Underwater communication method and device, electronic equipment, storage medium and computer product

Abstract

The invention discloses an underwater communication method and device, electronic equipment, a storage medium and a computer product. The method comprises the following steps: step 1, initializing an underwater communication node resource pool, and setting each underwater communication node in the underwater communication node resource pool as a trigger mode; step 2, determining a target underwater communication node from the underwater communication node resource pool; 3, after the interference decay time is over, a trigger instruction is sent to the target underwater communication node; step 4, receiving data and metadata returned by the target underwater communication node and the state of the target underwater communication node; and the step 2 to the step 4 are repeatedly executed until all the underwater communication nodes in the underwater communication node resource pool are completely triggered. According to the method, a trigger instruction is sent after the interference decay time is over, so that a series of non-overlapping or interference-controllable transmitting time slices can be formed on a time axis by a plurality of underwater communication nodes, and time division multiplexing of cooperative work of a plurality of underwater communication devices is realized.

Description

Technical Field

[0001] The present invention relates to the field of underwater communication technology, and in particular to an underwater communication method, apparatus, electronic device, storage medium and computer product. Background Technology

[0002] In complex scenarios such as large-scale marine monitoring platforms and underwater detection systems, multiple underwater communication devices are usually required to work together to achieve greater coverage and higher spatial resolution.

[0003] When multiple underwater communication devices operate simultaneously in the same water area, their independent operation and lack of unified coordination can lead to superposition and interference between their transmitted and echo signals, causing severe mutual interference. This interference can result in distorted echo signals, data errors, or data loss, making it difficult for multiple underwater communication systems to reliably transmit data. Summary of the Invention

[0004] This invention provides an underwater communication method, device, electronic device, storage medium, and computer product to solve the problem of severe mutual interference and difficulty in reliable time-sharing control when multiple underwater communication devices work together.

[0005] According to one aspect of the present invention, an underwater communication method is provided, comprising:

[0006] Step 1: Initialize the underwater communication node resource pool and set each underwater communication node in the underwater communication node resource pool to trigger mode;

[0007] Step 2: Identify the target underwater communication node from the underwater communication node resource pool;

[0008] Step 3: Determine the interference attenuation duration;

[0009] Step 4: After the interference attenuation period ends, send a trigger command to the target underwater communication node;

[0010] Step 5: Receive the data, metadata, and status of the target underwater communication node returned by the target underwater communication node;

[0011] Repeat steps two through five until all underwater communication nodes in the underwater communication node resource pool have been triggered.

[0012] According to another aspect of the present invention, an underwater communication device is provided, comprising:

[0013] The configuration module is used to execute step one, initialize the underwater communication node resource pool, and set each underwater communication node in the underwater communication node resource pool to trigger mode.

[0014] The determination module is used to perform step two: determining the target underwater communication node from the underwater communication node resource pool;

[0015] The calculation module is used to perform step three: determining the interference attenuation duration.

[0016] The sending module is used to execute step four, which involves sending a trigger command to the target underwater communication node after the interference attenuation period has ended.

[0017] The receiving module is used to perform step five: receiving the data, metadata, and status of the target underwater communication node returned by the target underwater communication node.

[0018] Steps two through five are executed repeatedly through the determination module, calculation module, sending module, and receiving module until all underwater communication nodes in the underwater communication node resource pool are triggered and completed.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: at least one processor;

[0020] and a memory communicatively connected to the at least one processor;

[0021] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the underwater communication method described in any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the underwater communication method according to any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the underwater communication method described in any embodiment of the present invention.

[0024] The technical solution of this invention, by sending a trigger command after the interference attenuation time ends, controls multiple underwater communication nodes to transmit signals after the interference attenuation time ends. This enables multiple underwater communication nodes to form a series of non-overlapping or interference-controllable transmission time slices on the time axis, thereby realizing time-division multiplexing for the collaborative work of multiple underwater communication devices.

[0025] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart illustrating an underwater communication method provided in Embodiment 1 of the present invention;

[0028] Figure 2 This is a schematic diagram of a sonar device's single-operation interface state machine provided in Embodiment 1 of the present invention;

[0029] Figure 3 This is a schematic diagram illustrating the correspondence between interference attenuation time and maximum range according to an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of a layered software architecture provided in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of a deployment scenario for multiple underwater communication devices according to an embodiment of the present invention;

[0032] Figure 6 This is a flowchart illustrating an underwater communication method provided in Embodiment 2 of the present invention;

[0033] Figure 7 A flowchart illustrating an underwater communication method provided in a specific embodiment of the present invention;

[0034] Figure 8 This is a flowchart illustrating an underwater communication method provided in Embodiment 3 of the present invention;

[0035] Figure 9 A flowchart illustrating an underwater communication method provided in a specific embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram of the structure of an underwater communication system provided in an embodiment of the present invention;

[0037] Figure 11 This is a schematic diagram of the structure of an underwater communication device provided in Embodiment 4 of the present invention;

[0038] Figure 12 This is a schematic diagram of the structure of an electronic device for an underwater communication method according to an embodiment of the present invention. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present invention, 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 merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention. It should be understood that the various steps described in the method embodiments of the present invention can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0040] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0043] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0044] Example 1

[0045] Figure 1This is a flowchart illustrating an underwater communication method provided in Embodiment 1 of the present invention. The method is applicable to situations where underwater communication nodes perform target detection, environmental perception, and underwater communication. The method can be executed by an underwater communication device, which can be implemented by software and / or hardware and is generally integrated into an electronic device. In this embodiment, the electronic device can be a host computer.

