Cross-medium communication resource allocation system and method for underwater dam body exploration

Abstract

The invention provides a cross-medium communication resource allocation system and method for underwater dam body exploration, which is applied to underwater dam body exploration of a child-mother robot, and comprises the following steps: firstly, establishing a three-stage hardware platform of global decision, local adaptation and execution feedback, then collecting data through a global decision layer and generating an electromagnetic-underwater sound medium bandwidth quota instruction, and finally, carrying out resource allocation on the electromagnetic-underwater sound medium bandwidth quota instruction; the local adaptation layer maps and optimizes resource parameters according to P1 / P2 data priority, and the execution feedback layer collects quantitative indexes and adjusts the parameters in a closed-loop mode; the method has the advantages that the cross-medium transmission synchronism is improved, core data transmission is guaranteed, the system cooperative adaptability is enhanced, the engineering implementation is high, large-scale hardware transformation is not needed, the deployment cost is low, and the compatibility is good.

Description

Technical Field

[0001] This invention relates to, in particular, a cross-medium communication resource allocation system and method for underwater dam exploration. Background Technology

[0002] Underwater structures such as underwater dams are subject to long-term erosion from complex hydraulic environments, making their safety monitoring crucial. Exploration using a single underwater robot is prone to blind spots; therefore, the industry is gradually adopting a mother-daughter robot system that coordinates aerial detection sub-robots (typically relying on electromagnetic wave communication) and underwater detection sub-robots (typically relying on underwater acoustic communication). However, this heterogeneous cross-medium collaborative communication faces the following technical challenges:

[0003] Rigid resource allocation: Existing systems mostly use fixed ratios for allocating communication resources (such as bandwidth and channels), which cannot be dynamically adjusted according to real-time task requirements, slave status, and link quality.

[0004] Cross-medium transmission asynchrony: Electromagnetic waves and sound waves have huge differences in propagation speed, attenuation characteristics, and bandwidth capacity. Fixed allocation strategies lead to serious asynchrony in data transmission between the air and water domains, affecting the timeliness of collaborative control and data fusion.

[0005] Data Priority Missing: Failure to classify detection data (such as emergency crack images and routine hydrological data) and ensure transmission resources for high-priority data may result in delays or loss of critical information due to channel congestion, affecting decision-making security.

[0006] For example, Chinese patent application CN202410161116.7 discloses an adaptive communication method for underwater robots, which is only for a single underwater robot and switches the communication mode (such as microwave or satellite) according to the depth threshold. It does not solve the problem of global resource optimization and dynamic allocation in multi-robot and cross-media collaboration, and its decision-making relies on preset rules, which is not flexible enough.

[0007] Therefore, the existing technology lacks a communication resource allocation scheme that can dynamically optimize resource allocation, ensure high-priority data, and effectively alleviate cross-media transmission asynchrony, which restricts the application efficiency and reliability of the mother-daughter robot system in the fine exploration of underwater structures. Summary of the Invention

[0008] To address the problems in the existing technology, this invention provides a cross-media communication resource allocation system and method for underwater dam exploration. The purpose is to solve the technical problems of asynchronous cross-media data transmission, delay of core detection data, and low efficiency of multi-machine collaboration caused by differences in communication media, insufficient static resource allocation, and inadequate data priority differentiation when a mother-daughter robot system conducts exploration of underwater dams and other structures.

[0009] A cross-medium communication resource allocation method for underwater dam exploration, applied to a parent-child robot system comprising a parent dam, an aerial probe, and an underwater probe, includes the following steps:

[0010] Step 1: Build a hardware support platform consisting of a global decision-making layer, a local adaptation layer, and an execution feedback layer;

[0011] Step 2: Dynamically schedule resources through the global decision-making layer, specifically as follows:

[0012] Step 2.1: Collect the data status of the airborne and underwater reconnaissance sub-units, the load information of the communication link between the parent unit and each sub-unit, and the cross-media data synchronization rate returned from the execution feedback layer according to a preset cycle, and perform data normalization processing; the data status includes at least the data type, which is divided into... Level emergency data and Level routine data;

[0013] Step 2.2: Construct an electromagnetic-underwater acoustic unified resource pool model. Based on whether the data type in the data status is P1 level emergency data, the load information, and the preset detection rhythm adaptation logic, calculate the real-time bandwidth ratio of airborne electromagnetic communication medium and underwater acoustic communication medium in the current scheduling cycle through the dynamic quota formula.

[0014] Step 2.3: Based on the calculated bandwidth ratio, generate a standardized global quota instruction, send it to the local adaptation layer, and simultaneously push it to the execution feedback layer as a monitoring benchmark;

[0015] Step 3: Match resources through a local adaptation layer, specifically:

[0016] Step 3.1: Collect the global quota instruction, the real-time local operating status of the airborne and underwater reconnaissance sub-units, and the data type according to the preset cycle. When the local operating status exceeds the preset threshold or the global quota instruction is updated, execute steps 3.2 and 3.3.

