A self-healing networking method for deleting nodes in a star-flash chain relay communication

Abstract

This invention belongs to the field of underground pipeline technology, specifically a self-healing networking method for deleting nodes in a star-flash relay communication system, comprising the following steps: S1. Waveguide mode feature extraction and environmental distortion determination: In an underground pipeline chain network composed of multiple star-flash nodes, intermediate nodes periodically send broadband channel probe frames to adjacent nodes; after receiving the echo signal, the intermediate node extracts the channel impulse response through a multipath resolution algorithm and calculates the group delay spread and mode power distribution matrix of the signal; when the group delay spread exceeds a preset dynamic threshold, or when the mode power distribution changes abruptly, environmental distortion is determined based on an adaptive threshold linked to temperature and humidity, which can detect electromagnetic transmission anomalies caused by pipeline dust, water accumulation, and pipe wall corrosion in advance, predict the risk of link failure, effectively avoid communication link interruption caused by environmental changes, and consolidate the basic stability of network operation.

Description

Technical Field

[0001] This invention belongs to the field of underground pipeline technology, specifically a self-healing networking method for deleting nodes in star-flash chain relay communication. Background Technology

[0002] Underground pipelines are critical urban infrastructure, and services such as internal environmental monitoring, equipment inspection, and data transmission all rely on stable wireless communication networks. StarSpark Communication possesses characteristics such as low latency, high reliability, massive access capacity, and strong anti-interference capabilities, making it well-suited for the communication scenarios within the narrow spaces of pipelines. It typically employs a chain-like relay architecture with multiple nodes connected end-to-end to ensure data is transmitted hop-by-hop over long distances along the pipeline route.

[0003] However, the complex and harsh operating conditions of underground pipelines pose significant challenges to the stable operation of the StarSpark chain network. Three main technical difficulties exist: First, the channel transmission environment is highly variable. Dust accumulation, water seepage, and pipe wall corrosion within the pipelines, coupled with significant temperature and humidity fluctuations, easily alter electromagnetic wave propagation conditions, exacerbating channel dispersion and multipath interference, directly causing a substantial degradation in communication link quality. Second, the network node failure rate is high. The confined and narrow space of the pipelines easily leads to node displacement and antenna angle shifts. Furthermore, dust corrosion, unstable power supply, and impacts from foreign objects can cause short-term anomalies or permanent failures of nodes. The chain topology has poor fault tolerance; a single node failure can cause the entire communication link to break and become paralyzed. Third, the network's self-repair performance is weak. Currently, pipeline chain communication generally adopts static routing and fixed topology mode, relying solely on heartbeat messages to determine the offline status of nodes. This makes it impossible to predict channel anomalies caused by environmental changes in advance, and it also lacks the ability to dynamically compensate links and quickly bypass and isolate faulty nodes. After a fault occurs, manual on-site inspection and troubleshooting are the only options, resulting in high maintenance costs and low handling efficiency, which makes it difficult to meet the development requirements of unattended pipeline operation and maintenance.

[0004] Existing similar technical solutions have significant shortcomings. Traditional wireless sensor network chain-style self-healing strategies rely solely on signal strength thresholds to determine link faults, ignoring channel distortion caused by the unique electromagnetic conduction environment of pipelines, and making it difficult to distinguish between environmental interference and node-specific faults. Beam adjustment schemes can only achieve unidirectional beam switching and fail to integrate with the pipeline spatial topology to build virtual relay anchor points, thus failing to establish direct communication links around faulty nodes. Furthermore, existing technologies lack accurate fault classification and identification and topology backtracking and control mechanisms. After temporary faults are eliminated, it is difficult to restore the original chain-style network structure, and permanent faults cannot achieve stable network topology reconstruction, ultimately resulting in poor overall communication stability and low network resource utilization efficiency. To overcome the shortcomings of existing technologies and solve at least one of the technical problems mentioned in the background art, this invention proposes a self-healing networking method for deleting nodes in star-flash chain relay communication.

[0005] The technical solution adopted by this invention to solve its technical problem is: a self-healing networking method for deleting nodes in a star-flash chain relay communication, comprising the following steps: S1. Waveguide Mode Feature Extraction and Environmental Distortion Determination: In an underground pipeline chain network composed of multiple star shimmer nodes, intermediate nodes periodically send broadband channel probe frames to adjacent nodes; after receiving the echo signal, the intermediate node extracts the channel impulse response through a multipath resolution algorithm and calculates the group delay spread and mode power distribution matrix of the signal; when the group delay spread exceeds a preset dynamic threshold, or when the mode power distribution changes abruptly, it is determined that the electromagnetic waveguide environment in the underground pipeline has been distorted, triggering the self-healing detection process; S2. Node attitude inversion and adaptive beam compensation: Based on the changing trend of the modal power distribution matrix and combined with the reflection model of the inner wall of the pipe, the physical position offset or antenna attitude angle change of the node itself is inferred; if it is determined to be a slight offset, the intermediate node adjusts the excitation weight of its star flash antenna array in real time and switches to the anti-dispersion directional beamforming mode to enhance the signal penetration capability and maintain the stability of the current link. S3. Virtual relay anchor point construction and logical bypass: If a severe distortion or node failure is detected, the forward node retrieves the pre-stored pipeline topology coordinate system and maps the backward node as a virtual relay anchor point; using the large-scale antenna array of StarSpark, the spatial beam pointing angle that bypasses the node in the failed state and accurately points to the virtual relay anchor point is directly calculated, a direct link between them is established, and the node is logically isolated from the routing table to complete network self-healing.