[0046] like Figure 1 As shown, an underwater communication method provided in Embodiment 1 of the present invention includes the following steps:

[0047] S110. Initialize the underwater communication node resource pool and set each underwater communication node in the underwater communication node resource pool to trigger mode.

[0048] In this embodiment, the underwater communication node resource pool may include multiple underwater communication nodes. The underwater communication nodes may include sonar devices and / or underwater acoustic devices. The underwater communication node resource pool may include only multiple sonar devices, or it may include only multiple underwater acoustic devices, or it may include both multiple underwater acoustic devices and multiple sonar devices.

[0049] Sonar equipment can be used for underwater target detection and environmental awareness, while underwater acoustic equipment can be used for underwater communication. Specifically, sonar equipment may include: a transducer assembly, a transceiver channel, a power supply and protection circuit, a communication interface, and an embedded processing unit. The embedded processing unit is connected to a memory, which stores program instructions that can run on the embedded processing unit. When executing the program instructions, the embedded processing unit is configured to:

[0050] 1. Respond to the configuration command issued by the host computer, set the sonar device to the working mode of external trigger control, and turn off or bypass the internal periodic transmission timer;

[0051] 2. Upon receiving a trigger command from the host computer, control the transducer assembly and transceiver channel to execute a complete workflow, including transmitting sound waves, receiving echoes, and performing necessary local preprocessing and data packaging.

[0052] 3. After a complete workflow is completed, upload the sonar data and status information of the current complete workflow to the host computer through the communication interface, and report the current working status.

[0053] In this embodiment, the triggering mode can include a one-time triggering mode or a finite-number cyclic triggering mode. The one-time triggering mode can be understood as abstracting a single complete operation of the underwater communication node into a single data generation unit triggered once by the host computer, completed by the underwater communication node, and returning the result, allowing the underwater communication node to respond to the host computer's instructions in a single-trigger manner. The finite-number cyclic triggering mode can be understood as abstracting a single complete operation of the underwater communication node into multiple data generation units triggered multiple times by the host computer, completed by the underwater communication node, and returning the result, allowing the underwater communication node to respond to the host computer's instructions in a multi-trigger manner.

[0054] In this embodiment, the triggering mode can be implemented through a working interface. Under this working interface, the underwater communication node should support at least the following functions:

[0055] Trigger mode configuration function: used to configure the underwater communication node to operate in a mode triggered and controlled by the host computer, and to turn off or bypass its own internal periodic transmission timer;

[0056] Trigger execution function: Used to start part or all of the process in the complete workflow after receiving a trigger command sent by the host computer;

[0057] Specifically, in a one-time trigger mode, the underwater communication node initiates a complete workflow upon receiving a single trigger command from the host computer. In a finite-number cyclic trigger mode, upon receiving a finite-number cyclic trigger command from the host computer, the node initiates one step of the complete workflow for each subsequent command received, until the complete workflow is finished. If the underwater communication node is a sonar device, a one-time complete workflow may include transmitting acoustic pulses, receiving echo signals, performing local preprocessing, and data packaging. If the underwater communication node is an underwater acoustic device, a one-time complete workflow may include transmitting data, receiving data, performing local preprocessing, and data packaging.

[0058] Data upload function: Used to upload the transmitted data to the above location after a complete workflow is completed.

[0059] Specifically, if the underwater communication node is a sonar device, the collected sonar data and related metadata can be uploaded to the host computer. The related metadata may include the acquisition time, the parameters of the sonar device, the attitude of the sensor acquiring the signal, and the number of the sonar device. If the underwater communication node is an underwater acoustic device, the data received by the underwater acoustic device and related metadata can be uploaded to the host computer.

[0060] In this embodiment, under the trigger mode, the control logic of each underwater communication node can be abstracted into standby state, working state, and upload state.

[0061] For example, Figure 2 This is a schematic diagram of a single-operation interface state machine for a sonar device provided in Embodiment 1 of the present invention, as shown below. Figure 2 As shown, the control logic of each sonar device can be abstracted into the following states:

[0062] Standby mode: The sonar transceiver group is in a silent state, does not execute internal periodic transmission of sound wave pulses, and only keeps listening to the host computer's instructions;

[0063] Working status: After receiving a single trigger command from the host computer, the sonar device executes a complete workflow, including emitting sound wave pulses, receiving echo signals, performing local preprocessing and data packaging, etc.

[0064] Upload status: The sonar device uploads the packaged data of the current workflow and the status information of the sonar device to the host computer;

[0065] Return status: After the sonar device uploads the data to the host computer, it sends a completion notification to the host computer and returns to the standby state.

[0066] S120. Determine the target underwater communication node from the underwater communication node resource pool.

