Remote control and command synchronization system for underwater test equipment

Abstract

This invention provides a remote control and command synchronization system for underwater testing equipment. The system includes a surface control terminal module, an underwater control node module, a communication interface module, a command synchronization management module, and an intelligent scheduling module. The surface control terminal module generates control commands and provides a global time reference for the system. The underwater control node module receives and executes control commands and reports equipment operating status information. The communication interface module enables bidirectional data transmission between the surface and underwater environments. The command synchronization management module maintains clock synchronization and the consistency of the control command queue. The intelligent scheduling module optimizes command scheduling and ensures transmission reliability in multi-device and multi-task scenarios. This invention achieves highly reliable, low-energy-consumption, and strictly synchronized remote command issuance and status interaction for underwater testing equipment in complex underwater acoustic environments.

Description

Technical Field

[0001] This invention relates to the field of underwater equipment control technology, and in particular to a remote control and command synchronization system for underwater testing equipment. Background Technology

[0002] With the deepening of marine resource development and deep-sea scientific research, underwater testing equipment is increasingly widely used in marine engineering, resource exploration, environmental monitoring, and other fields. These underwater devices typically operate in deep-sea environments hundreds or even thousands of meters deep, requiring remote control and data acquisition via surface control terminals. However, the underwater communication environment is extremely complex, exhibiting significant challenges such as severe signal attenuation, large transmission delays, high error rates, and limited communication bandwidth, posing a substantial challenge to the remote control of underwater equipment.

[0003] Existing underwater equipment control systems mainly suffer from the following technical defects:

[0004] First, in terms of time synchronization, since the propagation speed of underwater acoustic communication is much lower than that of electromagnetic waves, and the transmission delay varies significantly with water depth and distance, traditional clock synchronization protocols are difficult to adapt to the high-latency and high-jitter communication environment underwater. This makes it difficult to accurately align the time base between the surface control terminal and the underwater equipment, affecting the timing consistency when multiple devices work together. It can easily cause deviations in the timing of control command execution, and in severe cases, may lead to equipment collisions or mission failures.

[0005] Secondly, in terms of communication reliability, underwater communication channels are affected by factors such as multipath effect, Doppler shift, ocean noise, and thermohaline, resulting in drastic and unpredictable fluctuations in channel quality. Existing systems typically employ fixed single communication methods or fixed redundant transmission strategies, which cannot flexibly adjust the transmission strategy according to real-time channel conditions and the importance of commands. This leads to either the loss of critical commands due to insufficient redundancy or a serious waste of communication resources and energy due to excessive redundancy. Under the constraint of limited battery capacity of underwater equipment, this inefficient transmission method severely restricts the system's operating time.

[0006] Secondly, in terms of task scheduling, when the system needs to control multiple underwater devices to collaboratively complete complex tasks, the existing system lacks a comprehensive consideration of the status of equipment resources, task dependencies, and execution time constraints. It often adopts a simple polling allocation or first-come-first-served strategy, which cannot achieve the optimal matching between tasks and equipment capabilities. This can easily lead to an imbalance in load, with some devices being overloaded while others are idle, resulting in extended task completion time, low resource utilization, and even task conflicts or missed execution time windows due to improper scheduling.

[0007] In addition, existing systems are also inadequate in terms of fault detection and fault tolerance mechanisms. They can usually only respond passively after the equipment has completely failed, lacking the ability to monitor the health status of the equipment in real time and predict faults. They cannot take preventive measures in advance, resulting in poor system reliability and robustness, and making it difficult to ensure long-term stable operation in complex marine environments.

[0008] A review of publicly available technical solutions reveals that CN114710817B proposes a method, method, apparatus, and device for determining underwater network data transmission paths. This solution determines an initial node and a destination node from the network nodes, obtains the first depth information of the initial node, and acquires the neighboring nodes and their second depth information. Neighboring nodes with second depth information less than first depth information are designated as first neighboring nodes. This ensures that the transmission node determined based on the first neighboring node is located above the initial node, improving the utilization rate of the underwater network and enhancing the efficiency and success rate of data transmission. Furthermore, the solution obtains the H-index of the first neighboring nodes, identifying those whose H-index meets preset conditions as transmission nodes. Based on the transmission node and destination node, the data transmission path is determined. Selecting the transmission node and data transmission path based on the H-index improves the efficiency of data transmission path determination. This solution can be widely applied in the field of data transmission technology. However, this solution only focuses on optimizing data transmission paths between underwater network nodes and does not address the issues of precise clock synchronization and command queue consistency maintenance between the surface control terminal and underwater equipment. Therefore, it cannot guarantee timing coordination and accurate execution of control commands during multi-device collaborative operations. Summary of the Invention

[0009] The purpose of this invention is to address the shortcomings of current systems by proposing a remote control and command synchronization system for underwater testing equipment.

