data packet, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery; when a probe response data packet sent by the return bin communication unit for the broadcast probe data packet is received, the probe response data packet is parsed; when it is parsed that the source address of the probe response data packet is a default address and the data packet type is a new bin response, it is determined that the return bin represented by the device identification information in the probe response data packet is a newly accessed return bin, and a new bin access data packet including at least the device identification information of the newly accessed return bin is sent to the central unit; The return bin communication unit is configured to, when the broadcast probe data packet is received, parse the broadcast probe data packet; when it is parsed that the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, a probe response data packet is generated based on the device identification information of the return bin, and the probe response data packet is sent to the communication processing unit, wherein the source address of the probe response data packet is a default address and the data packet type is a new bin response; The central unit is configured to, when the new bin access data packet is received, assign a network layer address to the newly accessed return bin represented by the device identification information in the new bin access data packet, and send an address unicast data packet including at least the network layer address to the return bin communication unit inside the newly accessed return bin through the communication processing unit; when an address confirmation data packet returned by the return bin communication unit inside the newly accessed return bin through the communication processing unit is received, the return bin communication unit inside the newly accessed return bin is marked as online so that the newly accessed return bin completes registration.

2. The return bin access detection system of claim 1, wherein, The communication processing unit is configured to generate a new bin access data packet based on the device identification information and the default address of the newly accessed return bin, and send the new bin access data packet to the central unit; when the address unicast data packet sent by the central unit is received, the address unicast data packet is parsed; when it is parsed that the destination address of the address unicast data packet is a default address and the data packet type is address assignment, the address unicast data packet is sent to the return bin communication unit represented by the device identification information in the address unicast data packet; when an address confirmation data packet returned by the return bin communication unit represented by the device identification information in the address unicast data packet is received, the address confirmation data packet is reported to the central unit; The returning warehouse communication unit is configured to, when the address unicast data packet is received, parse the address unicast data packet, and when it is parsed that the destination address of the address unicast data packet is a default address and the data packet type is address allocation, update the default address to the network layer address in the address unicast data packet after determining that the device identification information in the address unicast data packet matches the self device identification information, and return an address confirmation data packet to the communication processing unit; The central unit is configured to, when the new warehouse access data packet is received, parse the new warehouse access data packet to obtain the device identification information and the default address; The new access returning warehouse represented by the device identification information is allocated a network layer address, the address unicast data packet is generated based on the network layer address, and the address unicast data packet is sent to the communication processing unit, wherein the destination address of the address unicast data packet is the default address and the data packet type is address allocation, and the address unicast data packet at least includes the device identification information and the network layer address; and when the address confirmation data packet is received, the returning warehouse communication unit is marked as online so that the new access returning warehouse completes registration.

3. The return bin access detection system of claim 2, wherein, The central unit is further configured to, based on the number of online returning warehouse communication units, re-allocate storage logical blocks, and send the logical address information of the re-allocated storage logical blocks to the communication processing unit; The communication processing unit is further configured to, when the logical address information of the re-allocated storage logical blocks is received, broadcast the logical address information of the re-allocated storage logical blocks to each of the online returning warehouse communication units.

4. A return bin access detection system according to any one of claims 1 to 3, wherein The communication processing unit is further configured to send a heartbeat detection data packet to each of the returning warehouse communication units; if a heartbeat response data packet returned by the returning warehouse communication unit is received, it is determined that the returning warehouse communication unit is in an online state; and if the heartbeat response data packet returned by the returning warehouse communication unit is not received, it is determined that the returning warehouse communication unit is in an offline state.

5. The return bin access detection system of claim 4, wherein, There are multiple communication links between the communication processing unit and each of the returning warehouse communication units; The communication processing unit is configured to, when no heartbeat response data packet returned by the returning warehouse communication unit is received after sending a heartbeat detection data packet through each communication link, determine that the returning warehouse communication unit is in an offline state.