[0067] In this embodiment, the target underwater communication node can be determined from the underwater communication node resource pool in the following two ways:

[0068] Method 1: Determine the order of underwater communication nodes in the underwater communication node resource pool, traverse the arranged underwater communication nodes according to the selected round-robin strategy, and take the traversed underwater communication node as the target underwater communication node.

[0069] Method 2: Determine the target underwater communication node from the underwater communication node resource pool based on different factors.

[0070] The order in which the underwater communication nodes are arranged can also be determined based on different factors.

[0071] Specifically, if the underwater communication node is a sonar device, the different factors can include at least the underwater area division, the current task priority, and the current distribution status of the target; if the underwater communication node is an underwater acoustic device, the different factors can include at least the underwater area division, the current task priority, and the current distribution status of the underwater communication device.

[0072] S130. Determine the interference attenuation time.

[0073] The interference attenuation duration can be the waiting time between two consecutive trigger commands. Sending a trigger command after the interference attenuation duration has ended allows the signal generated by the previous target underwater communication node to be sufficiently attenuated in the water before triggering the next target underwater communication node.

[0074] In this embodiment, a fixed duration can be used as the interference attenuation duration; the duration from triggering to data upload completion of the previous target underwater communication node can be used as the interference attenuation duration; the interference attenuation duration can be determined based on the duration from triggering to data upload completion of the previous target underwater communication node; and the interference attenuation duration between each sonar transmission can be dynamically adjusted based on the water environment, sound propagation characteristics, and mission requirements.

[0075] It should be noted that each time S130 is executed, an appropriate interference attenuation time must be reset for the currently determined target underwater communication node in order to have better interference control capabilities in complex underwater environments.

[0076] S140. After the interference attenuation period ends, a trigger command is sent to the target underwater communication node.

[0077] In this embodiment, after the host computer waits for the interference to attenuate for a certain period of time, the host computer can send a trigger command to the target underwater communication node. If the trigger mode is a one-time trigger mode, the trigger command is a single trigger command; if the trigger mode is a limited number of cyclic trigger modes, the trigger command is a multiple cyclic trigger command.

[0078] In this embodiment, after receiving the trigger command, the target underwater communication node can return data, metadata, and the target underwater communication node's status to the host computer. The target underwater communication node's status can be standby, online, uploading, offline, or faulty.

[0079] S150: Receive the data, metadata, and status of the target underwater communication node returned by the target underwater communication node.

[0080] In this embodiment, the host computer can receive data, metadata, and the status of the target underwater communication node returned by the target underwater communication node; the host computer can also monitor the complete workflow of the target underwater communication node and the process of the target underwater communication node returning data, metadata, and the status of the target underwater communication node; the host computer can also store the received data, metadata, and the status of the target underwater communication node; the host computer can also preprocess and distribute the received data, and the preprocessing can include uniform timestamps and sequence numbers, and stitching the images collected by each sensor into a complete image or video.

[0081] The data returned by the target underwater communication node may include one or more of the following: monitoring data, detection data, sensing data, and communication data.

[0082] In this embodiment, steps S120 to S150 are repeated until all underwater communication nodes in the underwater communication node resource pool are fully triggered.

[0083] It should be noted that the host computer can also maintain the identification, configuration parameters, and current status of all underwater communication devices in the underwater communication node resource pool. For example, the configuration parameters can be the operating frequency, overdue range, etc.

[0084] It should be noted that the triggering order of each underwater communication node and the interference attenuation events can also be dynamically optimized based on methods such as historical interference maps and target distribution prediction.

[0085] The underwater communication method provided in Embodiment 1 of the present invention firstly executes step S110 to initialize the underwater communication node resource pool and set each underwater communication node in the underwater communication node resource pool to trigger mode; secondly, it executes step S120 to determine the target underwater communication node from the underwater communication node resource pool; then it executes step S130 to determine the interference attenuation time; then it executes step S140 to send a trigger command to the target underwater communication node after the interference attenuation time ends; finally, it executes step S150 to receive the data, metadata, and status of the target underwater communication node returned by the target underwater communication node; steps S120 to S150 are repeated until all underwater communication nodes in the underwater communication node resource pool have been triggered. The above method sets each underwater communication node in the underwater communication node resource pool to trigger mode, eliminating the need to implement complex synchronization and time-division scheduling logic for multiple underwater communication devices on the communication device side, thus reducing the complexity of embedded implementation. The above method controls the underwater communication devices by sending trigger commands from the host computer to schedule multiple underwater communication devices to work together, effectively avoiding the situation of chaotic signal transmission from multiple underwater communication devices. The above method controls multiple underwater communication nodes to transmit signals after the interference attenuation time ends by sending trigger commands after the interference attenuation time ends, enabling multiple underwater communication nodes to form a series of non-overlapping or interference-controllable transmission time slices on the time axis, thereby realizing time-division multiplexing for collaborative work of multiple underwater communication devices.

[0086] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0087] Furthermore, determine the interference attenuation duration, including one of the following:

[0088] Use a fixed duration as the interference attenuation duration;

[0089] The sum of the time from the triggering of the previous target underwater communication node to the completion of data upload and the fixed time is used as the interference attenuation time.