[0006] Preferably, in step S1, the broadband channel detection frame adopts a custom linear frequency modulation spread spectrum frame based on the star flash physical layer. The frame structure sequentially includes a preamble synchronization code, a channel detection code, a mode check code, and a reserved silent time slot. The multipath resolution algorithm is an improved sparse orthogonal matching pursuit algorithm, which performs noise reduction preprocessing on the echo signal through compressed sampling to remove clutter interference generated by dust, water accumulation, and metal pipe wall reflections in the underground pipeline. The dynamic threshold adopts an adaptive iterative update mechanism, selecting multiple sets of group delay spread data under normal communication conditions as reference samples, and combining the pipeline environment temperature and humidity parameters to correct the threshold coefficient. The dynamic threshold calculation formula is: ,in The initial reference delay spread threshold, , These are the temperature and humidity correction factors, respectively. , This represents the real-time changes in ambient temperature and humidity. When the proportion of the main mode power in the modal power distribution matrix decreases significantly, it is determined that a sudden change has occurred in the modal power distribution.

[0007] Preferably, in step S2, the reflection model of the inner wall of the pipe is a double-layer dielectric reflection loss model, which divides the inner wall of the pipe into a concrete base layer and an oxidized and corroded surface layer, and constructs a mode attenuation mapping relationship by combining the reflection coefficient and penetration loss of electromagnetic waves in different media; the physical position offset includes axial offset and radial offset, and the antenna attitude angle change includes pitch angle, roll angle and azimuth angle; the least squares fitting algorithm is used to fit the time series data of the mode power distribution matrix, and the node offset parameters are calculated by inversion; the directional beamforming mode adopts a hybrid weighted control method, iteratively optimizes the antenna array excitation weight based on the maximum signal-to-interference-plus-noise ratio criterion, adjusts the beam main lobe to point to adjacent communication nodes, suppresses multipath spurious signals on the inner wall of the pipe, and the dispersion suppression bandwidth covers the entire working frequency band of the star flash communication.

[0008] Preferably, in step S3, the pipeline topology coordinate system is a pre-calibrated one-dimensional chain linear coordinate system, with the pipeline's starting node as the origin, and the fixed coordinates of each star node are calibrated along the pipeline's extension direction; the virtual relay anchor point mapping method is coordinate interpolation mapping, combined with failed nodes. Communication distance between forward and backward links, pipe curvature, and correction of backward nodes. The virtual spatial coordinates; the spatial beam pointing angle The spherical wave vector calculation algorithm is used to calculate the beam offset deviation caused by pipe obstruction, combined with the element spacing and operating wavelength of the large-scale antenna array; a system is established. and When using a direct link, a time slot multiplexing switching mechanism is adopted to reserve a dedicated bypass communication time slot, avoid signal conflicts caused by the original link communication time slot, and ensure the communication quality of the bypass link.

[0009] Preferably, after completing the logical isolation of node N, a node fault identification and recovery backtracking sub-step is also provided, including the following steps: S31, Forward Node Continuously collect failed nodes Based on the heartbeat signal and channel characteristic parameters, two types of faults are distinguished: permanent failure due to physical damage and temporary failure due to environmental interference. S32. If determined to be a temporary failure, maintain... and The bypass direct link is activated, and a sleep / wake-up mechanism is initiated to periodically send data to the node. Send wake-up probe command to monitor nodes The communication has been restored; S33, If a node is detected Communication function restored, virtual relay anchor removed, bypass direct link deleted, node Rewrite the routing table to restore the original chained network topology; if determined to be a permanent failure, permanently isolate the node. It also updates the network pipeline topology coordinate system simultaneously and solidifies the new chain routing path.

[0010] Preferably, each star-flash node in the underground pipeline chain network is equipped with a large-scale intelligent antenna array, a multi-source environmental sensing module, and a local edge computing chip. The environmental sensing module collects real-time data on temperature, humidity, dust concentration, and pipe wall vibration in the pipeline, providing environmental auxiliary parameters for channel distortion determination. All star-flash nodes adopt a distributed collaborative networking architecture with no central control node, and each node synchronously stores the entire network topology routing table.

[0011] Preferably, the large-scale smart antenna array adopts a uniform array arrangement, with the antenna elements arranged circumferentially to fit the node shell, adapting to the narrow and enclosed space of the pipeline; the antenna array includes an omnidirectional transmit / receive mode and a directional beamforming mode, and the omnidirectional transmit / receive mode is used to complete basic data interaction under normal chain communication; when the pipeline environment distortion or node offset is detected, redundant array elements are automatically turned off and switched to the directional beamforming mode; the beam switching process is set with smooth transition weights.

