Multi-link communication isolation system, method and device of unmanned ship and medium

Abstract

The invention relates to the technical field of unmanned ship communication, and discloses a multi-link communication isolation system, method, device and medium for an unmanned ship, the multi-link communication isolation system is connected between a shore-based command control computer and a ship control computer, and the system comprises a first multi-link isolation module used for isolating each link channel, bidirectional communication is carried out between the first control system and the second multi-link isolation module based on the at least one link channel; and the second multi-link isolation module is used for performing bidirectional communication between the first multi-link isolation module and the second control system based on the at least one link channel. Through the independent architecture of the first multi-link isolation module and the second multi-link isolation module, signal isolation of different links and directional data transmission logic between the two modules are realized from the physical level, low delay and low packet loss rate of data transmission are ensured, multi-link redundant backup is supported, communication is ensured not to be interrupted when a single link fails, and the reliability of data transmission is improved. And the communication reliability and the operation stability of the unmanned ship in a complex environment are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned vessel communication technology, specifically to a multi-link communication isolation system, method, device, and medium for unmanned vessels. Background Technology

[0002] Existing unmanned surface vessel (USV) communication systems typically use Ethernet switches as the central communication node. These switches aggregate data from various communication media (such as cellular networks, satellite links, and ad hoc radios) before forwarding it to the ship's control computer or shore-based command and control computer. All communication media access the system through the switch's Ethernet interface. The switch automatically selects available links for different media or broadcasts data simultaneously to achieve multi-link redundancy. However, achieving multi-link redundancy through switches is structurally complex, requiring manual configuration of multiple network port connections and media management, and cannot achieve modularity and standardization. When multiple links are online simultaneously, the switch's cyclic broadcast mechanism can trigger network storms, compromising the stability of the communication links.

[0003] Some existing solutions attempt to mitigate network storms through technologies such as Virtual Local Area Network (VLAN), Spanning Tree Protocol (STP), or route isolation. However, these solutions all rely on logical isolation at the network layer and cannot completely avoid hardware-level conflicts. When one link malfunctions, it may affect other links. Summary of the Invention

[0004] This invention provides a multi-link communication isolation system, method, device, and medium for unmanned vessels to solve the problems of complex, easily interfered, and unstable multi-link communication structures of existing unmanned vessels.

[0005] In a first aspect, the present invention provides a multi-link communication isolation system for an unmanned surface vessel (USV). The multi-link communication isolation system connects a shore-based command and control computer and a ship control computer. The multi-link communication isolation system includes: a first multi-link isolation module and a second multi-link isolation module, wherein... The first multi-link isolation module has its first input / output terminal connected to the first control system, and its multiple second input / output terminals are connected one-to-one with the multiple first input / output terminals of the second multi-link isolation module to form multiple link channels for isolating each link channel and performing bidirectional communication between the first control system and the second multi-link isolation module based on at least one link channel. The second multi-link isolation module has its second input / output terminal connected to the second control system, and is used for bidirectional communication between the first multi-link isolation module and the second control system based on at least one link channel.

[0006] The multi-link communication isolation system for unmanned surface vessels provided by this invention replaces the traditional complex shared communication structure with an independent architecture of the first and second multi-link isolation modules. It achieves signal isolation between different links at the physical level, avoids the problem of mutual interference between multi-link signals, and solves the pain points of existing unmanned surface vessel communication being susceptible to interference and having poor stability. At the same time, the directional data transmission logic between modules simplifies the control process of the communication links, ensuring low latency and low packet loss rate of data transmission between shore-based and shipboard systems, and supporting multi-link redundancy backup to ensure uninterrupted communication when a single link fails. This significantly improves the communication reliability and operational stability of unmanned surface vessels in complex environments.

[0007] In one optional implementation, the first multi-link isolation module includes: a first multi-serial port server unit and multiple first single-serial port server units, wherein, The first multi-serial port server unit has its first input / output terminal connected to the first control system, and its multiple second input / output terminals connected to the first input / output terminals of multiple first single-serial port server units, for enabling bidirectional communication between the first input / output terminals of the first multi-serial port server unit and the first control system according to the Internet Protocol address of the first multi-serial port server unit. The first single-serial-port server unit has its second input / output terminal connected to the first input / output terminal of the second multi-link isolation module, which is used to enable the first multi-serial-port server unit to select one of the first single-serial-port server units for bidirectional communication based on the Internet protocol address of the first single-serial-port server unit.