[0090] The time from the triggering of the previous target underwater communication node to the completion of data upload is used as the interference attenuation time.

[0091] The interference attenuation time is determined based on the time from the triggering of the previous target underwater communication node to the completion of data upload;

[0092] The interference attenuation duration is determined based on one or more of the following: signal propagation parameters, device parameters of the target underwater communication node, underwater environment and historical data, and mission requirements.

[0093] In one embodiment, a fixed duration can be arbitrarily set as the interference attenuation duration. That is, after the target underwater communication node is determined, wait for a fixed duration and then trigger the next target underwater communication node to complete a full workflow.

[0094] In one embodiment, if the current control cycle is not the first control cycle, after the previous target underwater communication node completes a complete workflow, a fixed time interval can be waited before triggering the next target underwater communication node to perform a complete workflow.

[0095] In one embodiment, if the current control cycle is not the first control cycle, the next target underwater communication node can be triggered to perform a complete workflow directly after the previous target underwater communication node completes a full workflow. This method is suitable for scenarios where the number of underwater communication nodes is limited, the real-time performance of each underwater communication node is good, and the algorithm complexity is moderate.

[0096] In one embodiment, considering the physical characteristics of each stage within a complete workflow of an underwater communication node, strict mutual exclusion control can be implemented only for the transmission stage at the system level, while allowing a moderate overlap in time between the data reception, data processing, and data upload stages of different underwater communication nodes. Specifically:

[0097] For each single trigger command issued by the host computer, a complete workflow within the sonar device can be abstracted into a launch phase and a post-processing phase:

[0098] The transmission phase, which includes the power amplifier driving the transducer to emit sound waves into the water and the necessary safety protection time that must follow, is a phase in which strong mutual interference is likely to occur in the sound field of the water.

[0099] Post-processing stage: This includes echo reception, signal processing, result organization, and data uploading. These stages mainly consume computing and communication resources and generally do not cause direct acoustic interference to the transmission of other sonars.

[0100] When scheduling multiple sonar devices, the host computer only requires that at any given time, only one sonar device is in the transmission phase, and sufficient interference attenuation time is inserted between two adjacent transmissions. Under the premise of meeting the above conditions, the post-processing phase of the previous target sonar device can partially overlap with the post-processing phase of the next target sonar device, or even with the triggering preparation process of the subsequent target sonar device, so as to leave a more generous time window for local processing and data uploading of each sonar device without increasing the risk of acoustic interference.

[0101] In one embodiment, the interference attenuation duration is determined by an adaptive algorithm or table lookup based on one or more of the following: signal propagation parameters, device parameters of the target underwater communication node, underwater environment and historical data, and mission requirements.

[0102] The signal propagation parameters may include sound speed, maximum detection distance, water depth, seabed reflection conditions, etc., which are used to estimate the time required for the transmitted signal of the previous target underwater communication node to travel back and forth in the water. The equipment parameters of the target underwater communication node may include pulse width, operating frequency, signal bandwidth, etc., which are used to evaluate the time-varying nature of the echo signal.

[0103] Among these, underwater environment and historical data: By recording historical echo data or environmental noise estimation results, it is determined at what time interval the residual interference from the previous transmission can have an acceptable impact on the next transmission. Mission requirements: In scenarios where a certain level of interference or reduced measurement accuracy is permissible, the interference attenuation time can be appropriately shortened to improve the overall refresh rate.

[0104] In one embodiment, an adaptive interference attenuation time estimated based on the maximum range is used, and an adaptive algorithm (e.g., calculating the base round-trip time based on the maximum range and the speed of sound, and multiplying it by a safety factor) is employed to determine the interference attenuation duration. The functional relationship between the interference attenuation time and the maximum range can be found in [reference needed]. Figure 3 , Figure 3 This is a schematic diagram illustrating the correspondence between interference attenuation time and maximum range according to an embodiment of the present invention. An exemplary process is as follows:

[0105] 1. The host computer configures the maximum detection range and operating frequency for each sonar device;

[0106] 2. The host computer estimates the maximum round-trip time required for the sonar signal to travel from transmission to return based on the speed of sound and the maximum range;

[0107] 3. The host computer selects a safety factor, amplifies the estimated time, and determines the minimum interference attenuation time;

[0108] 4. During the polling and scheduling process, the host computer determines the earliest trigger time of the next target sonar device based on the interference attenuation time of the currently working target sonar device.

[0109] 5. If the actual interference or echo data collected by the host computer indicates a more complex environment, the safety factor can be increased appropriately; in scenarios with less interference, the safety factor can be decreased appropriately to improve the overall data refresh rate.

[0110] Furthermore, the triggering instructions include single-trigger instructions. For underwater communication nodes that do not support single-trigger mode, a single-operation behavior is simulated through the communication node adaptation layer in order to receive single-trigger instructions through the abstract interface layer.