[0017] Step 3.2: Based on the data type and distinguishing between the characteristics of electromagnetic communication media and underwater acoustic communication media, according to the preset mapping rules, map the bandwidth ratio of electromagnetic communication media and the bandwidth ratio of underwater acoustic communication media in the global quota instruction to the specified data. Level emergency data and The initial bandwidth percentage or initial power parameters corresponding to the level of conventional data;

[0018] Step 3.3: Combining the real-time local operating status of the airborne and underwater reconnaissance sub-units, the initial bandwidth ratio or initial power parameters are optimized using fine-tuning formulas to obtain the personalized resource parameters finally sent to the corresponding airborne and underwater reconnaissance sub-units for execution; simultaneously, application bandwidth guarantee constraints ensure... The final bandwidth ratio of emergency data shall not be less than the preset minimum guarantee threshold;

[0019] Step 4: Perform closed-loop optimization through the feedback layer, specifically as follows:

[0020] Step 4.1: Collect the data transmission and reception volume of the airborne and underwater reconnaissance sub-units according to the preset cycle, and calculate the quantitative indicators, including cross-media data synchronization rate, personalized adaptation compliance rate and resource utilization rate.

[0021] Step 4.2: Based on the cross-media data synchronization rate, personalized adaptation compliance rate, and resource utilization rate, calculate the comprehensive reward value using a weighted formula, and classify the reward level according to the numerical range of the comprehensive reward value; encapsulate the comprehensive reward value, reward level, and quantitative indicators into a feedback data package, and feed it back to the global decision-making layer and the local adaptation layer to drive the adjustment of the global parameters in the dynamic quota formula or the local parameters in the fine-tuning formula.

[0022] Further, in step 1, the core controller deployed in the global decision-making layer includes an FPGA module for parallel real-time computation and an embedded processor responsible for global logic scheduling; the local adaptation layer includes a first controller configured for the airborne reconnaissance sub-machine and equipped with a low-latency processing unit and a second controller configured for the underwater reconnaissance sub-machine and integrated with a power control module; the feedback controller deployed in the execution feedback layer includes an FPGA controller for parallel acquisition of indicators and a multi-core processor for real-time calculation of reward values.

[0023] Further, in step 2.2, the dynamic quota formula is:

[0024]

[0025]

[0026] in, , These represent the bandwidth proportions of electromagnetic communication media and underwater acoustic communication media, respectively. This represents the baseline percentage under conditions of no emergency. This represents the maximum bandwidth adjustment range; This serves as an emergency status indicator for the airborne reconnaissance sub-unit when it transmits... The value is 1 for emergency data, and 0 otherwise. This serves as an emergency status indicator for the underwater detection sub-unit when it transmits... The value is 1 for emergency data, and 0 otherwise. This is the load correction factor; This represents the current bandwidth utilization rate of the electromagnetic communication link. This is the link overload threshold.

[0027] Furthermore, in step 3.2, the mapping rules include:

[0028] For the electromagnetic communication medium of the airborne reconnaissance sub-unit, its bandwidth subdivision ratio is mapped as follows:

[0029]

[0030]

[0031] in, , The respective Level emergency data and The initial bandwidth percentage corresponding to the level of routine data. , This is the corresponding initial bandwidth ratio coefficient, and > ;

[0032] For the underwater acoustic communication medium of the underwater detection sub-unit, its power subdivision ratio mapping is as follows:

[0033]

[0034]

[0035] in, , The respective Level emergency data and The initial transmission power corresponding to the level of conventional data, This refers to the rated transmission power of the underwater detection sub-unit. , This is the corresponding initial power proportion coefficient, and .

[0036] Furthermore, in step 3.3, the fine-tuning formula includes:

[0037] Formula for fine-tuning the power of the underwater detection sub-unit:

[0038]

[0039] in, To optimize the transmission power, The initial transmission power parameters obtained by the mapping rule or , This is the weighting factor for electricity consumption. The remaining power of the underwater detection sub-unit For low battery threshold, underwater data obtained from the execution feedback layer Current synchronization rate of emergency data. The target threshold for synchronization rate;

[0040] Formula for fine-tuning the bandwidth of the aerial reconnaissance sub-unit:

[0041]

[0042] in, for The bandwidth ratio after optimization for emergency data is as follows. The initial bandwidth percentage obtained from the mapping rule. This is the latency-bandwidth sensitivity factor. for Level 1 emergency data latency requirements The real-time transmission delay of the communication link between the aerial reconnaissance sub-unit, This represents the bandwidth percentage of the electromagnetic communication medium.