[0012] Preferably, the pipeline topology coordinate system is constructed using an offline calibration plus online correction method. Initial coordinate calibration is completed during the pipeline construction phase, and coordinate deviations are dynamically corrected after the nodes join the network by relying on distance measurement interaction between adjacent nodes. Each star-flash node stores the topology coordinate system using local caching and synchronous backup. The routing table is divided into effective node area, isolated node area, and virtual anchor point area. Failed nodes and temporary anchor points are marked in partitions to prevent address confusion between logical bypass links and the original chained routes.

[0013] Preferably, the sleep / wake-up mechanism and fault identification employ a quantitative joint detection algorithm, equipped with a complete mathematical calculation model. The specific steps are as follows: S41. Sliding window packet loss rate calculation: Set the sliding window for fault judgment to include... In each of the continuous detection cycles, a single frame of heartbeat detection packets is sent, and the number of valid response packets within the window is counted. The real-time heartbeat packet loss rate is calculated using the following formula: ; S42. Solution for residual energy of channel modes: Given the current channel impulse response... Perform time-domain integration to obtain the effective residual energy of the channel within the current window. The calculation formula is: ,in The sampling duration is for a single-cycle signal; a preset channel basis noise energy threshold is included. This is used to distinguish between effective transmission modes and noise floor; S43. Dual-threshold joint fault judgment logic: preset packet loss rate judgment threshold If satisfied and If the condition is met, it is determined to be a temporary failure due to environmental interference; The effective electromagnetic waveguide modes completely dissipated, indicating that the node was physically damaged and permanently failed. S44, Adaptive Ladder Wake-up Interval Algorithm: Defining the Basic Probe Interval Increasing step size Number of consecutive no responses Real-time detection interval calculation formula: The detection cycle is gradually increased as the fault duration increases, achieving a dynamic balance between power consumption and detection sensitivity. The topology is rolled back immediately when a valid response and energy recovery are detected.

[0014] Preferably, the link anti-collision time slot management mechanism and data verification are equipped with a quantitative timing scheduling algorithm and verification model, and the specific implementation method is as follows: S51, Superframe timing partitioning model: Define the total duration of the entire network communication superframe as... The time slots are evenly divided into four non-overlapping sub-slots, satisfying the timing constraint formula: ; in To detect time slot duration, For beam control time slot duration, For regular data slot duration, For the duration of the bypass emergency time slot; S52, Time Slot Priority Scheduling Criterion Algorithm: Setting Link Priority Weight Coefficients The larger the weight value, the higher the priority. The preset weight relationship satisfies: The corresponding bypass emergency time slot has the highest priority. When self-healing is triggered, it will seize timing resources according to the weight coefficient to prevent link crosstalk and timing conflicts. S53, Time Slot Dynamic Opening / Closing Strategy: Closed under normal operating conditions. , Time slot resources, only reserved , Operation; after fault self-healing is activated, all four types of time slots will be fully open and priority will be given to ensuring operation. Time slot resource usage; S54. Data Integrity Verification Algorithm: Employs a cyclic redundancy check (CRC) mechanism, where the sending end verifies the encrypted data sequence. With preset generator polynomial Perform modulo-2 division to solve for the redundancy check code. ,Will and The data is sent in bundles; the receiving end verifies the data by using a reverse polynomial of the same origin. If the remainder is 0, the data is considered complete and untampered. Otherwise, the distorted data is discarded directly, ensuring the transmission security and reliability of self-healing communication in complex underground scenarios.

[0015] The beneficial effects of this invention are: This invention provides a self-healing networking method for deleting nodes in a star-flash relay communication system. By periodically transmitting customized probe frames and extracting channel mode features using an improved algorithm, and relying on an adaptive threshold linked to temperature and humidity to determine environmental distortion, it can detect electromagnetic transmission anomalies caused by pipe dust, water accumulation, and pipe wall corrosion in advance, predict link failure risks, effectively avoid communication link interruptions caused by sudden environmental changes, and strengthen the basic stability of network operation.

[0016] This invention provides a self-healing networking method for deleting nodes in star-flash chain relay communication. It relies on channel mode data and pipe reflection model to invert node position and antenna attitude deviation, and uses array excitation weight adjustment to achieve directional beamforming compensation. It can quickly correct signal loss caused by slight offset, repair degraded links without changing the network architecture, reduce the frequency of network self-healing triggering, and significantly reduce the impact of communication fluctuations.

[0017] This invention provides a self-healing networking method for deleting nodes in a star-flash chain relay communication system. In the face of severe environmental distortion and node failure scenarios, it constructs virtual relay anchor points based on pipeline topology coordinates, calculates spatial beam direction to establish direct connection channels across faulty nodes, and logically isolates and removes faulty nodes to achieve lossless self-healing reconstruction of the chain network, ensuring continuous data transmission and adapting to the needs of unmanned inspection and maintenance operations of underground pipelines. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention.