[0008] In one optional implementation, the second multi-link isolation module includes: a second multi-serial port server unit and multiple second single-serial port server units, wherein, The second single-serial-port server unit has its first input / output terminal connected to the second input / output terminal of the first single-serial-port server unit, and its second input / output terminal connected to the first input / output terminal of the second multi-serial-port server unit. It is used to perform bidirectional communication with the corresponding first single-serial-port server unit according to the Internet protocol address of the second single-serial-port server unit. The second multi-serial port server unit has multiple first input / output terminals connected to multiple second single serial port second input / output terminals, and its second input / output terminals connected to the second control system. It is used to enable the second multi-serial port server unit to perform bidirectional communication with the corresponding second single serial port server unit and the second control system according to the Internet Protocol address of the second multi-serial port server unit.

[0009] The multi-link communication isolation system for unmanned vessels provided by this invention achieves physical isolation of each communication link through independent IP configuration and one-to-one connection of multiple serial port server units and single serial port server units. This completely avoids the signal interference and network storm problems of traditional shared links, ensuring low latency and low packet loss rate in data transmission. At the same time, the independent transmission selection logic of the single serial port server unit ensures that the failure of a single link does not affect other links, flexibly adapts to different communication media, simplifies the link configuration process, and makes communication between shore-based and shipboard systems more stable and deployment more convenient.

[0010] In one optional implementation, different Internet Protocol addresses are configured for the first multi-serial port server unit, the first single-serial port server unit, the second multi-serial port server unit, and the second single-serial port server unit according to the type of communication medium, thereby physically isolating the data transmission links of different types of communication media.

[0011] The multi-link communication isolation system for unmanned vessels provided by this invention configures different Internet Protocol addresses for each serial port server unit according to the communication medium type. By combining the network identification layer with the physical layer, it achieves dual isolation of links of different communication media, completely cuts off cross-media data interference paths, ensures that the transmission link of each communication medium is independent and pure, reduces mutual interference when multiple media links work in parallel, and improves the anti-interference and stability of multi-link communication of unmanned vessels.

[0012] In one optional implementation, the first multi-serial port server unit and the second multi-serial port server unit each include at least one multi-serial port server.

[0013] In one alternative implementation, the communication medium type includes: ad hoc radio, cellular network, satellite communication, laser communication, microwave link, mobile hotspot, and fiber optic communication.

[0014] The multi-link communication isolation system for unmanned vessels provided by this invention has no limit on the number of serial port servers and can flexibly expand the number of links to adapt to communication needs of different scales. It covers multiple types of communication media, making communication choices for unmanned vessels more flexible. The system improves communication reliability in extreme environments through multi-media redundancy backup. The combination of multiple media and extended multi-serial port servers meets the communication needs of different scenarios.

[0015] In one optional implementation, the system further includes: a link status monitoring module and a link switching module, wherein, The link status monitoring module is connected to each link channel and is used to detect the communication quality of each link channel. It sorts the link channels from high to low according to the communication quality and selects a preset number of link channels with the best communication quality for data transmission. The link switching module, which is connected to the link status monitoring module, determines the alternative link channel based on the communication quality of the remaining idle link channels when the communication quality of the current link channel that is transmitting data is lower than a preset threshold, and switches the current link channel to the alternative link channel.

[0016] The multi-link communication isolation system for unmanned vessels provided by this invention has a link status monitoring module that connects to each single serial port server unit to detect the communication quality of each link in real time and automatically selects the optimal link to transmit data. This avoids the delay and misoperation caused by manual switching, enabling the unmanned vessel to always communicate with a more stable and efficient link. At the same time, the combination of multi-link redundancy not only ensures the continuity of communication, but also improves the quality of data transmission.

[0017] In a second aspect, the present invention provides a multi-link communication isolation method for unmanned surface vessels (USVs), which is applied to the multi-link communication isolation system of USVs according to any one of the first aspects. The method includes: Acquire at least one piece of data to be transmitted and extract the communication medium type of each piece of data to be transmitted; Based on the communication medium type of each piece of data to be transmitted, determine the Internet Protocol address of the first control system corresponding to each piece of data to be transmitted; The target link channel for each piece of data to be transmitted is determined based on the Internet Protocol address, and the data to be transmitted is transmitted to the second control system based on the target link channel. When the first control system is a ship control computer, the second control system is a shore-based command and control computer.