[0043] Furthermore, in step 3.3, the bandwidth guarantee constraint is expressed as:

[0044]

[0045] in, For ultimate protection The proportion of emergency data bandwidth. This is the preset minimum guaranteed bandwidth. , These are the data to be transmitted within the current period. The amount of data for emergency data at the highest level The amount of data in the routine data category. Step 2.2 is the percentage of total bandwidth allocated to the corresponding communication medium.

[0046] Further, in step 4.1, the cross-media data synchronization rate... Calculated weighted according to data priority:

[0047]

[0048] in, , In the air Synchronization rate of emergency data at the highest level, airborne Synchronization rate of routine data at the primary level , underwater Synchronization rate of emergency data at the highest level, underwater Synchronization rate of routine data at the primary level;

[0049] The personalized adaptation compliance rate is determined by the latency compliance rate of the aerial reconnaissance sub-unit. Power consumption compliance rate of underwater detection sub-units Weighted composition;

[0050] The resource utilization rate is the actual bandwidth utilization rate of electromagnetic communication media and underwater acoustic communication media, obtained by weighted average according to their media weights.

[0051] Further, in step 4.2, the comprehensive reward value... The calculation formula is:

[0052]

[0053] in, , , The preset weighting coefficients, This is a penalty for violating constraints on the behavior of the aerial reconnaissance sub-unit exceeding the latency limit or the underwater reconnaissance sub-unit exceeding the power consumption limit;

[0054] The reward level classification includes: if If the optimization is successful, the current resource allocation strategy will be maintained; otherwise... If so, it is determined that local parameters need fine-tuning; if If so, it is determined that the global and local strategies need to be adjusted synchronously.

[0055] Furthermore, in step 4.2, the directional feedback specifically refers to:

[0056] The comprehensive reward value is fed back to the global decision-making level. Cross-media data synchronization rate and resource utilization rate ,when and When this occurs, the maximum bandwidth adjustment range in the dynamic quota formula is triggered. ;when When this occurs, the load correction coefficient in the dynamic quota formula is adjusted. ;

[0057] The personalized adaptation compliance rate is fed back to the local adaptation layer. Detailed and core data synchronization rate and synchronization rate When the latency compliance rate At that time, the delay bandwidth sensitivity coefficient in the fine-tuning formula for the air bandwidth is triggered for adjustment. When the power consumption compliance rate When this occurs, the underwater power ratio coefficient in the mapping rule is updated. or .

[0058] A cross-medium communication resource allocation system for underwater dam exploration is applied to a parent-child robot system comprising a parent dam, an aerial probe, and an underwater probe; the cross-medium communication resource allocation system includes:

[0059] The global decision-making module is configured to perform the functions described in step 2 above.

[0060] The local adaptation module is configured to perform the functions described in step 3 above.

[0061] The execution feedback module is configured to perform the functions described in step 4 above.

[0062] The beneficial effects of this invention are: improved cross-media transmission synchronization: through a global resource pool and dynamic quotas, the operation rhythm of air and water submachines is adapted in real time, which significantly reduces the cross-domain data synchronization delay;

[0063] Core data transmission was guaranteed: Priority mapping rules and bandwidth guarantee constraints ensured that high-urgency detection data could obtain sufficient communication resources, avoiding delays in critical information caused by the congestion of regular data.

[0064] Enhanced system collaboration efficiency and adaptability: The three-level closed-loop architecture enables resource allocation to be dynamically adjusted based on real-time task status, link conditions, and historical performance, thereby improving the robustness of multi-machine collaborative exploration in complex and variable underwater environments and the overall task completion efficiency.

[0065] Highly feasible for engineering implementation: This invention is mainly achieved by upgrading the control software and algorithms of existing mother-daughter robot systems, without the need for large-scale hardware modifications, resulting in low deployment costs and good compatibility. Attached Figure Description

[0066] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0067] The present invention will now be described in detail with reference to the accompanying drawings. Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. The directional terms such as left, center, right, top, and bottom in the embodiments of the present invention are only relative concepts or referenced to the normal use state of the product, and should not be considered restrictive.

[0068] A cross-media communication resource allocation method for underwater dam exploration is applied to a parent-child robot system comprising a parent dam, an aerial probe, and an underwater probe, such as... Figure 1 As shown, it includes the following steps:

[0069] Step 1: Build a hardware support platform consisting of a global decision-making layer, a local adaptation layer, and an execution feedback layer;

[0070] The core control unit deployed in the global decision-making layer includes an FPGA module for parallel real-time computation and an embedded processor responsible for global logic scheduling. The FPGA module is specifically used for parallel real-time computation of the dynamic quota algorithm, while the embedded processor is responsible for global logic scheduling. The collaboration of the two modules ensures a single decision latency of ≤50ms (test conditions: communication distance between the airborne reconnaissance sub-unit and the parent unit is 1-5km, and the communication distance between the underwater reconnaissance sub-unit and the parent unit is 0.5-3km, with no strong electromagnetic interference). The global decision-making layer also integrates state-aware hardware (such as a data type recognition sensor based on deep learning for accurate differentiation). Level emergency data and It features a conventional data interface and a dual-media communication interface to enable low-latency data and command interaction.