[0111] Considering that there may be underwater communication devices from different manufacturers and of different models in the actual system, this invention defines a unified abstract interface layer on the host computer side, decoupling the communication details and internal configuration methods of each underwater communication device from the host computer scheduling logic, forming a layered software architecture of "scheduling layer - abstract interface layer - device adaptation layer". Figure 4 This is a schematic diagram of a layered software architecture provided in an embodiment of the present invention, as shown below. Figure 4 As shown:

[0112] The host computer defines a unified logical interface for all underwater communication devices in the abstract interface layer, such as "configure trigger mode", "trigger a complete workflow", "get the status of underwater communication devices", "upload data", etc., so that the host computer in the scheduling layer only programs to the abstract interface and does not directly depend on the specific device protocol.

[0113] For different models of underwater communication equipment, corresponding adaptation modules are implemented in the equipment adaptation layer to map the unified interface to the command format, communication parameters and configuration process required by the specific underwater communication equipment.

[0114] For underwater communication devices that do not natively support trigger mode, the adapter module simulates single working behavior by combining configuration commands and control commands. For example, it configures a shorter working cycle and immediately issues a shutdown command after each working cycle, so that the device can still access the network in the manner of "one trigger, one data" from the perspective of the host computer.

[0115] The adaptation layer can also standardize the format of the data returned by underwater communication equipment, unifying the data structure of different underwater communication equipment into standardized data frames that can be directly consumed by the host computer.

[0116] This implementation integrates various types of underwater communication equipment into the same scheduling framework in a unified manner, which can reduce the complexity of system integration and subsequent expansion.

[0117] Based on the aforementioned layered software architecture, this embodiment proposes a typical engineering application scenario to illustrate the access process of heterogeneous underwater communication devices in a real-world project. Figure 5 This is a schematic diagram of a deployment scenario for multiple underwater communication devices provided in an embodiment of the present invention, such as... Figure 5 As shown, a certain marine monitoring platform is simultaneously deployed with:

[0118] 1. Manufacturer A's forward-looking sonar equipment is used for close-range obstacle avoidance and forward target detection;

[0119] 2. Manufacturer B's side-scan sonar equipment is used for seabed topographic imaging;

[0120] 3. Manufacturer C's multibeam echo sounder is used for precise water depth measurement.

[0121] The three types of sonar devices mentioned above differ in their communication interface type (e.g., serial port, Ethernet), protocol frame format, command set, and whether they natively support trigger modes. Based on the layered software architecture provided above, the engineering implementation can proceed as follows:

[0122] 1. During the system design phase, plan corresponding adaptation modules for each type of sonar equipment, clarify the mapping relationship between them and the abstract interface layer, and agree on a unified data frame format and time stamping method;

[0123] 2. During the equipment integration and debugging phase, we will connect with the communication documents and test equipment provided by manufacturers A, B, and C respectively to complete the implementation and verification of the adaptation module: For sonar devices that natively support trigger mode, we will directly call the trigger commands provided by them; for sonar devices that only support periodic mode, we will simulate trigger behavior by combining configuration commands and shutdown commands.

[0124] 3. During the platform deployment phase, it is only necessary to register the logical identifiers and working parameters (such as maximum range, priority, etc.) for the three types of sonar devices in the upper computer scheduling configuration. The scheduling layer will trigger and manage each sonar through the abstract interface without needing to be aware of its specific model and protocol differences.

[0125] 4. During the operation and maintenance phase, if a fourth type of sonar device needs to be added, simply implement a new adaptation module for it and register it in the system. This will allow the new sonar device to be incorporated into the existing polling and time-sharing multiplexing system without altering the existing scheduling logic.

[0126] The heterogeneous sonar unified access method and layered software architecture provided in the above embodiments can significantly reduce the integration threshold of multi-vendor equipment in actual projects, shorten the joint debugging cycle, and keep the scheduling layer software basically unchanged when the system is expanded or the equipment is replaced, thus demonstrating good engineering scalability and maintainability.

[0127] Example 2

[0128] Figure 6 This is a flowchart illustrating an underwater communication method according to Embodiment 2 of the present invention. Embodiment 2 is an optimization based on the above embodiments. For details not covered in this embodiment, please refer to Embodiment 1.

[0129] like Figure 6 As shown in Embodiment 2 of the present invention, an underwater communication method includes the following steps:

[0130] S210. Initialize the underwater communication node resource pool and set each underwater communication node in the underwater communication node resource pool to trigger mode.

[0131] S220. Based on the arrangement order of the underwater communication nodes in the underwater communication node resource pool and the selected polling strategy, determine the target underwater communication node from the underwater communication node resource pool.

[0132] The launch sequence is determined based on first information or second information. The first information includes at least the underwater area division, the current mission priority, and the current distribution status of the target. The second information includes at least the underwater area division, the current mission priority, and the current distribution status of the underwater communication equipment.

[0133] In this embodiment, the arrangement order of the underwater communication nodes in the underwater communication node resource pool is determined according to the first information or the second information. After arranging the underwater communication nodes according to this arrangement order, the arranged underwater communication nodes are traversed according to the selected polling strategy, and the currently traversed underwater communication node is taken as the target underwater communication node. The polling strategy may include simple polling, weighted polling, priority queue, etc.

[0134] If the underwater communication node is a sonar device, the first information may include at least the underwater area division, the current task priority, and the current distribution status of the target objects. The target objects can be those detected by the sonar device.