[0010] The present invention adopts the following technical solution:

[0011] A remote control and command synchronization system for underwater testing equipment is disclosed. The system includes a surface control terminal module, an underwater control node module, a communication interface module, a command synchronization management module, and an intelligent scheduling module. The surface control terminal module generates control commands and provides a global time reference for the system. The underwater control node module receives and executes control commands and reports equipment operating status information. The communication interface module enables bidirectional data transmission between the surface and underwater environments. The command synchronization management module maintains clock synchronization and the consistency of the control command queue. The intelligent scheduling module optimizes command scheduling and ensures transmission reliability in multi-device and multi-task scenarios.

[0012] The surface control terminal module includes a human-machine interface unit, an instruction generation unit, a master clock unit, and a global scheduling unit. The human-machine interface unit receives control requests from operators and displays the operating status information of the underwater equipment. The instruction generation unit encodes control requests into a standard control instruction format, assigns a unique identifier, priority level, and expected execution timestamp to each control instruction. The master clock unit receives external time synchronization signals as the system time reference, generates high-precision timestamps, and periodically sends clock synchronization signals to the underwater control node module. The global scheduling unit maintains the system's global control instruction queue and performs initial distribution of control instructions based on the availability of the underwater equipment.

[0013] The underwater control node module includes an instruction receiving unit, a slave clock unit, an instruction execution unit, and a status reporting unit. The instruction receiving unit receives control instructions and parses the content of the control instructions, storing it in a local instruction cache queue. The slave clock unit maintains a local time reference, receives synchronization signals sent by the master clock unit, and calibrates the local clock. The instruction execution unit retrieves control instructions to be executed from the local instruction cache queue and drives the underwater equipment to complete the corresponding operations according to the control instructions. The status reporting unit collects the operating status information of the underwater equipment and transmits it to the surface control terminal module.

[0014] Furthermore, the communication interface module includes a physical layer transceiver unit, a link management unit, an adaptive transmission strategy unit, and a protocol encapsulation unit. The physical layer transceiver unit provides a physical communication transmission channel between the surface control terminal and the underwater control node. The link management unit establishes communication links and performs real-time statistics on the link quality parameters of each communication channel. The link quality parameters include packet loss rate, effective transmission rate, and link status information. The adaptive transmission strategy unit dynamically determines the transmission strategy of control commands based on the real-time link quality parameters provided by the link management unit. The encryption and verification unit encrypts and verifies the integrity of communication messages within the link.

[0015] Furthermore, the instruction synchronization management module includes a time synchronization unit, a queue consistency management unit, and a conflict detection unit; the time synchronization unit is used to align and calibrate the time of the master and slave clocks and add timestamps to the control instructions; the queue consistency management unit is used to maintain the consistency between the global surface instruction queue and each underwater local instruction queue; the conflict detection unit is used to perform mutual exclusion detection on the queue of control instructions to be executed, and when mutual exclusion control instructions are detected, it returns to the human-machine interaction unit for confirmation.

[0016] Furthermore, the intelligent scheduling module includes a resource sensing unit and a task optimization allocation unit; the resource sensing unit is used to obtain system resource data from the underwater control node module, and the system resource data is the resource data that the underwater equipment can use to execute control commands; the task optimization allocation unit is used to optimize the allocation of task execution for the control commands based on task priority and equipment resource information.

[0017] Furthermore, when each control command is issued, the adaptive transmission strategy unit intelligently decides whether to fragment the control command and send it in parallel across multiple channels with redundant copies, based on the real-time link quality and energy consumption cost of multiple available physical communication links. This minimizes energy consumption while maximizing the probability of the command successfully arriving and being executed on time. The specific workflow of the adaptive transmission strategy unit is as follows:

[0018] S11: Obtain the control command to be issued, and extract the identifier, priority level and command length information corresponding to the control command;

[0019] S12: Get the list of channels for currently available communication links;

[0020] S13: Calculate the comprehensive cost function of the control command to be issued for each communication channel:

[0021] ;

[0022] in, for The moment The comprehensive cost function value of a communication channel represents the comprehensive transmission cost of that channel in the current state; for At this moment The transmission energy consumption of each communication channel is calculated based on the current transmission power and transmission duration, wherein the transmission duration is determined by the control command length and the effective transmission rate of the communication channel; for The corresponding time The packet loss rate of each communication channel is obtained through link quality parameters; and The weighting coefficients used to balance arrival rate and energy consumption ratio are set according to the priority level of the control commands; the higher the priority level, the lower the weighting. The larger;

[0023] S14: Eliminate communication channels whose comprehensive cost function value exceeds a preset threshold. For the remaining communication channels, determine the usage strategy for each channel by minimizing the following objective function:

[0024] ;

[0025] in, This represents minimizing the objective function; This represents the number of remaining communication channels. Indicates the first The decision variable for the use of a communication channel; when This indicates that the channel is used to send control commands. This indicates that the channel is not being used to send control commands;

[0026] S15: Select the channel obtained from the solution and send the control command.