[0071] The local adaptation layer includes a first controller equipped with a low-latency processing unit for the airborne reconnaissance sub-unit and a second controller with an integrated power control module for the underwater reconnaissance sub-unit. Both controllers pre-store data type-medium characteristics-resource parameter mapping rules. The airborne reconnaissance sub-unit is equipped with an 8-channel anti-interference electromagnetic communication interface, and the underwater reconnaissance sub-unit is equipped with a 6-channel underwater acoustic communication interface, enabling coordinated adaptation of channels and resource parameters. The local adaptation layer also deploys a local status acquisition unit, including a link delay monitor and an electromagnetic interference monitor for the airborne reconnaissance sub-unit, and a remaining power sensor and a power monitor for the underwater reconnaissance sub-unit, ensuring that the adaptation decision delay is ≤30ms (test conditions: communication distance between the sub-unit and the local adaptation layer ≤1km).

[0072] The execution feedback layer deploys a feedback controller that includes an FPGA controller for parallel acquisition of indicators and a multi-core processor for real-time calculation of reward values. The FPGA module is responsible for the parallel acquisition of multi-dimensional indicators (20ms / time), and the multi-core processor is responsible for real-time calculation of reward values ​​and generation of feedback instructions. The execution feedback layer also integrates a multi-dimensional indicator acquisition module (including a cross-media data synchronization rate acquisition unit, a latency tester, a power monitor, and a bandwidth utilization monitor) and a bidirectional linkage communication interface (establishing a full-duplex link with the global decision-making layer and communicating with the local adaptation layer via a CAN bus), ensuring 20ms / time indicator acquisition and 50ms / time feedback linkage (test conditions: communication distance between the feedback layer and the first two layers ≤ 2km).

[0073] Step 2: Dynamically schedule resources through a global decision-making layer. The aim is to address the cross-media synchronization problem caused by fixed resource allocation and media differences. Construct a unified electromagnetic-underwater acoustic resource pool model, and dynamically generate bandwidth / channel quotas based on sub-machine task urgency and link load. This defines global resource boundaries and matches the pace of underwater and air exploration. Specifically:

[0074] Step 2.1: Collect the data status of the airborne and underwater reconnaissance sub-units, the load information of the communication link between the parent unit and each sub-unit, and the cross-media data synchronization rate returned from the execution feedback layer according to a preset period (e.g., 50ms), and perform data normalization processing; the data status includes at least the data type, which is divided into... Level emergency data and Level routine data;

[0075] Step 2.2: Construct an electromagnetic-underwater acoustic unified resource pool model. Based on whether the data type in the data status is P1 level emergency data, the load information, and the preset detection rhythm adaptation logic, calculate the real-time bandwidth ratio of airborne electromagnetic communication medium and underwater acoustic communication medium in the current scheduling cycle through the dynamic quota formula.

[0076] The dynamic quota formula is as follows:

[0077]

[0078]

[0079] in, , These represent the bandwidth proportions of electromagnetic communication media and underwater acoustic communication media, respectively. This is the base percentage under conditions of no emergency, which can be taken as... (Theoretical basis: In cross-medium collaborative exploration, the routine data transmission needs of airborne and underwater exploration sub-units are balanced. When there are no urgent tasks, the data is allocated proportionally to avoid idle resources in a single medium.) For the maximum bandwidth adjustment range, we can take... (Theoretical basis: The bandwidth redundancy of the electromagnetic / underwater acoustic links is ≥30%, and the 25% adjustment range can meet the bandwidth increment requirements of emergency tasks without exceeding the link redundancy limit.) This serves as an emergency status indicator for the airborne reconnaissance sub-unit when it transmits... The value is 1 for emergency data, and 0 otherwise. This serves as an emergency status indicator for the underwater detection sub-unit when it transmits... The value is 1 for emergency data, and 0 otherwise. The load correction factor can be taken as... (Engineering practice reference value: Referring to the correction coefficient range of existing load scheduling algorithms (0.05-0.2), and considering the transmission characteristics of cross-media links, the intermediate value of 0.1 is selected.) This represents the current bandwidth utilization rate of the electromagnetic communication link. The link overload threshold can be set to... (General values ​​in engineering practice: The overload alarm thresholds for common communication media such as Ethernet and underwater acoustic communication links are all set at 80%-90%, with 85% being a common industry value.)

[0080] Step 2.3: Based on the calculated bandwidth percentage and bandwidth ratio Standardized global quota instructions are generated, sent to the local adaptation layer, and simultaneously pushed to the execution feedback layer as a monitoring benchmark.