[0019] In the attached diagram: Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 This is a schematic diagram of the broadband channel detection frame process in this invention; Figure 3 This is a schematic diagram of the pipeline inner wall reflection model in this invention; Figure 4 This is a schematic diagram of the pipeline topology coordinate system in this invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, 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 are within the scope of protection of the present invention.

[0021] Specific implementation examples are given below.

[0022] Please see Figures 1-4 This invention provides a self-healing networking method for deleting nodes in a star-flash chain relay communication system, comprising the following steps: S1. Waveguide mode feature extraction and environmental distortion determination In an underground pipeline chain network composed of multiple star-shaped nodes, intermediate nodes periodically send broadband channel probe frames to adjacent nodes. After receiving the echo signal, the intermediate node extracts the channel impulse response using a multipath resolution algorithm and calculates the group delay spread of the signal. And the modal power distribution matrix; when the group delay spread exceeds the preset dynamic threshold, or when the modal power distribution changes abruptly, it is determined that the electromagnetic waveguide environment in the underground pipeline has been distorted, triggering the self-healing detection process.

[0023] By periodically probing and extracting features, the electromagnetic waveguide environment changes caused by factors such as dust, water accumulation, and pipe wall corrosion in underground pipelines can be accurately captured, allowing for early identification of link anomaly risks and providing a trigger for subsequent self-healing actions, thus preventing sudden link interruptions caused by environmental distortions.

[0024] S2, Node Attitude Inversion and Adaptive Beam Compensation Based on the changing trend of the modal power distribution matrix, combined with the reflection model of the inner wall of the pipe, the physical position offset of the node or the change of the antenna attitude angle is inferred. If it is determined to be a slight offset, the intermediate node adjusts the excitation weight of its star flash antenna array in real time and switches to the anti-dispersion directional beamforming mode to enhance the signal penetration capability and maintain the stability of the current link.

[0025] By addressing signal attenuation issues caused by slight node offsets or attitude deviations, attitude inversion is used to accurately locate deviation parameters, and adaptive beam compensation is then used to optimize the signal transmission path. This approach can repair weak links without reconstructing the network, reducing the frequency of self-healing triggers and minimizing network fluctuations.

[0026] S3, Virtual relay anchor point construction and logical bypass If a severe distortion or node failure is detected, the forward node retrieves the pre-stored pipeline topology coordinate system and maps the backward node as a virtual relay anchor point. Using the large-scale antenna array of StarSpark, the spatial beam pointing angle that bypasses the node in the failed state and accurately points to the virtual relay anchor point is directly calculated to establish a direct link between them. The node is then logically isolated from the routing table, completing the network self-healing.

[0027] To address link breakage issues caused by permanent node failure or severe environmental distortion, this system rapidly establishes direct cross-node links by constructing virtual relay anchors, logically isolates failed nodes, and enables seamless network self-healing after node deletion, ensuring uninterrupted data transmission in the chain network.

[0028] In some embodiments, the accuracy and anti-interference ability of environmental distortion detection are further improved to avoid false triggering of the self-healing process. The specific optimizations are as follows: In step S1, the broadband channel detection frame uses a custom linear frequency modulation spread spectrum frame based on the starburst physical layer. The frame structure sequentially includes a preamble synchronization code, a channel detection code, a mode check code, and a reserved silent time slot. The multipath resolution algorithm is an improved sparse orthogonal matching pursuit algorithm, which performs noise reduction preprocessing on the echo signal through compressed sampling to remove clutter interference generated by dust, water accumulation, and metal pipe wall reflections within the underground pipeline. The dynamic threshold adopts an adaptive iterative update mechanism, using 30 sets of group delay spread data under normal communication conditions as a reference sample, and combining the pipeline ambient temperature and humidity parameters to correct the threshold coefficient. The dynamic threshold calculation formula is as follows: ,in The initial reference delay spread threshold, , These are the temperature and humidity correction factors, respectively. , This represents the real-time changes in ambient temperature and humidity. When the proportion of the main mode power in the modal power distribution matrix decreases significantly, it is determined that a sudden change has occurred in the modal power distribution.

[0029] Customized detection frames are adapted to the physical layer characteristics of starbursts to ensure the reliability of detection signal transmission; the improved multipath resolution algorithm can effectively filter clutter in complex underground environments and avoid noise interference in feature extraction; dynamic thresholds combined with temperature and humidity adaptive updates adapt to dynamic changes in the pipeline environment, significantly reducing the false judgment rate of distortion and improving the accuracy of self-healing triggering.