[0018] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the second aspect or any corresponding embodiment thereof.

[0019] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the second aspect or any of its corresponding embodiments. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a multi-link communication isolation system for an unmanned vessel according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of another unmanned vessel multi-link communication isolation system according to an embodiment of the present invention; Figure 3 This is a flowchart illustrating a multi-link communication isolation method for unmanned vessels according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Currently, the communication between the ship control system and the shore-based command and control system of unmanned vessels mainly relies on shared communication architectures such as Ethernet switches, which aggregate links of various communication media such as ad hoc radios, cellular networks, and satellite communications into the same logical network to achieve data interaction. Multiple link signals are prone to mutual interference in the shared network, which can lead to network storms in severe cases. Specifically, this manifests as: (1) broadcast packets continuously looping in the link, occupying a large amount of bandwidth; (2) increased communication delay and higher packet loss rate; (3) interruption of the unmanned vessel control link, resulting in mission termination or loss of control.

[0026] This invention provides a multi-link communication isolation system and method for unmanned surface vessels (USVs). By physically isolating the multi-link communication isolation modules, the system simplifies the communication structure, reduces inter-link interference, and improves the stability and reliability of USV communication.

[0027] According to an embodiment of the present invention, a multi-link communication isolation system for unmanned surface vessels is provided. Figure 1 This is a schematic diagram of the structure of a multi-link communication isolation system for an unmanned surface vessel according to an embodiment of the present invention. The multi-link communication isolation system is connected between a shore-based command and control computer and a ship control computer, such as... Figure 1 As shown, the system includes: a first multi-link isolation module and a second multi-link isolation module.

[0028] like Figure 1 As shown, the first multi-link isolation module has its first input / output terminal connected to the first control system, and its multiple second input / output terminals are connected one-to-one with the multiple first input / output terminals of the second multi-link isolation module to form multiple link channels for isolating each link channel and performing bidirectional communication between the first control system and the second multi-link isolation module based on at least one link channel.

[0029] Specifically, the first input and output terminals of the first multi-link isolation module are directly connected to the first control system using standardized interfaces (such as RJ45 or DB9) to achieve plug-and-play link expansion. According to actual needs, multiple first multi-link isolation modules can be used at the same time, but it is necessary to ensure that the total number of link channels provided by the first multi-link isolation module and the second multi-link isolation module is consistent.

[0030] The first multi-link isolation module obtains the data to be transmitted from the first control system through a general first input / output terminal, performs judgment and processing within it, selects one from multiple second input / output terminals to form a link channel to transmit the data to be transmitted, each data to be transmitted is transmitted through a link channel, each link channel is a point-to-point physical connection, there are no switches or hubs in between, physical isolation can reduce mutual interference when multiple links transmit data at the same time.

[0031] like Figure 1 As shown, the second multi-link isolation module has its second input / output terminal connected to the second control system, and is used for bidirectional communication between the first multi-link isolation module and the second control system based on at least one link channel.

[0032] Specifically, the second multi-link isolation module is installed symmetrically with the first multi-link isolation module. The first multi-link isolation module includes one first input / output terminal and multiple second input / output terminals, while the second multi-link isolation module includes multiple first input / output terminals and one second input / output terminal. The shore-based command and control computer is used for mission planning, remote command transmission, and data monitoring; the ship control computer is used for mission execution, attitude control, and status feedback. Therefore, there is bidirectional communication between the ship control computer and the shore-based command and control computer. The first and second multi-link isolation modules also transmit bidirectionally. When the first control system is the shore-based command and control computer and the second control system is the ship control computer, the data transmission direction is from the shore-based command and control computer to the ship control computer. The first multi-link isolation module is connected to the shore-based command and control computer and is responsible for signal distribution and media access. The second multi-link isolation module is connected to the ship control computer and is responsible for multi-link data aggregation and isolation. When the first control system is the ship control computer and the second control system is the shore-based command and control computer, the data transmission direction is from the ship control computer to the shore-based command and control computer.