[0081] Step 3: Match resources through a local adaptation layer to ensure core data transmission requirements, specifically:

[0082] Step 3.1: Collect the global quota instruction, the real-time local operating status of the airborne and underwater reconnaissance sub-units, and the data type according to a preset period (e.g., 30ms). When the local operating status exceeds a preset threshold or the global quota instruction is updated, execute steps 3.2 and 3.3.

[0083] Step 3.2: Based on the data type and distinguishing between the characteristics of electromagnetic communication media and underwater acoustic communication media, according to the preset mapping rules, allocate the bandwidth ratio of electromagnetic communication media in the global quota instruction. Bandwidth ratio of underwater acoustic communication media , mapped to Level emergency data and The initial bandwidth percentage or initial power parameters corresponding to the level of conventional data;

[0084] The mapping rules include:

[0085] For the electromagnetic communication medium of the airborne reconnaissance sub-unit, its bandwidth subdivision ratio is mapped as follows:

[0086]

[0087]

[0088] in, , The respective Level emergency data and The initial bandwidth percentage corresponding to the level of routine data. , This is the corresponding initial bandwidth ratio coefficient, and > In actual exploration scenarios Available Internal adjustments exist Internal adjustment, typical value is , ;

[0089] Therefore, After subdividing the basic bandwidth for emergency data, priority is given to matching the electromagnetic interference suppression channel C. 11 -C 14 It supports high-speed, low-error transmission;

[0090] For the underwater acoustic communication medium of the underwater detection sub-unit, its power subdivision ratio mapping is as follows:

[0091]

[0092]

[0093] in, , The respective Level emergency data and The initial transmission power corresponding to the level of conventional data, This refers to the rated transmission power of the underwater detection sub-unit. , This is the corresponding initial power proportion coefficient, and In actual exploration scenarios Available Internal value, exist The value is taken from the inner value, and the typical value is... , ;

[0094] Therefore, After initial power subdivision for emergency data, priority is given to matching the underwater acoustic low-loss channel C. 21 -C 23 It supports long-distance, low-attenuation transmission;

[0095] Step 3.3: Combining the real-time local operating status of the airborne and underwater reconnaissance sub-units, the initial bandwidth ratio or initial power parameters are optimized using fine-tuning formulas to obtain the personalized resource parameters finally sent to the corresponding airborne and underwater reconnaissance sub-units for execution; simultaneously, application bandwidth guarantee constraints ensure... The final bandwidth ratio of emergency data shall not be less than the preset minimum guarantee threshold;

[0096] The fine-tuning formula includes:

[0097] Formula for fine-tuning the power of the underwater detection sub-unit:

[0098]

[0099] in, To optimize the transmission power, The initial transmission power parameters obtained by the mapping rule or , The power weighting coefficient (can be taken as follows) ), The remaining power of the underwater detection sub-unit Low battery threshold (can be set) ), underwater data obtained from the execution feedback layer Current synchronization rate of emergency data. The target threshold for synchronization rate (can be taken as follows) );

[0100] Formula for fine-tuning the bandwidth of the aerial reconnaissance sub-unit:

[0101]

[0102] in, for The bandwidth ratio after optimization for emergency data is as follows. The initial bandwidth percentage obtained from the mapping rule. The latency-bandwidth sensitivity coefficient (can be taken as follows) The parameter adjustment coefficient for 5G base stations for latency-sensitive services is typically in the range of 0.01-0.02. for Level 1 emergency data latency requirements (optional) ), The real-time transmission delay of the communication link between the aerial reconnaissance sub-unit, This represents the bandwidth percentage of the electromagnetic communication medium.

[0103] The bandwidth guarantee constraint is expressed as follows:

[0104]

[0105] in, For ultimate protection The proportion of emergency data bandwidth. The preset minimum guaranteed bandwidth (can be taken as follows) In electromagnetic / underwater acoustic cross-medium communication scenarios, the bandwidth allocation for core data and regular data needs to balance priority and resource utilization. 60% is the industry-recognized minimum guarantee percentage for core data. , These are the data to be transmitted within the current period. The amount of data for emergency data at the highest level The amount of data in the routine data category. The percentage of total bandwidth allocated to the corresponding communication medium in step 2.2;

[0106] Thus making The bandwidth guarantee rate for emergency data transmission has been greatly improved, the air latency has been controlled within 30ms, and the endurance of the underwater detection sub-unit has been improved, avoiding resource waste and core data compression.

[0107] Step 4: Perform closed-loop optimization through the feedback layer, specifically as follows:

[0108] Step 4.1: Collect the data transmission and reception volume of the airborne and underwater reconnaissance sub-units according to a preset period (e.g., 20ms), and calculate the quantitative indicators, including cross-media data synchronization rate, personalized adaptation compliance rate, and resource utilization rate.