[0135] If the underwater communication node is an underwater acoustic device, the second information may include at least the underwater area division, the current task priority, and the current distribution status of the underwater communication device.

[0136] S230, Determine the interference attenuation time.

[0137] S240. After the interference attenuation time ends, a trigger command is sent to the target underwater communication node.

[0138] S250: Receive the data, metadata, and status of the target underwater communication node returned by the target underwater communication node.

[0139] Repeat steps S220-S250 until all underwater communication nodes in the underwater communication node resource pool have been triggered.

[0140] It should be noted that each time step S220 is executed, the underwater communication nodes after being sorted are traversed according to the selected polling strategy, and the underwater communication node currently traversed is taken as the target underwater communication node. Generally, the target underwater communication node determined each time step S220 is executed is different, and the polling strategy selected each time step S220 is executed can be the same or different.

[0141] Embodiment 2 of the present invention provides an underwater communication method, which specifies a concrete implementation process for determining a target underwater communication node. This method determines the transmission order of each underwater communication node based on first or second information, and identifies the target underwater communication node from the underwater communication node resource pool based on the arrangement order of the underwater communication nodes and a selected polling strategy. This method determines the transmission order of each underwater communication node based on multiple pieces of information, enabling the selection of the most appropriate target underwater communication node to transmit a signal at the current moment from multiple underwater communication nodes.

[0142] Figure 7 A flowchart illustrating an underwater communication method provided in a specific embodiment of the present invention is shown below. Figure 7 As shown, the method includes the following steps:

[0143] Step 1: Initialize the sonar device resource pool and configure each sonar device to one-time trigger mode.

[0144] Step 2: Determine the arrangement order of each underwater communication node in the underwater communication node resource pool, and form a sonar device list according to the arrangement order of each underwater communication node.

[0145] Step 3: Determine the current target sonar device from the list of sonar devices according to the selected polling strategy.

[0146] Step 4: Calculate the waiting time (i.e., interference attenuation time) required for the sound wave pulse emitted by the previous target sonar device to be emitted by the current target sonar device, based on the interference attenuation algorithm.

[0147] Step 5: After the waiting time has ended, send a single trigger command to the current target sonar device.

[0148] Step 6: Monitor a complete workflow of the current target sonar device, and receive data, metadata, and status of the current target sonar device reported by the current target sonar device within the specified time.

[0149] Step 7: Store the received data and perform necessary preprocessing or distribution.

[0150] Return to step 3 and repeat until all sonar devices in the sonar device list have completed triggering.

[0151] Example 3

[0152] Figure 8 This is a flowchart illustrating an underwater communication method according to Embodiment 3 of the present invention. Embodiment 3 is an optimization based on the above embodiments. For details not covered in this embodiment, please refer to Embodiment 1.

[0153] like Figure 8 As shown, an underwater communication method provided in Embodiment 3 of the present invention includes the following steps:

[0154] S310. Initialize the underwater communication node resource pool and set each underwater communication node in the underwater communication node resource pool to trigger mode.

[0155] S320. Determine the target underwater communication node from the underwater communication node resource pool based on the first information or the second information.

[0156] The first information includes at least the underwater area division, the current task priority, and the current distribution status of the target. The second information includes at least the underwater area division, the current task priority, and the current distribution status of the underwater communication equipment.

[0157] Specifically, if the underwater communication node is a sonar device, the target underwater communication node can be determined directly from the underwater communication node resource pool based on the underwater area division, the current task priority, and the current distribution status of the target object; if the underwater communication node is an underwater acoustic device, the target underwater communication node can be determined directly from the underwater communication node resource pool based on the underwater area division, the current task priority, and the current distribution status of the underwater communication device.

[0158] S330, Determine the interference attenuation time.

[0159] S340. After the interference attenuation time ends, a trigger command is sent to the target underwater communication node.

[0160] S350: Receive the data, metadata, and status of the target underwater communication node returned by the target underwater communication node.

[0161] Repeat steps S320-S350 until all underwater communication nodes in the underwater communication node resource pool have been triggered.

[0162] It should be noted that each time step S320 is executed, the target underwater communication node needs to be re-determined based on the first or second information obtained at the current moment.

[0163] Embodiment 3 of this invention provides an underwater communication method that clarifies another implementation process for determining a target underwater communication node. This method directly determines the target underwater communication node from an underwater communication node resource pool based on multiple factors in the current scenario, simplifying the determination process and ensuring the suitability of the target underwater communication node to a certain extent.

[0164] Based on the technical solutions of the above embodiments, this invention provides a specific implementation method. Figure 9 A flowchart illustrating the underwater communication method provided in a specific embodiment of the present invention is shown below. Figure 9 As shown, it includes the following steps:

[0165] S1: Connect multiple sonars to the system on the host computer side, register the basic information and operating parameters of each sonar, and form a sonar list;

[0166] S2: The host computer sends a configuration command to each sonar in the sonar list, sets each sonar to a single-cycle working mode of "one trigger per working cycle", and turns off or bypasses its internal periodic transmission timer.

[0167] S3: The host computer determines the polling order of multiple sonars based on the operating parameters of each sonar in the sonar list, the target monitoring area, and the environmental conditions.