[0027] The beneficial effects achieved by this invention are:

[0028] This invention employs a master-slave control architecture and a distributed collaborative mechanism, combined with an adaptive multi-channel transmission strategy based on joint optimization of energy consumption and reliability, and an intelligent task scheduling algorithm based on multi-objective constraints. It effectively solves technical challenges such as large communication delays, severe signal attenuation, and difficulties in equipment coordination in complex underwater environments. It achieves precise clock synchronization, highly reliable command transmission, and intelligent task allocation between the surface control terminal and underwater control nodes. It supports precise remote control of over 100 underwater testing devices within a horizontal range of 10 kilometers and a vertical range of 5 kilometers. The system possesses excellent fault tolerance and adaptability, significantly improving the efficiency and reliability of underwater testing operations, and providing reliable technical support for deep-sea exploration, underwater engineering construction, and marine resource development. Attached Figure Description

[0029] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0030] Figure 1 This is a schematic diagram of the overall modules of the present invention.

[0031] Figure 2 This is a schematic diagram of the workflow of the adaptive transmission strategy unit of the present invention.

[0032] Figure 3 This is a schematic diagram of the workflow of the task optimization and allocation unit of the present invention.

[0033] Figure 4 This diagram illustrates a comparison of the performance of the present invention and conventional solutions in terms of the power output from command to completion.

[0034] Figure 5 This diagram illustrates the comparison between the performance of the present invention and traditional solutions in terms of time synchronization deviation. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to its embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention. Other systems, methods, and / or features of this embodiment will become apparent to those skilled in the art after reviewing the following detailed description. It is intended that all such additional systems, methods, features, and advantages are included within this specification, are included within the scope of the present invention, and are protected by the appended claims. Further features of the disclosed embodiments are described in the following detailed description, and these features will be apparent from the following detailed description.

[0036] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0037] Example 1: As Figure 1 As shown, this embodiment provides a remote control and command synchronization system for underwater testing equipment. The system includes a surface control terminal module, an underwater control node module, a communication interface module, a command synchronization management module, and an intelligent scheduling module. The surface control terminal module generates control commands and provides a global time reference for the system. The underwater control node module receives and executes control commands and reports equipment operating status information. The communication interface module enables bidirectional data transmission between the surface and underwater environments. The command synchronization management module maintains clock synchronization and the consistency of the control command queue. The intelligent scheduling module optimizes command scheduling and ensures transmission reliability in multi-device and multi-task scenarios.

[0038] The surface control terminal module includes a human-machine interface unit, an instruction generation unit, a master clock unit, and a global scheduling unit. The human-machine interface unit receives control requests from operators and displays the operating status information of the underwater equipment. The instruction generation unit encodes control requests into a standard control instruction format, assigning unique identifiers, priority levels, and expected execution timestamps to each control instruction. The master clock unit receives external time synchronization signals as the system time reference, generates high-precision timestamps, and periodically sends clock synchronization signals to the underwater control node module. The global scheduling unit maintains the system's global control instruction queue and performs initial distribution of control instructions based on the availability of the underwater equipment.

[0039] The underwater control node module includes an instruction receiving unit, a slave clock unit, an instruction execution unit, and a status reporting unit. The instruction receiving unit receives control instructions and parses the content of these instructions, storing it in a local instruction cache queue. The slave clock unit maintains a local time reference, receives synchronization signals from the master clock unit, and calibrates the local clock. The instruction execution unit retrieves control instructions to be executed from the local instruction cache queue and drives the underwater equipment to complete corresponding operations according to the control instructions. The status reporting unit collects and transmits the operating status information of the underwater equipment to the surface control terminal module.