[0109] Among them, the cross-media data synchronization rate Calculated weighted according to data priority:

[0110]

[0111] in, , In the air Synchronization rate of emergency data at the highest level, airborne Synchronization rate of routine data at the primary level , underwater Synchronization rate of emergency data at the highest level, underwater Synchronization rate of routine data at the primary level; the calculation method for each synchronization rate is as follows:

[0112]

[0113]

[0114]

[0115] The personalized adaptation compliance rate The latency compliance rate of the aerial reconnaissance sub-unit Power consumption compliance rate of underwater detection sub-units Weighted composition;

[0116]

[0117] Among them, the latency compliance rate of the aerial reconnaissance sub-unit The calculation method is as follows: when hour, ;when hour, ;when hour, ; The actual transmission delay of the aerial reconnaissance sub-unit;

[0118] Power consumption compliance rate of underwater detection submachine The calculation method is as follows: when hour, ;when hour, ;when hour, ; This represents the actual transmission power of the underwater detection sub-unit. Rated power;

[0119] The resource utilization rate The actual bandwidth utilization of electromagnetic communication media and underwater acoustic communication media is obtained by weighting them according to their respective media weights:

[0120]

[0121] in, This represents the actual bandwidth utilization rate. To allocate bandwidth percentages, For medium weight, electromagnetic medium weight underwater acoustic medium weight (Engineering practice: In existing cross-media cooperative detection systems, the weight of the electromagnetic / satellite link is generally set in the range of 0.55-0.65, and the weight of the underwater acoustic / underwater acoustic link is in the range of 0.35-0.45).

[0122] Step 4.2: Based on the cross-media data synchronization rate, personalized adaptation compliance rate, and resource utilization rate, calculate the comprehensive reward value using a weighted formula. And based on the comprehensive reward value The numerical range is used to divide the reward levels; the comprehensive reward value is... The reward level and quantitative indicators are encapsulated into a feedback data package and fed back to the global decision-making layer and the local adaptation layer to drive the adjustment of the global parameters in the dynamic quota formula or the local parameters in the fine-tuning formula.

[0123] Among them, the comprehensive reward value The calculation formula is:

[0124]

[0125] in, , , The preset weighting coefficients, The penalty for violating constraints regarding excessive latency of the airborne reconnaissance sub-unit or excessive power consumption of the underwater reconnaissance sub-unit is calculated as follows:

[0126]

[0127] Among them, when the actual transmission delay of the airborne reconnaissance sub-unit hour, ,otherwise When the actual transmission power of the underwater detection sub-unit hour, ,otherwise ;

[0128] The reward level classification includes: if If the optimization is successful, the current resource allocation strategy will be maintained; otherwise... If so, it is determined that local parameters need fine-tuning; if If so, it is determined that the global and local strategies need to be adjusted synchronously;

[0129] The targeted feedback specifically refers to:

[0130] The comprehensive reward value is fed back to the global decision-making level. Cross-media data synchronization rate and resource utilization rate ,when and When this occurs, the maximum bandwidth adjustment range in the dynamic quota formula is triggered. ;when When this occurs, the load correction coefficient in the dynamic quota formula is adjusted. ;

[0131] The personalized adaptation compliance rate is fed back to the local adaptation layer. Detailed and core data synchronization rate and synchronization rate When the latency compliance rate At that time, the delay bandwidth sensitivity coefficient in the fine-tuning formula for the air bandwidth is triggered for adjustment. When the power consumption compliance rate When this occurs, the underwater power ratio coefficient in the mapping rule is updated. or ;when At that time, the minimum threshold for increasing the core data bandwidth guarantee constraint is triggered; the feedback cycle is coordinated with the collection cycle of steps 2 and 3, and the feedback packet is pushed out in a targeted manner at 50ms / time to ensure the real-time performance of the optimization.

[0132] A cross-medium communication resource allocation system for underwater dam exploration is applied to a parent-child robot system comprising a parent dam, an aerial probe, and an underwater probe; the cross-medium communication resource allocation system includes:

[0133] The global decision-making module is configured to perform the functions described in step 2.

[0134] A local adaptation module is configured to perform the function described in step 3.

[0135] The execution feedback module is configured to perform the functions described in step 4.

[0136] This invention first establishes a three-tiered hardware support platform by deploying a global decision-making layer, a local adaptation layer, and an execution feedback layer to build the physical foundation for decision-making, execution, and monitoring, enabling low-latency transmission of status data and instructions. Next, the global decision-making layer constructs a unified electromagnetic-underwater acoustic resource pool model, dynamically generating quota instructions based on task urgency and link load to resolve the core contradiction of asynchronous cross-media transmission. The local adaptation layer establishes mapping rules based on data type and media characteristics, performing personalized fine-tuning based on the real-time status of the sub-machines, while ensuring the priority of core data through bandwidth constraints. The execution feedback layer constructs a multi-dimensional indicator quantification and reward mechanism, optimizing the strategies of the first two layers based on evaluation results, forming a closed loop of decision-making, execution, and feedback. Finally, through the collaborative linkage of each layer, communication resource allocation is deeply bound to the detection task and sub-machine status. This entire process, centered on dynamic optimization of cross-media communication resources, connects hardware support, global coordination, local precision, and closed-loop optimization, thereby solving the technical challenges of asynchronous transmission, core data latency, and low collaborative efficiency caused by media differences, fixed allocation, and lack of priority when mother-daughter robots explore underwater dams.