[0033] The multi-link communication isolation system for unmanned surface vessels (USVs) provided in this embodiment replaces the traditional complex shared communication structure with an independent architecture of the first and second multi-link isolation modules. This achieves physical signal isolation between different links, avoiding the problem of mutual interference between multiple links and solving the pain points of existing USV communication being susceptible to interference and having poor stability. Simultaneously, the directional data transmission logic between modules simplifies the control process of the communication links, ensuring low latency and low packet loss rate in data transmission between shore-based and shipboard systems, while also supporting multi-link redundancy backup to ensure uninterrupted communication in the event of a single link failure. This significantly improves the communication reliability and operational stability of USVs in complex environments.

[0034] In some alternative implementations, such as Figure 2 As shown, the first multi-link isolation module includes: a first multi-serial port server unit and multiple first single-serial port server units.

[0035] like Figure 2 As shown, the first multi-serial-port server unit has its first input / output terminal connected to the first control system, and its multiple second input / output terminals connected to the first input / output terminals of multiple first single-serial-port server units, for enabling bidirectional communication between the first input / output terminals of the first multi-serial-port server unit and the first control system based on the Internet Protocol address of the first multi-serial-port server unit.

[0036] Specifically, the first multi-link isolation module integrates the first multi-serial-port server unit and multiple first single-serial-port server units into the same hardware module, achieving multi-link physical isolation and modular encapsulation. The first multi-serial-port server unit is typically a four-port or eight-port Ethernet-to-serial converter, responsible for distributing the Ethernet data stream transmitted from the first control system to multiple independent serial channels, converting the Ethernet data stream into communication signals. Each serial channel can be independently configured with an Internet Protocol Address (IP address), port number, baud rate, and protocol mode (e.g., UDP Server, TCP Server, TCP Client). The first multi-serial-port server unit has internal buffering and flow control mechanisms to ensure that communication between different link channels does not interfere with each other.

[0037] like Figure 2 As shown, the second input / output terminal of the first single-serial-port server unit is connected to the first input / output terminal of the second multi-link isolation module, which is used to enable the first multi-serial-port server unit to select one of the first single-serial-port server units for bidirectional communication based on the Internet Protocol address of the first single-serial-port server unit.

[0038] Specifically, each first single-port serial server unit is physically connected to one port (corresponding to one serial channel) of the first multi-port serial server via RJ45 or DB9, and is used to interface with the corresponding communication medium device (self-organizing network radio, cellular network, satellite communication, laser communication) to convert the communication signal into standard Ethernet frames and form an independent data link channel.

[0039] In some alternative implementations, such as Figure 2 As shown, the second multi-link isolation module includes: a second multi-serial port server unit and multiple second single-serial port server units.

[0040] like Figure 2 As shown, the second single-serial-port server unit has its first input / output terminal connected to the second input / output terminal of the first single-serial-port server unit, and its second input / output terminal connected to the first input / output terminal of the second multi-serial-port server unit. It is used to perform bidirectional communication with the corresponding first single-serial-port server unit according to the Internet Protocol address of the second single-serial-port server unit.

[0041] Specifically, the second single-serial-port server unit interfaces with the first single-serial-port server unit. By configuring an independent IP address, it establishes a unique communication association with the corresponding first single-serial-port server unit, ensuring that the data to be transmitted can only be obtained from the paired link channel. This achieves precise link matching, ensuring that each piece of data to be transmitted has its own dedicated receiving link channel, and avoiding data mixing in different link channels.

[0042] like Figure 2 As shown, the second multi-serial port server unit has multiple first input / output terminals connected to multiple second single serial port second input / output terminals, and its second input / output terminals connected to the second control system. It is used to enable the second multi-serial port server unit to perform bidirectional communication with the corresponding second single serial port server unit and the second control system according to the Internet Protocol address of the second multi-serial port server unit.

[0043] Specifically, after configuring an independent IP address, the second multi-serial port server unit can simultaneously establish communication with multiple second single-serial port server units and the second control system, realizing parallel reception and unified output of multi-link data. It is used to receive the data signals to be transmitted from each isolated link channel and integrate these signals for stable transmission to the second control system. The second single-serial port server unit has the same structure and configuration as the first single-serial port server unit, and the second multi-serial port server unit has the same structure and configuration as the first multi-serial port server unit.

[0044] The integrity of the data to be transmitted can be ensured by using a message digest algorithm verification mechanism. Message digest algorithms are a mature existing technology and will not be elaborated on here.