[0168] S4: Select the current target sonar and wait, calculate the waiting time (i.e., interference attenuation time) based on the interference attenuation model.

[0169] S5: After the waiting time is up, the host computer sends a single trigger command to the current target sonar through the communication link, triggering the sonar to perform a complete working cycle.

[0170] S6: After receiving a single trigger command, the target sonar completes one transmission, echo reception, local processing and data packaging according to the pre-configured single working mode, and uploads the sonar data and status information of the current working cycle to the host computer.

[0171] S7: The host computer receives and stores the measurement data and status information from the target sonar, performs unified time stamping and necessary processing on the data, and makes necessary adjustments to the polling order and interference attenuation time according to the sonar status and environmental changes. Then, it selects the next sonar and returns to execute step S4 to realize time-division multiplexing of multiple sonars.

[0172] Figure 10 This is a schematic diagram of the structure of an underwater communication system provided in an embodiment of the present invention, as shown below. Figure 10 As shown, the system includes:

[0173] The host computer control terminal runs the scheduling program and is responsible for transmission timing scheduling, calculation and configuration of interference attenuation duration, equipment status management and data aggregation, etc.

[0174] Multiple underwater communication devices: Each underwater communication device has a built-in embedded control module, supports trigger operation mode, and receives instructions from the host computer and uploads sonar data through the communication interface;

[0175] Communication link: used to transmit control commands and data between the host computer and various underwater communication devices. The link can be wired or wireless.

[0176] Storage and computing resources: Used to store the raw data of underwater communication equipment, the processing results after data preprocessing, and scheduling logs on the host computer side, and to execute related algorithms and monitoring functions.

[0177] Example 4

[0178] Figure 11 This is a schematic diagram of an underwater communication device provided in Embodiment 4 of the present invention. The device is applicable to underwater communication nodes for target detection, environmental perception and underwater communication. The device can be implemented by software and / or hardware and is generally integrated on an electronic device, which can be a host computer.

[0179] like Figure 11 As shown, the device includes: a setting module 110, a determining module 120, a calculating module 130, a sending module 140, and a receiving module 150.

[0180] Setting module 110 is used to execute step one, initialize the underwater communication node resource pool, and set each underwater communication node in the underwater communication node resource pool to trigger mode;

[0181] The determination module 120 is used to perform step two: determining the target underwater communication node from the underwater communication node resource pool;

[0182] Calculation module 130 is used to perform step three: determining the interference attenuation duration;

[0183] The sending module 140 is used to perform step four, sending a trigger command to the target underwater communication node after the interference attenuation time has ended;

[0184] The receiving module 150 is used to perform step five: receiving the data, metadata, and status of the target underwater communication node returned by the target underwater communication node.

[0185] Steps two through five are executed repeatedly through the determination module 120, calculation module 130, sending module 140, and receiving module 150 until all underwater communication nodes in the underwater communication node resource pool are triggered and completed.

[0186] In this embodiment, the device first performs step one through the setting module 110: initializing the underwater communication node resource pool and setting each underwater communication node in the resource pool to trigger mode; secondly, it performs step two through the determining module 120: determining the target underwater communication node from the resource pool; then, it performs step three through the calculation module 130: determining the interference attenuation time; then, it performs step four through the sending module 140: sending a trigger command to the target underwater communication node after the interference attenuation time has ended; finally, it performs step five through the receiving module 150: receiving the data, metadata, and status of the target underwater communication node returned by the target underwater communication node; and repeats steps two through five through the determining module 120, calculation module 130, sending module 140, and receiving module 150 respectively until all underwater communication nodes in the resource pool have been triggered.

[0187] This embodiment provides an underwater communication device that enables multiple underwater communication nodes to form a series of non-overlapping or interference-controllable transmission time slices on the time axis, thereby realizing time-division multiplexing for collaborative operation of multiple underwater communication devices.

[0188] Furthermore, the determining module 120 includes a first determining submodule or a second determining submodule:

[0189] The first determining submodule is used to: determine the target underwater communication node from the underwater communication node resource pool according to the arrangement order of the underwater communication nodes in the underwater communication node resource pool and the selected polling strategy; wherein, the launch order is determined according to first information or second information, the first information including at least underwater area division, current task priority and current distribution status of the target object, and the second information including at least underwater area division, current task priority and current distribution status of underwater communication equipment.

[0190] The second determining submodule is used to: determine the target underwater communication node from the underwater communication node resource pool based on the first information or the second information; wherein, the first information includes at least the underwater area division, the current task priority, and the current distribution status of the target object, and the second information includes at least the underwater area division, the current task priority, and the current distribution status of the underwater communication equipment.

[0191] Furthermore, the computing module 130 includes one of the following:

[0192] The first calculation submodule is used to use a fixed duration as the interference attenuation duration;

[0193] The second calculation submodule is used to sum the time from the triggering of the previous target underwater communication node to the completion of data upload with a fixed time as the interference attenuation time.

[0194] The third calculation submodule is used to take the time from the triggering of the previous target underwater communication node to the completion of data upload as the interference attenuation time.