6. A method of return bin access detection, the method comprising: The communication processing unit applied to the returning warehouse access detection system of any one of claims 1-5 comprises: Periodically sending a broadcast probe data packet, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery; Receiving a probe response data packet sent by a returning warehouse communication unit for the broadcast probe data packet, wherein the probe response data packet is generated based on the device identification information of the returning warehouse when the returning warehouse communication unit parses that the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery, the source address of the probe response data packet is a default address and the data packet type is new warehouse response; and The communication processing unit is further configured to, when the logical address information of the re-allocated storage logical blocks is received, broadcast the logical address information of the re-allocated storage logical blocks to each of the online returning warehouse communication units. parsing the probe response data packet, and when the source address of the probe response data packet is determined to be a default address and the data packet type is determined to be a new bin response, determining that the device identification information in the probe response data packet represents a newly-accessed return bin; sending a new bin access data packet including at least the device identification information of the newly-accessed return bin to a central unit to trigger the central unit to assign a network layer address to the newly-accessed return bin represented by the device identification information and send an address unicast data packet including at least the network layer address to the communication processing unit; when the address unicast data packet is received, sending the address unicast data packet to a return bin communication unit inside the newly-accessed return bin; when an address confirmation data packet returned by the return bin communication unit inside the newly-accessed return bin is received, sending the address confirmation data packet to the central unit to trigger the central unit to mark the return bin communication unit inside the newly-accessed return bin as online so that the newly-accessed return bin completes registration.

7. A method for detecting access to a return warehouse, characterized in that, The return bin communication unit applied to the return bin access detection system of any one of claims 1-5, comprising: receiving a broadcast probe data packet sent by a communication processing unit, wherein the destination address of the broadcast probe data packet is a broadcast address and the data packet type is topology discovery; parsing the broadcast probe data packet, and when the destination address of the broadcast probe data packet is determined to be a broadcast address and the data packet type is determined to be topology discovery, generating a probe response data packet based on the device identification information of the return bin, wherein the source address of the probe response data packet is a default address and the data packet type is a new bin response; sending the probe response data packet to the communication processing unit to trigger the communication processing unit to, when the source address of the probe response data packet is determined to be a default address and the data packet type is determined to be a new bin response, determine that the device identification information in the probe response data packet represents a newly-accessed return bin, and send a new bin access data packet including at least the device identification information of the newly-accessed return bin to a central unit, and when an address unicast data packet including at least the network layer address of the newly-accessed return bin sent by the central unit after assigning a network layer address to the newly-accessed return bin represented by the device identification information is received, send the address unicast data packet to a return bin communication unit inside the newly-accessed return bin; when the address unicast data packet is received, sending an address confirmation data packet to the central unit through the communication processing unit to trigger the central unit to mark the return bin communication unit inside the newly-accessed return bin as online so that the newly-accessed return bin completes registration.

8. A method for detecting access to a return warehouse, characterized in that, The central unit applied to the return bin access detection system of any one of claims 1-5, comprising: When receiving the new bin access data packet sent by the communication processing unit, at least including the device identification information, a network layer address is allocated to the new access bin characterized by the device identification information in the new bin access data packet, wherein the new bin access data packet is the probe response data packet sent by the bin communication unit for the broadcast probe data packet after the communication processing unit periodically sends the broadcast probe data packet, the probe response data packet is parsed, and when the source address of the probe response data packet is the default address and the data packet type is the new bin response, it is determined that the bin characterized by the device identification information in the probe response data packet is the new access bin after sending; An address unicast data packet including at least the network layer address is sent by the communication processing unit to the bin communication unit inside the new access bin; When receiving the address confirmation data packet returned by the bin communication unit inside the new access bin through the communication processing unit, the bin communication unit inside the new access bin is marked as online to complete the registration of the new access bin.

9. An underwater thruster rental cabinet characterized by, Comprise: The bin and the bin access detection system according to any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are executed by the processor to realize the bin access detection method according to any one of claims 6-8.

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