[0040] The communication interface module includes a physical layer transceiver unit, a link management unit, an adaptive transmission strategy unit, and a protocol encapsulation unit. The physical layer transceiver unit provides a physical communication transmission channel between the surface control terminal and the underwater control node. The link management unit establishes communication links and performs real-time statistics on the link quality parameters of each communication channel. These link quality parameters include packet loss rate, effective transmission rate, and link status information. The adaptive transmission strategy unit dynamically determines the transmission strategy for control commands based on the real-time link quality parameters provided by the link management unit. The encryption and verification unit encrypts and verifies the integrity of communication messages within the link.

[0041] The instruction synchronization management module includes a time synchronization unit, a queue consistency management unit, and a conflict detection unit. The time synchronization unit is used to align and calibrate the time of the master and slave clocks and add timestamps to the control instructions. The queue consistency management unit is used to maintain the consistency between the global surface instruction queue and each underwater local instruction queue. The conflict detection unit is used to perform mutual exclusion detection on the queue of control instructions to be executed, and returns to the human-machine interaction unit for confirmation when mutual exclusion control instructions are detected.

[0042] The intelligent scheduling module includes a resource sensing unit and a task optimization and allocation unit. The resource sensing unit is used to acquire system resource data from the underwater control node module. The system resource data is the resource data that can be used by the underwater equipment related to the execution of control commands. The task optimization and allocation unit is used to optimize the allocation of tasks issued by control commands based on task priority and equipment resource information.

[0043] Furthermore, such as Figure 2 As shown, when each control command is issued, the adaptive transmission strategy unit intelligently decides whether to fragment the control command and send it in parallel across multiple channels with redundant copies, based on the real-time link quality and energy consumption cost of multiple available physical communication links. This minimizes energy consumption while maximizing the probability of the command successfully arriving and being executed on time. The specific workflow of the adaptive transmission strategy unit is as follows:

[0044] S11: Obtain the control command to be issued, and extract the identifier, priority level and command length information corresponding to the control command;

[0045] S12: Get the list of channels for currently available communication links;

[0046] S13: Calculate the comprehensive cost function of the control command to be issued for each communication channel:

[0047] ;

[0048] in, for The moment The comprehensive cost function value of a communication channel represents the comprehensive transmission cost of that channel in the current state; for At this moment The transmission energy consumption of each communication channel is calculated based on the current transmission power and transmission duration, wherein the transmission duration is determined by the control command length and the effective transmission rate of the communication channel; for The corresponding time The packet loss rate of each communication channel is obtained through link quality parameters; and The weighting coefficients used to balance arrival rate and energy consumption ratio are set according to the priority level of the control commands; the higher the priority level, the lower the weighting. The larger;

[0049] S14: Eliminate communication channels whose comprehensive cost function value exceeds a preset threshold. For the remaining communication channels, determine the usage strategy for each channel by minimizing the following objective function:

[0050] ;

[0051] in, This represents minimizing the objective function; This represents the number of remaining communication channels. Indicates the first The decision variable for the use of a communication channel; when This indicates that the channel is used to send control commands. This indicates that the channel is not being used to send control commands;

[0052] S15: Select the channel obtained from the solution and send the control command;

[0053] Specifically, in the calculation of the minimization objective function in step S14, a greedy heuristic algorithm is used for solving the problem. During the solution process, the communication channel that can bring the greatest reliability improvement per unit energy consumption increment is selected first, and the following constraints are satisfied during the solution process:

[0054] The number of selected communication channels shall not exceed the preset maximum number of parallel channels;

[0055] The total energy consumption for transmitting control commands shall not exceed the preset maximum energy consumption threshold.

[0056] At least one communication channel must be selected for sending control commands;

[0057] When the candidate channel set is empty, the communication channel with the smallest comprehensive cost function value is selected as the sending channel.

[0058] Traditional solutions either employ fixed single-channel transmission or fixed multi-channel redundant transmission, which cannot dynamically adjust based on real-time channel status and command importance. This solution addresses the issues of unstable communication, limited energy consumption, and difficulty in ensuring reliable command execution in remote control of underwater testing equipment. It proposes a multi-channel adaptive transmission strategy for control commands. By jointly considering the energy consumption and packet loss characteristics of the communication link during the control command issuance phase, the channel usage method for commands is dynamically determined, thereby significantly reducing system energy consumption while ensuring timely and accurate command execution.

[0059] Example 2: This example should be understood as including at least all the features of any of the foregoing examples, and further improving upon them;

[0060] This embodiment provides a remote control and command synchronization system for underwater testing equipment. The system includes a surface control terminal module, an underwater control node module, a communication interface module, a command synchronization management module, and an intelligent scheduling module. The surface control terminal module generates control commands and provides a global time reference for the system. The underwater control node module receives and executes control commands and reports equipment operating status information. The communication interface module enables bidirectional data transmission between the surface and underwater environments. The command synchronization management module maintains clock synchronization and the consistency of the control command queue. The intelligent scheduling module optimizes command scheduling and ensures transmission reliability in multi-device and multi-task scenarios.