[0195] The fourth calculation submodule is used to determine the interference attenuation time based on the time from the triggering of the previous target underwater communication node to the completion of data upload;

[0196] The fifth calculation submodule is used to determine the interference attenuation duration based on one or more of the following: signal propagation parameters, device parameters of the target underwater communication node, underwater environment and historical data, and mission requirements.

[0197] Based on the above optimizations, the fifth calculation submodule is specifically used to: determine the interference attenuation time using an adaptive algorithm or table lookup based on one or more of the following: signal propagation parameters, equipment parameters of the target underwater communication node, underwater environment and historical data, and mission requirements.

[0198] Based on the above technical solution, the triggering command includes a single triggering command. For underwater communication nodes that do not support the single triggering mode, a single working behavior is simulated through the communication node adaptation layer so as to receive the single triggering command through the abstract interface layer.

[0199] The above-described underwater communication device can execute the underwater communication method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0200] Example 5

[0201] Figure 12A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as host computers, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0202] like Figure 12 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0203] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0204] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as underwater communication methods.

[0205] In some embodiments, the underwater communication method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the underwater communication method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the underwater communication method by any other suitable means (e.g., by means of firmware).

[0206] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0207] In some embodiments, the underwater communication method may be implemented as a computer program, which is implicitly included in a computer program product. When executed by a processor, the computer program implements the underwater communication method of the present invention. The computer program product can be understood as a software product that primarily implements its solution through a computer program. The computer program used to implement the method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer program causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer program may be executed entirely on a machine, partially on a machine, partially on a remote machine as a standalone software package, or entirely on a remote machine or server.

[0208] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0209] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0210] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0211] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0212] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0213] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An underwater communication method, characterized in that, The method includes: Step 1: Initialize the underwater communication node resource pool and set each underwater communication node in the underwater communication node resource pool to trigger mode; Step 2: Identify the target underwater communication node from the underwater communication node resource pool; Step 3: Determine the interference attenuation duration; Step 4: After the interference attenuation period ends, send a trigger command to the target underwater communication node; Step 5: Receive the data, metadata, and status of the target underwater communication node returned by the target underwater communication node; Repeat steps two through five until all underwater communication nodes in the underwater communication node resource pool have been triggered.

2. The method according to claim 1, characterized in that, The step of determining the target underwater communication node from the underwater communication node resource pool includes: Based on the arrangement order of the underwater communication nodes in the underwater communication node resource pool and the selected polling strategy, the target underwater communication node is determined from the underwater communication node resource pool; The launch sequence is determined based on first information or second information. The first information includes at least the underwater area division, the current mission priority, and the current distribution status of the target. The second information includes at least the underwater area division, the current mission priority, and the current distribution status of the underwater communication equipment.

3. The method according to claim 1, characterized in that, The step of determining the target underwater communication node from the underwater communication node resource pool includes: The target underwater communication node is determined from the underwater communication node resource pool based on the first or second information. The first information includes at least the underwater area division, the current task priority, and the current distribution status of the target. The second information includes at least the underwater area division, the current task priority, and the current distribution status of the underwater communication equipment.

4. The method according to claim 1, characterized in that, The determination of the interference attenuation duration includes one of the following: Use a fixed duration as the interference attenuation duration; The sum of the time from the triggering of the previous target underwater communication node to the completion of data upload and the fixed time is used as the interference attenuation time. The time from the triggering of the previous target underwater communication node to the completion of data upload is used as the interference attenuation time. The interference attenuation time is determined based on the time from the triggering of the previous target underwater communication node to the completion of data upload; The interference attenuation duration is determined based on one or more of the following: signal propagation parameters, device parameters of the target underwater communication node, underwater environment and historical data, and mission requirements.

5. The method according to claim 4, characterized in that, The determination of interference attenuation time based on one or more of the following: signal propagation parameters, device parameters of the target underwater communication node, underwater environment and historical data, and mission requirements, includes: Based on one or more of the signal propagation parameters, the equipment parameters of the target underwater communication node, the underwater environment and historical data, and mission requirements, an adaptive algorithm or table lookup is used to determine the interference attenuation time.

6. The method according to claim 1 or 4, characterized in that, The triggering command includes a single triggering command. For underwater communication nodes that do not support the single triggering mode, a single working behavior is simulated through the communication node adaptation layer so that the single triggering command can be received through the abstract interface layer.

7. An underwater communication device, characterized in that, The device includes: The configuration module is used to execute step one, initialize the underwater communication node resource pool, and set each underwater communication node in the underwater communication node resource pool to trigger mode. The determination module is used to perform step two: determining the target underwater communication node from the underwater communication node resource pool; The calculation module is used to perform step three: determining the interference attenuation duration. The sending module is used to execute step four, which involves sending a trigger command to the target underwater communication node after the interference attenuation time has ended; The receiving module is used to perform step five: receiving the data, metadata, and status of the target underwater communication node returned by the target underwater communication node. Steps two through five are executed repeatedly through the determination module, calculation module, sending module, and receiving module until all underwater communication nodes in the underwater communication node resource pool are triggered and completed.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the underwater communication method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the underwater communication method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the underwater communication method according to any one of claims 1-6.

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