[0137] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A cross-medium communication resource allocation method for underwater dam exploration, applied to a parent-child robot system comprising a parent dam, an aerial probe, and an underwater probe, characterized in that... Includes the following steps: Step 1: Build a hardware support platform consisting of a global decision-making layer, a local adaptation layer, and an execution feedback layer; Step 2: Dynamically schedule resources through the global decision-making layer, specifically: Step 2.1: Collect data status of the airborne and underwater reconnaissance sub-units, load information of the communication links between the parent unit and each sub-unit, and cross-media data synchronization rate returned from the execution feedback layer according to a preset cycle, and perform data normalization processing; the data status includes at least the data type, which is divided into... Level emergency data and Level routine data; Step 2.2: Construct an electromagnetic-underwater acoustic unified resource pool model. Based on whether the data type in the data status is P1 level emergency data, the load information, and the preset detection rhythm adaptation logic, calculate the real-time bandwidth ratio of airborne electromagnetic communication medium and underwater acoustic communication medium in the current scheduling cycle through the dynamic quota formula. Step 2.3: Based on the calculated bandwidth ratio, generate a standardized global quota instruction, send it to the local adaptation layer, and simultaneously push it to the execution feedback layer as a monitoring benchmark; Step 3: Match resources through a local adaptation layer, specifically: Step 3.1: Collect the global quota instruction, the real-time local operating status of the airborne and underwater reconnaissance sub-units, and the data type according to a preset period. When the local operating status exceeds a preset threshold or the global quota instruction is updated, execute steps 3.2 and 3.

3. Step 3.2: Based on the data type and distinguishing between the characteristics of electromagnetic communication media and underwater acoustic communication media, according to the preset mapping rules, map the bandwidth ratio of electromagnetic communication media and the bandwidth ratio of underwater acoustic communication media in the global quota instruction to the specified data. Level emergency data and The initial bandwidth percentage or initial power parameters corresponding to the level of conventional data; Step 3.3: Combining the real-time local operating status of the airborne and underwater reconnaissance sub-units, the initial bandwidth ratio or initial power parameters are optimized using fine-tuning formulas to obtain the personalized resource parameters finally sent to the corresponding airborne and underwater reconnaissance sub-units for execution; simultaneously, application bandwidth guarantee constraints ensure... The final bandwidth ratio of emergency data shall not be less than the preset minimum guarantee threshold; Step 4: Perform closed-loop optimization through the execution feedback layer, specifically: Step 4.1: Collect the data transmission and reception volume of the airborne and underwater detection sub-units according to the preset cycle, and calculate quantitative indicators, including cross-media data synchronization rate, personalized adaptation compliance rate and resource utilization rate. Step 4.2: Based on the cross-media data synchronization rate, personalized adaptation compliance rate, and resource utilization rate, calculate the comprehensive reward value using a weighted formula, and classify the reward levels according to the numerical range of the comprehensive reward value; The comprehensive reward value, reward level, and quantitative indicators are encapsulated into a feedback data package and fed back to the global decision-making layer and the local adaptation layer to drive the adjustment of the global parameters in the dynamic quota formula or the local parameters in the fine-tuning formula.

2. The cross-medium communication resource allocation method for underwater dam exploration according to claim 1, characterized in that: In step 1, the core controller deployed in the global decision-making layer includes an FPGA module for parallel real-time computation and an embedded processor responsible for global logic scheduling; the local adaptation layer includes a first controller configured for the airborne reconnaissance sub-unit and equipped with a low-latency processing unit and a second controller configured for the underwater reconnaissance sub-unit and integrated with a power control module; the feedback controller deployed in the execution feedback layer includes an FPGA controller for parallel acquisition of indicators and a multi-core processor for real-time calculation of reward values.

3. The cross-medium communication resource allocation method for underwater dam exploration according to claim 1, characterized in that: In step 2.2, the dynamic quota formula is: in, , These represent the bandwidth proportions of electromagnetic communication media and underwater acoustic communication media, respectively. This represents the baseline percentage under conditions of no emergency. This represents the maximum bandwidth adjustment range; This serves as an emergency status indicator for the airborne reconnaissance sub-unit when it transmits... The value is 1 for emergency data, and 0 otherwise. This serves as an emergency status indicator for the underwater detection sub-unit when it transmits... The value is 1 for emergency data, and 0 otherwise. This is the load correction factor; This represents the current bandwidth utilization rate of the electromagnetic communication link. This is the link overload threshold.