[0061] The intelligent scheduling module includes a resource sensing unit and a task optimization and allocation unit. The resource sensing unit is used to acquire system resource data from the underwater control node module. The system resource data is the resource data that can be used by the underwater equipment related to the execution of control commands. The task optimization and allocation unit is used to optimize the allocation of tasks issued by control commands based on task priority and equipment resource information.

[0062] Furthermore, the system resource data includes device identifier, device type, device capability parameters, current load rate, remaining energy, health score, and task queue status; the device capability parameters include processing power, storage capacity, execution precision, and supported operation types; the current load rate is the ratio of currently occupied resources to total resource capacity; the remaining energy is reported in real time through the device battery management module; the health score is calculated based on device temperature, response time, and historical failure rate; the task queue status includes the current queue length and estimated available time.

[0063] Furthermore, such as Figure 3 As shown, the specific workflow of the task optimization and allocation unit is as follows:

[0064] S21: Obtain the queue of control instructions to be executed from the instruction receiving unit to form a set of tasks to be scheduled; obtain system resource data of all online underwater devices from the resource sensing unit to form a set of available devices; each task in the set of tasks to be scheduled also contains its corresponding task attribute information, which includes task identifier, task priority level, workload, resource requirement, and a set of preceding dependent tasks; the workload represents the computational complexity or number of operation steps of the task, which is estimated and labeled by the instruction generation unit when generating control instructions according to the type and parameters of the control request; the resource requirement contains vectors under multiple device capability dimensions, where each device capability dimension corresponds to each device capability dimension in the device capability parameters; the set of preceding dependent tasks represents the set of identifiers of other tasks that must be completed before a certain task starts to be executed, which is set by the instruction generation unit when generating control instructions according to the task logical dependency relationship; for independent tasks without dependency relationship, its set of preceding dependent tasks is empty;

[0065] S22: For each task, calculate the fitness score of the task assigned to the corresponding device:

[0066] ;

[0067] in, For the first Tasks are assigned to the device. At the present moment Fitness score on; , , and The weighting coefficients for each evaluation dimension can be pre-set through offline training; The degree of matching between tasks and equipment; The estimated completion time of the task on the device; The energy consumption of the task on the device. For the equipment at all times Availability metrics;

[0068] S23: Establish an optimization objective function and solve for the task and device allocation scheme that maximizes the total fitness; the optimization objective function is as follows:

[0069] ;

[0070] in, The set of tasks to be scheduled. For the set of available devices, As a decision variable, when the first A task is assigned to the device. The value is 1 if the task is in the right state and 0 otherwise. The optimization algorithm is used to solve the problem. The optimization algorithm adopts a greedy heuristic algorithm: the tasks are sorted from high to low according to their priority and urgency. The device with the highest fitness and that meets the resource constraints is selected for each task and the resource occupancy status of the device is updated.

[0071] S24: Generate a task execution schedule. For each successfully assigned task and its assigned device, calculate the planned start time and estimated completion time of the task.

[0072] ; ;

[0073] in, For the first The planned start time for each task should be set to ensure that the task starts as early as possible, provided that the equipment is available, all dependent tasks are completed, and no earlier than the current time. For the first The estimated completion time for each task; For equipment allocation The earliest available time, i.e. the time when all tasks in the current task queue of the device are completed, is obtained from the resource sensing unit; For the first The set of preceding dependent tasks for each task; For preceding dependent tasks The estimated completion time, The current system time. For the first The task is to allocate equipment. The estimated completion time is as follows;

[0074] S25: Generate and issue a device instruction distribution list: Group the allocation results by device, generate a task list for each device, and sort the task list from earliest to latest according to the planned start time; issue task allocation instructions to each underwater control node module through the communication interface module, the task allocation instructions include device identifier, task list, detailed task attribute information of each task and planned start time; after receiving the instructions, the instruction receiving unit of the underwater control node module stores the tasks in the local instruction cache queue in sequence, and the instruction execution unit retrieves the tasks from the queue and executes them when the planned start time arrives;

[0075] Furthermore, the matching degree between the task and the device is calculated in the following way:

[0076] ;

[0077] in, For equipment In the Capacity values ​​for each device's capability dimension are obtained from system resource data; The number of dimensions for equipment capability parameters. For the first The task in the first Resource requirements for each capability dimension are determined based on the task's own attributes.