[0030] In some embodiments, the weak link repair capability is enhanced, and the specific optimizations are as follows: In step S2, the pipe inner wall reflection model is a two-layer dielectric reflection loss model, dividing the pipe inner wall into a concrete base layer and an oxidized and corroded surface layer. A mode attenuation mapping relationship is constructed by combining the reflection coefficient and penetration loss of electromagnetic waves in different media. The physical position offset includes axial offset and radial offset, and the antenna attitude angle change includes pitch angle, roll angle, and azimuth angle. A least-squares fitting algorithm is used to fit the time-series data of the mode power distribution matrix, and the node offset parameters are calculated by inversion. The directional beamforming mode adopts a hybrid weighted control method, iteratively optimizing the antenna array excitation weights based on the maximum signal-to-interference-plus-noise ratio criterion, adjusting the beam main lobe to point to adjacent communication nodes, suppressing multipath spurious signals on the pipe inner wall, and ensuring that the dispersion suppression bandwidth covers the entire operating frequency band of the star-flash communication.

[0031] The refined and optimized implementation method achieves the following: the dual-layer medium reflection model accurately restores the electromagnetic reflection characteristics of the inner wall of the pipe, improving the physical matching degree of attitude inversion; the least squares fitting algorithm accurately solves the multi-dimensional offset parameters of the nodes, ensuring the accuracy of attitude inversion; and the hybrid weighted beamforming can maximize signal quality, suppress multipath interference, adapt to full-band star flash communication, and significantly improve the signal stability after weak link repair.

[0032] In some embodiments, in step S3, the pipeline topology coordinate system is a pre-calibrated one-dimensional chain linear coordinate system, with the pipeline's starting node as the origin, and the fixed coordinates of each star node are calibrated along the pipeline's extension direction; the virtual relay anchor point mapping method is coordinate interpolation mapping, which, combined with the communication distance of the links before and after the failed node N and the pipeline's curvature, corrects the backward nodes. The virtual spatial coordinates; the spatial beam pointing angle The spherical wave vector calculation algorithm is used to calculate the beam offset deviation caused by pipe obstruction, combined with the element spacing and operating wavelength of the large-scale antenna array; a system is established. and When using a direct link, a time slot multiplexing switching mechanism is adopted to reserve a dedicated bypass communication time slot, avoid signal conflicts caused by the original link communication time slot, and ensure the communication quality of the bypass link.

[0033] The one-dimensional chain coordinate system simplifies the topological representation of underground pipelines and reduces the computational complexity of anchor point mapping; coordinate interpolation mapping combined with pipeline curvature correction virtual coordinates adapts to pipeline bending scenarios and ensures the accuracy of anchor point positioning; spherical wave vector algorithm eliminates occlusion deviation and makes beam pointing more accurate; time slot multiplexing mechanism avoids link conflicts, ensures the communication quality of bypass direct links, and avoids new link interference after self-healing.

[0034] In some embodiments, a node fault identification and recovery backtracking sub-step is added after step S3 to achieve accurate fault type differentiation and dynamic network topology backtracking, balancing self-healing stability and resource utilization. The specific optimizations are as follows: Complete Node After logical isolation, a node fault identification and recovery backtracking sub-step is also set up, including the following steps: S31. Fault Type Differentiation Forward node The heartbeat signal and channel characteristic parameters of the failed node N are continuously collected to distinguish between two types of faults: permanent failure due to physical damage and temporary failure due to environmental interference.

[0035] By accurately distinguishing between permanent node failures and temporary interference failures, we can avoid permanently isolating temporarily failed nodes, reduce unnecessary topology reconfiguration, and save network resources.

[0036] S32, Temporary Failure Maintenance and Wake-up If determined to be a temporary failure, maintain... and The bypass direct link is activated, and a sleep / wake-up mechanism is initiated to periodically send data to the node. Send wake-up probe command to monitor nodes The communication has been restored.

[0037] By maintaining the bypass link to ensure communication during temporary failures, and by using a sleep-wake mechanism to monitor node recovery status with low power consumption, a balance is struck between communication continuity and node power consumption.

[0038] S33, topology backtracking or permanent isolation If a node is detected Communication function restored, virtual relay anchor removed, bypass direct link deleted, node Rewrite the routing table to restore the original chained network topology; if determined to be a permanent failure, permanently isolate the node. It also updates the network pipeline topology coordinate system simultaneously and solidifies the new chain routing path.

[0039] The purpose of this step is to: quickly revert to the original topology after a node recovers, reducing the long-term resource occupation of bypass links; permanently isolate and solidify the network, update the entire network topology to avoid routing chaos, and ensure long-term stable network operation.

[0040] In some embodiments, the network hardware architecture and cooperative networking mode are refined to provide hardware support for the self-healing method and ensure its feasibility. The specific optimizations are as follows: Each star-flash node in the underground pipeline chain network is equipped with a large-scale intelligent antenna array, a multi-source environmental sensing module, and a local edge computing chip. The environmental sensing module collects real-time data on temperature, humidity, dust concentration, and pipe wall vibration in the pipeline, providing environmental auxiliary parameters for channel distortion determination. All star-flash nodes adopt a distributed collaborative networking architecture with no central control node, and each node synchronously stores the entire network topology routing table.

[0041] Multi-source sensing modules provide multi-dimensional environmental data for distortion detection, improving the reliability of the detection; edge computing chips ensure real-time operation of local algorithms, reducing reliance on the cloud; the distributed, decentralized architecture avoids network paralysis caused by single point of failure, and each node synchronously stores the topology, ensuring rapid synchronization of routing information during self-healing, adapting to scenarios with no signal coverage in underground pipelines.