[0045] The multi-link communication isolation system for unmanned surface vessels provided in this embodiment achieves physical isolation of each communication link through independent IP configuration and one-to-one connection of multiple serial port server units and single serial port server units. This completely avoids the signal interference and network storm problems of traditional shared links, ensuring low latency and low packet loss rate in data transmission. Simultaneously, the independent transmission selection logic of each single serial port server unit ensures that the failure of one link does not affect other links, flexibly adapting to different communication media, simplifying the link configuration process, and making communication between shore-based and shipboard systems more stable and deployment more convenient.

[0046] In some optional implementations, different Internet Protocol addresses are configured for the first multi-serial port server unit, the first single-serial port server unit, the second multi-serial port server unit, and the second single-serial port server unit, depending on the type of communication medium, to physically isolate the data transmission links of different types of communication media.

[0047] Specifically, different IP addresses are configured for different communication media, so that the channels inside the ship-side and shore-based multi-link isolation modules correspond one-to-one, forming multiple independent communication links. Tables 1-5 show examples of IP address configurations for the multi-link communication isolation system.

[0048] Table 1. Example of IP address configuration for shore-based command and control computers and ship control computers.

[0049] Table 2. Example configuration of the first multi-serial port server

[0050] Table 3. Example configuration of the first single-serial-port server

[0051] Table 4. Example configuration of the second single-serial-port server

[0052] Table 5. Example configuration of the second multi-serial port server.

[0053] Based on the configuration example table above, configure the IP addresses to achieve point-to-point communication between the shore-based command and control computer (192.168.0.100:10001) and the ship control computer (192.168.0.200:10001). Taking data transmission from the shore-based command and control computer to the ship control computer as an example, the specific data transmission process includes: In step a1, the shore-based command and control computer sends the data to be transmitted via 192.168.0.100:10001, and the data to be transmitted is received by the four-serial-port server (the first multi-serial-port server) at 192.168.0.101:10001.

[0054] Step a2: The four-serial-port server forwards the data to serial port 1 of the four-serial-port server according to its internal configuration.

[0055] Step a3: Serial port 1 of the four-serial-port server is directly connected to the serial port of the first single-serial-port server unit, and the data is directly forwarded to the first single-serial-port server unit.

[0056] In step a4, the first single-serial-port server unit sends data from the RJ45 network port as a User Datagram Protocol Client (UDP Client) at 192.168.0.102:10021, which is then relayed by the ad hoc network radio.

[0057] In step a5, the data is relayed via the self-organizing network radio to the first network port 192.168.0.202:10031 of the second single serial port server unit on the ship, and then forwarded to the first port of the second single serial port server unit on the ship.

[0058] In step a6, the first port of the second single-serial-port server unit on the ship is directly connected to the serial port 1 of the second multi-serial-port server unit on the ship, and the data is forwarded from the first port of the first single-serial-port server unit on the ship to the serial port 1 of the second multi-serial-port server unit on the ship.

[0059] In step a7, the serial port 1 of the second multi-serial port server unit on the ship is configured with the corresponding User Datagram Protocol Server (UDP Server) as 192.168.0.201:10011, and the data is forwarded to this UDP Server.

[0060] In step a8, the ship's UDP server (192.168.0.201:10011) sends data outwards. This data is listened to by the ship's control computer (192.168.0.200:10001), so the data arrives at the ship's control computer.

[0061] The above describes the principle of single-link communication. The same principle applies to other links, including sending data from the ship's control computer to the shore-based command and control computer. Each link operates independently; if one link fails or is interrupted, it will not affect the others, which can continue operating, ensuring uninterrupted unmanned surface vessel (USV) missions. The ship's control computer and the shore-based command and control computer can autonomously select the communication link.

[0062] The multi-link communication isolation system for unmanned vessels provided in this embodiment configures different Internet Protocol addresses for each serial port server unit according to the communication medium type. By combining the network identification layer with the physical layer, it achieves dual isolation of links of different communication media, completely cuts off cross-media data interference paths, ensures that the transmission link of each communication medium is independent and pure, reduces mutual interference when multiple media links work in parallel, and improves the anti-interference and stability of multi-link communication of unmanned vessels.

[0063] In some alternative implementations, the first multi-serial port server unit and the second multi-serial port server unit each include at least one multi-serial port server.

[0064] Specifically, the first and second multi-serial-port server units can be implemented with four, eight, or sixteen ports, and the number of link channels can be adjusted according to task requirements. Supported communication protocols include Transmission Control Protocol (TCP), UDP, and custom serial port protocols.