[0078] The estimated completion time of the task on the device is calculated in the following way:

[0079] ;

[0080] in, For equipment At any moment The estimated availability time is obtained from the system resource data; For equipment The nominal processing capacity, which is the amount of work that the equipment can handle per unit time under no-load conditions, is obtained from the equipment's capacity parameters. For equipment At any moment The current load rate is obtained from the system resource data; For the first The workload of each task is obtained based on the task attribute information;

[0081] The energy consumption of the task on the device is calculated in the following way:

[0082] ;

[0083] in, For equipment The base power consumption is obtained based on the device's own specifications. For equipment The energy consumption required to process a unit of workload is obtained based on the equipment's capacity parameters;

[0084] The device at time Availability metrics are calculated in the following way:

[0085] ;

[0086] in, For equipment At any moment The health score is obtained from system resource data; For equipment The current length of the occupied task queue is obtained from the system resource data; For equipment The maximum task queue capacity is determined based on the device's own specifications. For equipment At any moment The remaining energy is obtained from the system resource data;

[0087] Furthermore, the weight coefficients of each evaluation dimension can be dynamically adjusted according to task priority and real-time system status. The specific adjustment method is as follows:

[0088] S221: Calculate the system load level:

[0089] ;

[0090] in, For the system at time The overall load level; Number of available devices; For equipment At any moment The current load rate;

[0091] S222: Calculate the system energy level.

[0092] ;

[0093] in, For the system at time The overall energy level; For equipment At any moment The remaining energy, For equipment The total energy capacity is obtained based on the equipment's own specifications.

[0094] S223: For the weight coefficient of each evaluation dimension, calculate its dynamic adjustment factor separately, according to the following calculation rules:

[0095] for Dynamic adjustment factor The value is set to 1.

[0096] for Dynamic adjustment factor ,satisfy:

[0097] ;

[0098] in, For the first The task priority level for each task, with a value range of [value range missing]. ;

[0099] for Dynamic adjustment factor ,satisfy:

[0100] ;

[0101] in, The system energy warning threshold is set based on the overall system configuration parameters.

[0102] for Dynamic adjustment factor ,satisfy:

[0103] ;

[0104] in, The system load warning threshold is set based on the overall system configuration parameters.

[0105] S224: Multiply the original weight coefficients of each evaluation dimension by their corresponding dynamic adjustment factors, and then normalize them to obtain new weight coefficients for each evaluation dimension, thereby completing the adjustment of the weight coefficients of each evaluation dimension.

[0106] This solution introduces a task optimization allocation mechanism based on system resource awareness, enabling adaptive scheduling of task execution in remote control scenarios for underwater testing equipment. This effectively improves the matching degree between tasks and equipment, avoiding command execution failures due to insufficient resources or load imbalance. By comprehensively considering equipment capabilities, execution latency, energy consumption constraints, and equipment availability, and combining a dynamic weight adjustment strategy, compared to traditional scheduling schemes using fixed weights, this solution can achieve load balancing and efficient energy utilization under complex operating conditions and resource constraints, significantly improving the overall system stability and the on-time completion rate of critical tasks.

[0107] Example 3: This example should be understood as including at least all the features of any of the foregoing examples, and further improving upon them;

[0108] Based on Embodiments 1 and 2, this embodiment further refines the engineering deployment method, communication link parameter configuration, and clock synchronization accuracy control strategy of the underwater test equipment remote control and command synchronization system in a complex underwater acoustic communication environment, so as to improve the reliability of command execution, time consistency, and energy utilization efficiency in the multi-device collaborative testing process.

[0109] The surface control terminal module described in this embodiment adopts a dual-master clock redundancy structure. The master clock unit integrates a high-stability crystal oscillator and a time synchronization calibration module, ensuring the system time base stability is better than ±1ppm. It sends time synchronization frames to the underwater control node at an adjustable period of one to five seconds, with the preferred frame length being 64 to 128 bytes, keeping the master-slave clock alignment error stably controlled within milliseconds. The instruction generation unit adds a unique identifier, priority field, and expected execution timestamp to each control instruction, and controls the instruction length within the range of 128 to 512 bytes to adapt to the effective payload limitations of underwater acoustic communication. The global scheduling unit maintains an instruction queue buffer capacity of no less than 10,000 instructions and uses a priority queue structure to ensure that emergency control instructions are issued first.