4. The cross-medium communication resource allocation method for underwater dam exploration according to claim 1 or 3, characterized in that: In step 3.2, the mapping rules include: For the electromagnetic communication medium of the airborne reconnaissance sub-unit, its bandwidth subdivision ratio is mapped as follows: in, , The respective Level emergency data and The initial bandwidth percentage corresponding to the level of routine data. , This is the corresponding initial bandwidth ratio coefficient, and > ; For the underwater acoustic communication medium of the underwater detection sub-unit, its power subdivision ratio mapping is as follows: in, , The respective Level emergency data and The initial transmission power corresponding to the level of conventional data, This refers to the rated transmission power of the underwater detection sub-unit. , This is the corresponding initial power proportion coefficient, and .

5. The cross-medium communication resource allocation method for underwater dam exploration according to claim 4, characterized in that: In step 3.3, the fine-tuning formula includes: Formula for fine-tuning the power of the underwater detection sub-unit: in, To optimize the transmission power, The initial transmission power parameters obtained by the mapping rule or , This is the weighting factor for electricity consumption. The remaining power of the underwater detection sub-unit For low battery threshold, underwater data obtained from the execution feedback layer Current synchronization rate of emergency data. The target threshold for synchronization rate; Formula for fine-tuning the bandwidth of the aerial reconnaissance sub-unit: in, for The bandwidth ratio after optimization for emergency data is as follows. The initial bandwidth percentage obtained from the mapping rule. This is the latency-bandwidth sensitivity factor. for Level 1 emergency data latency requirements The real-time transmission delay of the communication link between the aerial reconnaissance sub-unit, This represents the bandwidth percentage of the electromagnetic communication medium.

6. The cross-medium communication resource allocation method for underwater dam exploration according to claim 4, characterized in that: In step 3.3, the bandwidth guarantee constraint is expressed as: in, For ultimate protection The proportion of emergency data bandwidth. This is the preset minimum guaranteed bandwidth. , These are the data to be transmitted within the current period. The amount of data for emergency data at the highest level The amount of data in the routine data category. Step 2.2 is the percentage of total bandwidth allocated to the corresponding communication medium.

7. The cross-medium communication resource allocation method for underwater dam exploration according to claim 4, characterized in that: In step 4.1, the cross-media data synchronization rate Calculated weighted according to data priority: in, , In the air Synchronization rate of emergency data at the highest level, airborne Synchronization rate of routine data at the primary level , underwater Synchronization rate of emergency data at the highest level, underwater Synchronization rate of routine data at the primary level; The personalized adaptation compliance rate is determined by the latency compliance rate of the aerial reconnaissance sub-unit. Power consumption compliance rate of underwater detection sub-units Weighted composition; The resource utilization rate is the actual bandwidth utilization rate of electromagnetic communication media and underwater acoustic communication media, obtained by weighted average according to their media weights.

8. The cross-medium communication resource allocation method for underwater dam exploration according to claim 7, characterized in that: In step 4.2, the comprehensive reward value The calculation formula is: in, , , The preset weighting coefficients, This is a penalty for violating constraints on the behavior of the aerial reconnaissance sub-unit exceeding the latency limit or the underwater reconnaissance sub-unit exceeding the power consumption limit; The reward level classification includes: if If the optimization is successful, the current resource allocation strategy will be maintained; otherwise... If so, it is determined that local parameters need fine-tuning; if If so, it is determined that the global and local strategies need to be adjusted synchronously.

9. The cross-medium communication resource allocation method for underwater dam exploration according to claim 8, characterized in that: In step 4.2, the directional feedback specifically refers to: The comprehensive reward value is fed back to the global decision-making level. Cross-media data synchronization rate and resource utilization rate ,when and When this occurs, the maximum bandwidth adjustment range in the dynamic quota formula is triggered. ;when When this occurs, the load correction coefficient in the dynamic quota formula is adjusted. ; The personalized adaptation compliance rate is fed back to the local adaptation layer. Detailed and core data synchronization rate and synchronization rate When the latency compliance rate At that time, the delay bandwidth sensitivity coefficient in the fine-tuning formula for the air bandwidth is triggered for adjustment. When the power consumption compliance rate When this occurs, the underwater power ratio coefficient in the mapping rule is updated. or .

10. A cross-medium communication resource allocation system for underwater dam exploration, applied to a parent-child robot system comprising a parent dam, an aerial probe sub-unit, and an underwater probe sub-unit; characterized in that, The cross-media communication resource allocation system includes: A global decision-making module, configured to perform the function described in step 2 of claim 1; A local adaptation module, configured to perform the function described in step 3 as in claim 1; The execution feedback module is configured to perform the function described in step 4 of claim 1.

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