[0065] In some alternative implementations, the communication medium types include: ad hoc radio, cellular network, satellite communication, laser communication, microwave link, mobile hotspot (Wi-Fi), and fiber optic communication.

[0066] Specifically, different communication media types correspond to different communication devices. By configuring the IP address of each device, secure access control is achieved, allowing only communication devices with preset IP addresses to establish connections and rejecting access from unknown IP addresses. For example, a certain unauthorized shore-based device cannot access the multi-link communication isolation system of the unmanned vessel provided in this embodiment because its IP address does not belong to the preset IP address, and therefore cannot communicate with the ship.

[0067] The multi-link communication isolation system for unmanned vessels provided in this embodiment has no limit on the number of serial port servers and can flexibly expand the number of links to adapt to communication needs of different scales. It covers multiple types of communication media, making communication choices for unmanned vessels more flexible. The system improves communication reliability in extreme environments through multi-media redundancy backup. The combination of multiple media and extended multi-serial port servers meets the communication needs of different scenarios.

[0068] In some optional implementations, the system may also include: a link status monitoring module and a link switching module.

[0069] The link status monitoring module is connected to each link channel to detect the communication quality of each link channel, sort the link channels from high to low according to the communication quality, and select a preset number of link channels with the best communication quality for data transmission.

[0070] The link switching module, which is connected to the link status monitoring module, determines the alternative link channel based on the communication quality of the remaining idle link channels when the communication quality of the current link channel that is transmitting data is lower than a preset threshold, and switches the current link channel to the alternative link channel.

[0071] Specifically, a multi-link communication isolation system can integrate a link status monitoring module and a built-in link management microcontroller unit (MCU) to implement a link channel priority strategy. This strategy is used to determine link quality and automatically switch to the best link channel. Alternatively, the strategy can be dynamically adjusted through software, and the priority of each link channel can be manually configured to achieve intelligent redundancy management.

[0072] Through mechanisms such as heartbeat timeout detection and link status polling, the system can automatically detect and quickly switch to a backup link when an active link fails, ensuring that the switchover time does not exceed 1 second. It employs a multi-threaded architecture to process link management, data transmission and reception, and heartbeat monitoring in parallel, supporting the simultaneous forwarding of multiple data streams.

[0073] Key metrics (such as signal strength, data transmission delay, packet loss rate, etc.) of each link channel are collected in real time to determine whether the current link is stable and available. Based on the detected quality data, the link with the best communication quality is automatically selected and the data transmission task is switched to that link (for example, when the satellite link signal is weak, it is automatically switched to the self-organizing network radio link).

[0074] The multi-link communication isolation system for unmanned surface vessels provided in this embodiment uses a link status monitoring module that connects to each single serial port server unit to detect the communication quality of each link in real time and automatically selects the optimal link to transmit data. This avoids the delay and misoperation caused by manual switching, enabling the unmanned surface vessel to always communicate with a more stable and efficient link. At the same time, the combination of multi-link redundancy ensures both the continuity of communication and the quality of data transmission.

[0075] This embodiment provides a multi-link communication isolation method for unmanned surface vessels (USVs), which can be used in the multi-link communication isolation system or computer system of the USVs in the previous embodiment. Figure 3 This is a flowchart of a multi-link communication isolation method for unmanned surface vessels according to an embodiment of the present invention. This method is applied to the above embodiments and preferred embodiments; details already described will not be repeated. Figure 3 As shown, the process includes the following steps: Step S301: Obtain at least one piece of data to be transmitted and extract the communication medium type of each piece of data to be transmitted.

[0076] Step S302: Determine the Internet Protocol address of the first control system corresponding to each piece of data to be transmitted based on the communication medium type of each piece of data to be transmitted.

[0077] Step S303: Determine the target link channel for each data to be transmitted based on the Internet Protocol address, and transmit the data to be transmitted to the second control system based on the target link channel. When the first control system is a ship control computer, the second control system is a shore-based command and control computer. When the first control system is a shore-based command and control computer, the second control system is a ship control computer.

[0078] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0079] The following is a detailed reference. Figure 4This diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 401, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 402 or a program loaded from memory 408 into random access memory (RAM) 403. The RAM 403 also stores various programs and data required for the operation of the electronic device. The processor 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0080] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0081] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 409, or installed from memory 408, or installed from ROM 402. When the computer program is executed by processor 401, it performs the functions defined in the multi-link communication isolation method for unmanned vessels according to embodiments of the present invention.