[0110] In this embodiment, the underwater control node module employs a low-power embedded control structure. The slave clock unit performs local clock calibration after receiving the master clock synchronization frame, maintaining a free-running accuracy of no less than ±5ppm even during communication interruptions, ensuring that the instruction execution time error remains less than 50 milliseconds even under short-term link loss. The instruction receiving unit uses a double-buffered queue structure to avoid instruction loss under high load. The instruction execution unit triggers execution based on the instruction timestamp and generates a status feedback packet upon completion. The feedback packet length is preferably 64 to 256 bytes, and includes an execution status code and energy consumption statistics.

[0111] In this embodiment, the communication interface module employs a multi-channel adaptive transmission mechanism. The physical layer transceiver unit can simultaneously support two to four independent communication links, with a preferred effective transmission rate of 2kbps to 10kbps per link. The link management unit continuously monitors the packet loss rate, signal-to-noise ratio, and round-trip delay of each link and updates the link quality table every five seconds. The adaptive transmission strategy unit dynamically selects between single-channel and multi-channel redundant transmission modes based on the link quality table and control command priority. High-priority commands default to dual-channel parallel transmission, increasing the on-time arrival probability of critical control commands to over 98%, while low-priority commands use a single-channel energy-saving transmission mode, reducing overall system communication energy consumption by approximately 30%. The protocol encapsulation unit adds a retransmission flag and integrity check field to the command frame, enabling the underwater control node to automatically identify lost commands and trigger a retransmission mechanism.

[0112] In this embodiment, the instruction synchronization management module introduces a queue consistency verification mechanism. The queue consistency management unit periodically compares the index status of the global surface instruction queue with the underwater local queue. When a queue deviation is detected, it automatically triggers instruction resending or queue rearrangement operations, keeping the instruction loss rate below 1% when multiple devices are collaboratively executing tasks. The conflict detection unit automatically locks conflicting instructions and returns an operation confirmation request when it detects mutually exclusive control instructions, thereby preventing execution anomalies caused by instruction conflicts among multiple devices.

[0113] In this embodiment, the intelligent scheduling module combines the resource perception unit to obtain the device load rate, remaining energy and communication reachability indicators in real time, and executes a dynamic weight adjustment strategy in the task optimization and allocation unit. When the overall energy level of the system is lower than the preset threshold, the device with low energy consumption is given priority to execute the task. When the system load level increases, the idle device is given priority to execute the new instruction, so that the average load difference of multiple devices is reduced by about 40% and the continuous stable operation time of the system is extended by about 25%.

[0114] like Figure 4 , Figure 5 As shown, in the engineering test scenario of this embodiment, the system controls six underwater test devices to simultaneously perform periodic measurement tasks within a five-kilometer communication radius, with the test running continuously for one hour. Traditional Scheme 1 uses a fixed single-channel transmission method and lacks an instruction queue consistency management mechanism, relying solely on basic master-slave clock synchronization for instruction issuance. Traditional Scheme 2 introduces basic multi-channel redundant transmission and a simple queue verification mechanism based on Traditional Scheme 1, but does not dynamically adjust the transmission strategy according to real-time link quality and device status. Without adaptive transmission and full queue consistency management, Traditional Scheme 1 achieves an average instruction arrival success rate of approximately 85%, with a multi-device execution time synchronization deviation of approximately 120 milliseconds. Traditional Scheme 2 increases the instruction arrival success rate to approximately 92%, and reduces the multi-device execution time synchronization deviation to approximately 60 milliseconds. Under the complete system of this embodiment, the instruction arrival success rate increases to over 98%, the multi-device execution time synchronization deviation is reduced to within 20 milliseconds, and the system's average communication energy consumption per hour is reduced by approximately 28%. This verifies that this embodiment can significantly improve the reliability, synchronization, and energy efficiency of remote control of underwater test devices under complex underwater acoustic channel conditions.

[0115] Furthermore, in this embodiment, the physical communication link can be replaced with a buoy relay communication structure or a surface unmanned platform relay communication structure to adapt to control scenarios at longer distances; the master-slave clock synchronization mechanism can also be replaced with a bidirectional delay compensation synchronization strategy to further improve time alignment accuracy in high dynamic delay environments; the intelligent scheduling module can also be replaced with a task allocation algorithm based on reinforcement learning to achieve self-learning scheduling optimization in more complex task scenarios.

[0116] This embodiment achieves highly reliable command transmission, strict time synchronization, and low-energy operation of underwater testing equipment during remote control through high-precision master-slave clock synchronization, multi-channel adaptive transmission, command queue consistency maintenance, and intelligent scheduling. It has good engineering promotion value and practical application prospects.

[0117] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.