[0042] In some embodiments, the arrangement and operating modes of the large-scale smart antenna array are refined to adapt to the confined spaces of underground pipes and improve beam control flexibility. Specific optimizations are as follows: The large-scale intelligent antenna array adopts a uniform array arrangement, with the antenna elements arranged circumferentially to fit the node shell, adapting to the narrow and confined space of the pipeline; the antenna array includes an omnidirectional transmit / receive mode and a directional beamforming mode. Under normal chain communication, the omnidirectional transmit / receive mode is used to complete basic data interaction; when the pipeline environment distortion or node offset is detected, redundant array elements are automatically shut down and the directional beamforming mode is switched; the beam switching process is set with smooth transition weights.

[0043] The circumferential uniform array adapts to the narrow space of pipelines, reducing the volume occupied by nodes; the omnidirectional or directional dual-mode adapts to different working conditions, ensuring omnidirectional coverage under normal conditions and focusing on directional transmission under abnormal conditions; the smooth transition weight avoids signal abrupt changes during beam switching, ensuring communication continuity and adapting to the limited space of underground pipelines.

[0044] In some embodiments, the construction of the pipeline topology coordinate system and the partition management of the routing table are refined to improve the accuracy of the topology coordinates and the standardization of routing management. The specific optimizations are as follows: The pipeline topology coordinate system is constructed using an offline calibration plus online correction method. Initial coordinate calibration is completed during the pipeline construction phase. After the nodes join the network, they dynamically correct coordinate deviations by relying on distance measurement interaction between adjacent nodes. Each star-flash node stores the topology coordinate system using local caching and synchronous backup. The routing table is divided into effective node area, isolated node area, and virtual anchor point area. Failed nodes and temporary anchor points are marked in partitions to prevent address confusion between logical bypass links and the original chained routes.

[0045] Ensure the accuracy of the initial coordinates through offline calibration, online correct and adapt to the installation deviation of nodes, and improve the reliability of topological coordinates; local caching and synchronous backup avoid the loss of topological data; the partition management of the routing table clearly distinguishes nodes in different states, prevents routing address conflicts after self-healing, and reduces the complexity of network operation and maintenance.

[0046] The difference between this embodiment and the fifth specific embodiment is that the sleep-wake mechanism and the fault discrimination algorithm are quantitatively refined to improve the accuracy of fault determination and the ability to control wake-up energy consumption. The specific optimization content is as follows: The sleep-wake mechanism and fault discrimination adopt a quantitative joint detection algorithm, which is equipped with a complete mathematical calculation model. The specific steps are as follows: S41. Calculate the packet loss rate of the sliding window Set the sliding fault determination window to include M consecutive detection periods. Send 1 heartbeat detection packet in each period, and count the number of valid response packets within the window , and calculate the real-time heartbeat packet loss rate through the formula: Statistical packet loss rate through the sliding window, smooth the influence of instantaneous signal fluctuations, accurately quantify the quality of the node communication link, and provide a core quantitative index for fault determination; S42. Solve the residual energy of the channel mode: Perform a time-domain integration operation on the current channel impulse response h(t) to obtain the effective residual energy E of the channel within the current window. The calculation formula is: E = 0 Ts|h(t)|2dt, where Ts is the single-period signal sampling duration; there is a preset channel base noise energy threshold E0, which is used to distinguish the effective transmission mode and the noise base; quantify the effective transmission energy of the channel, distinguish the effective signal mode and the environmental noise, avoid misjudging faults only by the packet loss rate, and improve the accuracy of fault type discrimination; S43. Dual-threshold joint fault determination logic: Preset the packet loss rate determination threshold PLth. If PL < PLth and E > E0 are satisfied, it is determined as a temporary failure due to environmental interference; if PL < PLth and E > E0 are satisfied and the effective electromagnetic waveguide mode is completely dissipated, it is determined as a permanent failure of node physical damage; through the dual-threshold joint determination of the packet loss rate and the residual energy, taking into account the link connectivity and signal effectiveness, accurately distinguish temporary interference and permanent damage, and avoid the limitations of single-index determination; S44, Adaptive Stepped Wake-up Interval Algorithm: Defines a basic detection interval T0, an interval increment step size ΔT, and the number of consecutive no-response counts k. The real-time detection interval calculation formula is: Tk=T0+k⋅ΔT. The detection cycle is gradually increased with the duration of the fault to achieve a dynamic balance between power consumption and detection sensitivity. When a valid response and energy recovery are detected, the topology is immediately rolled back. The adaptive stepped wake-up interval ensures rapid recovery with high-frequency detection in the early stage of the fault and reduces energy consumption with low-frequency detection after the fault continues. It balances fault detection sensitivity and node power consumption and is suitable for underground nodes with limited power supply.