[0082] Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0083] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the multi-link communication isolation method for unmanned vessels shown in the above embodiments is implemented.

[0084] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A multi-link communication isolation system for unmanned surface vessels, characterized in that, The multi-link communication isolation system is connected between the shore-based command and control computer and the ship control computer. The multi-link communication isolation system includes: a first multi-link isolation module and a second multi-link isolation module, wherein... The first multi-link isolation module has its first input / output terminal connected to the first control system, and its multiple second input / output terminals connected one-to-one with the multiple first input / output terminals of the second multi-link isolation module to form multiple link channels, which are used to isolate each link channel and to perform bidirectional communication between the first control system and the second multi-link isolation module based on at least one link channel. The second multi-link isolation module has its second input / output terminal connected to the second control system, and is used to perform bidirectional communication between the first multi-link isolation module and the second control system based on at least one link channel.

2. The system according to claim 1, characterized in that, The first multi-link isolation module includes: a first multi-serial port server unit and multiple first single-serial port server units, wherein, The first multi-serial port server unit has its first input / output terminal connected to the first control system, and its multiple second input / output terminals connected to the first input / output terminals of multiple first single-serial port server units, for enabling bidirectional communication between the first input / output terminals of the first multi-serial port server unit and the first control system according to the Internet Protocol address of the first multi-serial port server unit. The first single-serial-port server unit has its second input / output terminal connected to the first input / output terminal of the second multi-link isolation module, which is used to enable the first multi-serial-port server unit to select one of the first single-serial-port server units for bidirectional communication based on the Internet protocol address of the first single-serial-port server unit.

3. The system according to claim 2, characterized in that, The second multi-link isolation module includes: a second multi-serial port server unit and multiple second single-serial port server units, wherein, The second single-serial-port server unit has its first input / output terminal connected to the second input / output terminal of the first single-serial-port server unit, and its second input / output terminal connected to the first input / output terminal of the second multi-serial-port server unit, for bidirectional communication with the corresponding first single-serial-port server unit according to the Internet protocol address of the second single-serial-port server unit. The second multi-serial port server unit has multiple first input / output terminals connected to multiple second single serial port second input / output terminals, and its second input / output terminals connected to the second control system. It is used to enable the second multi-serial port server unit to perform bidirectional communication with the corresponding second single serial port server unit and the second control system according to the Internet Protocol address of the second multi-serial port server unit.

4. The system according to claim 3, characterized in that, Based on the type of communication medium, different Internet Protocol addresses are configured for the first multi-serial port server unit, the first single-serial port server unit, the second multi-serial port server unit, and the second single-serial port server unit to physically isolate the data transmission links of different types of communication media.

5. The system according to claim 3, characterized in that, The first multi-serial port server unit and the second multi-serial port server unit each include at least one multi-serial port server.

6. The system according to claim 4, characterized in that, The communication media types include: self-organizing network radio, cellular network, satellite communication, laser communication, microwave link, mobile hotspot, and fiber optic communication.

7. The system according to claim 1, characterized in that, The system also includes: a link status monitoring module and a link switching module, wherein... The link status monitoring module is connected to each link channel and is used to detect the communication quality of each link channel. It sorts the link channels from high to low according to the communication quality and selects a preset number of link channels with the best communication quality for data transmission. The link switching module is connected to the link status monitoring module. When the communication quality of the current link channel that is transmitting data is lower than a preset threshold, it determines the alternative link channel based on the communication quality of the remaining idle link channels and switches the current link channel to the alternative link channel.

8. A multi-link communication isolation method for unmanned surface vessels, characterized in that, The multi-link communication isolation method for unmanned vessels is applied to the multi-link communication isolation system of an unmanned vessel as described in any one of claims 1-7, and the method includes: Acquire at least one piece of data to be transmitted and extract the communication medium type of each piece of data to be transmitted; Based on the communication medium type of each piece of data to be transmitted, determine the Internet Protocol address of the first control system corresponding to each piece of data to be transmitted; The target link channel for each piece of data to be transmitted is determined based on the Internet Protocol address, and the data to be transmitted is transmitted to the second control system based on the target link channel. When the first control system is a ship control computer, the second control system is a shore-based command and control computer. When the first control system is a shore-based command and control computer, the second control system is a ship control computer.

9. An electronic device, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the method of claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of claim 8.

Images