Claims

1. A remote control and command synchronization system for underwater testing equipment, characterized in that, The system includes a surface control terminal module, an underwater control node module, a communication interface module, an instruction synchronization management module, and an intelligent scheduling module. The surface control terminal module generates control instructions and provides a global time reference for the system. The underwater control node module receives and executes control instructions and reports equipment operating status information. The communication interface module enables bidirectional data transmission between the surface and underwater environments. The instruction synchronization management module maintains clock synchronization and consistency in the control instruction queue. The intelligent scheduling module optimizes instruction scheduling and ensures transmission reliability in multi-device and multi-task scenarios. The surface control terminal module includes a human-machine interface unit, an instruction generation unit, a master clock unit, and a global scheduling unit. The human-machine interface unit receives control requests from operators and displays the operating status information of the underwater equipment. The instruction generation unit encodes control requests into a standard control instruction format, assigns a unique identifier, priority level, and expected execution timestamp to each control instruction. The master clock unit receives external time synchronization signals as the system time reference, generates high-precision timestamps, and periodically sends clock synchronization signals to the underwater control node module. The global scheduling unit is used to maintain the system's global control command queue and to initially distribute control commands based on the availability of underwater equipment; The underwater control node module includes an instruction receiving unit, a slave clock unit, an instruction execution unit, and a status reporting unit; the instruction receiving unit is used to receive control instructions and parse the control instruction content into a local instruction cache queue. The slave clock unit is used to maintain the local time reference, receive the synchronization signal sent by the master clock unit, and calibrate the local clock; the instruction execution unit is used to retrieve the control instructions to be executed from the local instruction cache queue and drive the underwater equipment to complete the corresponding operation according to the control instructions; the status reporting unit is used to collect the operating status information of the underwater equipment and transmit it to the surface control terminal module. The communication interface module includes an adaptive transmission strategy unit. When each control command is issued, the adaptive transmission strategy unit intelligently decides whether to fragment the control command and send it in parallel across multiple channels with redundant copies, based on the real-time link quality and energy consumption cost of multiple available physical communication links. The specific workflow of the adaptive transmission strategy unit is as follows: S11: Obtain the control command to be issued, and extract the identifier, priority level and command length information corresponding to the control command; S12: Get the list of channels for currently available communication links; S13: Calculate the comprehensive cost function of the control command to be issued for each communication channel: ； in, for The moment The comprehensive cost function value of a communication channel represents the comprehensive transmission cost of that channel in the current state; for At this moment The transmission energy consumption of each communication channel is calculated based on the current transmission power and transmission duration, wherein the transmission duration is determined by the control command length and the effective transmission rate of the communication channel; for The corresponding time The packet loss rate of each communication channel is obtained through link quality parameters; and The weighting coefficients used to balance arrival rate and energy consumption ratio are set according to the priority level of the control commands; the higher the priority level, the lower the weighting. The larger; S14: Eliminate communication channels whose comprehensive cost function value exceeds a preset threshold. For the remaining communication channels, determine the usage strategy for each channel by minimizing the following objective function: ； in, This represents the number of remaining communication channels. Indicates the first The decision variable for the use of a communication channel; when This indicates that the channel is used to send control commands. This indicates that the channel is not being used to send control commands; S15: Select the channel obtained from the solution and send the control command; The intelligent scheduling module includes a resource sensing unit and a task optimization and allocation unit. The resource sensing unit is used to obtain system resource data from the underwater control node module. The system resource data is the resource data that can be used by the underwater equipment related to the execution of control commands. The task optimization and allocation unit is used to optimize the allocation of task execution for the control commands based on task priority and equipment resource information.

2. The remote control and command synchronization system for an underwater testing device according to claim 1, characterized in that, The communication interface module further includes a physical layer transceiver unit, a link management unit, and an encryption and verification unit. The physical layer transceiver unit is used to provide a physical communication transmission channel between the surface control terminal and the underwater control node. The link management unit is used to establish a communication link and to collect real-time statistics on the link quality parameters of each communication channel. The link quality parameters include packet loss rate, effective transmission rate, and link status information. The encryption and verification unit is used to encrypt and verify the integrity of communication messages within the link.

3. The remote control and command synchronization system for an underwater testing device according to claim 1, characterized in that, The instruction synchronization management module includes a time synchronization unit, a queue consistency management unit, and a conflict detection unit. The time synchronization unit is used to align and calibrate the master and slave clocks and add timestamps to the control instructions. The queue consistency management unit is used to maintain the consistency between the global surface instruction queue and each underwater local instruction queue. The conflict detection unit is used to perform mutual exclusion detection on the queue of control instructions to be executed, and returns to the human-machine interaction unit for confirmation when mutual exclusion control instructions are detected.

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