[0047] The link anti-collision time slot management mechanism and data verification are equipped with a quantitative timing scheduling algorithm and verification model. The specific implementation method is as follows: S51, Superframe Timing Partition Model: Define the total duration of the entire network communication superframe as... The time slots are evenly divided into four non-overlapping sub-slots, satisfying the timing constraint formula: ; in To detect time slot duration, For beam control time slot duration, For regular data slot duration, The duration of the bypass emergency time slot is determined; the superframe is uniformly divided into four types of time slots to clarify the transmission time periods of different functional signals, thereby avoiding conflicts between detection, control, data, and emergency signals at the timing level and ensuring the timing synchronization of the entire network. S52, Time Slot Priority Scheduling Criterion Algorithm: Setting Link Priority Weight Coefficients The larger the weight value, the higher the priority. The preset weight relationship satisfies: The corresponding bypass emergency time slot has the highest priority. When self-healing is triggered, it will seize timing resources according to the weight coefficient to prevent link crosstalk and timing conflicts. By allocating timing resources through priority weight, the bypass link time slot is given priority in self-healing emergency scenarios to ensure that self-healing actions are executed first, avoid regular data transmission from seizing emergency resources, and improve the self-healing response speed. S53, Time Slot Dynamic Opening / Closing Strategy: Closed under normal operating conditions. , Time slot resources, only reserved , Operation; after fault self-healing is activated, all four types of time slots will be fully open and priority will be given to ensuring operation. Time slot resource usage: Under normal conditions, redundant time slots are closed to save bandwidth resources, and all time slots are opened during self-healing to ensure functional integrity, dynamically adapting to operating conditions and balancing bandwidth utilization and self-healing reliability. S54. Data Integrity Verification Algorithm: Employs a cyclic redundancy check (CRC) mechanism, where the sending end verifies the encrypted data sequence. With preset generator polynomial Perform modulo-2 division to solve for the redundancy check code. ,Will and The data is sent in bundles; the receiving end performs reverse verification using a polynomial from the same source. If the remainder is 0, the data is considered complete and untampered; otherwise, distorted data is discarded directly, ensuring the transmission security and reliability of self-healing communication in complex underground scenarios. Cyclic redundancy check can quickly detect distortion and tampering issues during data transmission. In scenarios with strong electromagnetic interference in underground pipelines, it ensures the integrity and security of data transmitted through the self-healing link, preventing erroneous data from affecting network control.

[0048] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A self-healing networking method for deleting nodes in a star-flash chain relay communication, characterized in that: Includes the following steps: S1. Waveguide mode feature extraction and environmental distortion determination: In an underground pipeline chain network composed of multiple star shimmer nodes, the intermediate nodes periodically send broadband channel probe frames to the adjacent nodes. After receiving the echo signal, the intermediate node extracts the channel impulse response through a multipath resolution algorithm and calculates the group delay spread and mode power distribution matrix of the signal. When the group delay spread exceeds a preset dynamic threshold or the mode power distribution changes abruptly, it is determined that the electromagnetic waveguide environment in the underground pipeline has been distorted, triggering the self-healing detection process. S2. Node attitude inversion and adaptive beam compensation: Based on the changing trend of the modal power distribution matrix, combined with the reflection model of the inner wall of the pipe, the physical position offset of the node or the change of the antenna attitude angle is inferred. If a slight offset is detected, the intermediate node adjusts the excitation weight of its star stroboscopic antenna array in real time and switches to an anti-dispersion directional beamforming mode to enhance signal penetration and maintain the stability of the current link. S3. Virtual relay anchor point construction and logical bypass: If a severe distortion or node failure is detected, the forward node retrieves the pre-stored pipeline topology coordinate system and maps the backward node as a virtual relay anchor point; using the large-scale antenna array of StarSpark, the spatial beam pointing angle that bypasses the node in the failed state and accurately points to the virtual relay anchor point is directly calculated, a direct link between them is established, and the node is logically isolated from the routing table to complete network self-healing.

2. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 1, characterized in that: In step S1, the broadband channel detection frame adopts a custom linear frequency modulation spread spectrum frame with a star flash physical layer. The frame structure includes a preamble synchronization code, a channel detection code, a mode check code, and a reserved silent time slot in sequence. The multipath resolution algorithm is an improved sparse orthogonal matching pursuit algorithm, which performs noise reduction preprocessing on the echo signal through compressed sampling to remove noise interference generated by dust, water accumulation, and metal pipe wall reflection in underground pipelines. The dynamic threshold adopts an adaptive iterative update mechanism, selecting multiple sets of group delay spread data under normal communication conditions as benchmark samples, and combining pipeline ambient temperature and humidity parameters to correct the threshold coefficient. The dynamic threshold calculation formula is as follows: ,in The initial reference delay spread threshold, , These are the temperature and humidity correction factors, respectively. , This represents the real-time changes in ambient temperature and humidity. When the proportion of the main mode power in the modal power distribution matrix decreases significantly, it is determined that a sudden change has occurred in the modal power distribution.

3. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 1, characterized in that: In step S2, the pipe inner wall reflection model is a two-layer dielectric reflection loss model, dividing the pipe inner wall into a concrete base layer and an oxidized and corroded surface layer. A mode attenuation mapping relationship is constructed by combining the reflection coefficient and penetration loss of electromagnetic waves in different media. The physical position offset includes axial offset and radial offset, and the antenna attitude angle change includes pitch angle, roll angle, and azimuth angle. A least-squares fitting algorithm is used to fit the time-series data of the mode power distribution matrix, and the node offset parameters are calculated by inversion. The directional beamforming mode adopts a hybrid weighted control method, iteratively optimizing the antenna array excitation weights based on the maximum signal-to-interference-plus-noise ratio criterion, adjusting the beam main lobe to point to adjacent communication nodes, suppressing multipath spurious signals on the pipe inner wall, and ensuring that the dispersion suppression bandwidth covers the entire operating frequency band of the star-flash communication.

4. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 1, characterized in that: In step S3, the pipeline topology coordinate system is a pre-calibrated one-dimensional chain linear coordinate system, with the pipeline's starting node as the origin, and the fixed coordinates of each star node are calibrated along the pipeline's extension direction; the virtual relay anchor point mapping method is coordinate interpolation mapping, combined with failed nodes. Communication distance between forward and backward links, pipe curvature, and correction of backward nodes. The virtual spatial coordinates; the spatial beam pointing angle The spherical wave vector calculation algorithm is used to calculate the beam offset deviation caused by pipe obstruction, combined with the element spacing and operating wavelength of the large-scale antenna array; a system is established. and When using a direct link, a time slot multiplexing switching mechanism is adopted to reserve a dedicated bypass communication time slot, avoid signal conflicts caused by the original link communication time slot, and ensure the communication quality of the bypass link.

5. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 1, characterized in that: After completing the logical isolation of node N, a node fault identification and recovery backtracking sub-step is also set up, including the following steps: S31, Forward Node Continuously collect failed nodes Based on the heartbeat signal and channel characteristic parameters, two types of faults are distinguished: permanent failure due to physical damage and temporary failure due to environmental interference. S32. If determined to be a temporary failure, maintain... and The bypass direct link is activated, and a sleep / wake-up mechanism is initiated to periodically send data to the node. Send wake-up probe command to monitor nodes The communication has been restored; S33, If a node is detected Communication function restored, virtual relay anchor removed, bypass direct link deleted, node Rewrite the routing table to restore the original chained network topology; if determined to be a permanent failure, permanently isolate the node. It also updates the network pipeline topology coordinate system simultaneously and solidifies the new chain routing path.

6. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 1, characterized in that: Each star-flash node in the underground pipeline chain network is equipped with a large-scale intelligent antenna array, a multi-source environmental sensing module, and a local edge computing chip. The environmental sensing module collects real-time data on temperature, humidity, dust concentration, and pipe wall vibration in the pipeline, providing environmental auxiliary parameters for channel distortion determination. All star-flash nodes adopt a distributed collaborative networking architecture with no central control node, and each node synchronously stores the entire network topology routing table.

7. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 3, characterized in that: The large-scale intelligent antenna array adopts a uniform array arrangement, with the antenna elements arranged circumferentially to fit the node shell, adapting to the narrow and confined space of the pipeline; the antenna array includes an omnidirectional transmit / receive mode and a directional beamforming mode. Under normal chain communication, the omnidirectional transmit / receive mode is used to complete basic data interaction; when the pipeline environment distortion or node offset is detected, redundant array elements are automatically shut down and the directional beamforming mode is switched; the beam switching process is set with smooth transition weights.

8. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 4, characterized in that: The pipeline topology coordinate system is constructed using an offline calibration plus online correction method. Initial coordinate calibration is completed during the pipeline construction phase. After the nodes are connected to the network, the coordinate deviation is dynamically corrected by relying on the distance measurement interaction between adjacent nodes. Each star-flash node stores the topology coordinate system using local caching and synchronous backup. The routing table is divided into effective node area, isolated node area, and virtual anchor point area. Failed nodes and temporary anchor points are marked in the partition.

9. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 5, characterized in that: The sleep / wake-up mechanism and fault identification employ a quantitative joint detection algorithm, equipped with a complete mathematical calculation model. The specific steps are as follows: S41. Sliding window packet loss rate calculation: Set the sliding window for fault judgment to include... In each of the continuous detection cycles, a single frame of heartbeat detection packets is sent, and the number of valid response packets within the window is counted. The real-time heartbeat packet loss rate is calculated using the following formula: ; S42. Solution for residual energy of channel modes: Given the current channel impulse response... Perform time-domain integration to obtain the effective residual energy of the channel within the current window. The calculation formula is: ,in The sampling duration is for a single-cycle signal; a preset channel basis noise energy threshold is included. This is used to distinguish between effective transmission modes and noise floor; S43. Dual-threshold joint fault judgment logic: preset packet loss rate judgment threshold If satisfied and If the condition is met, it is determined to be a temporary failure due to environmental interference; The effective electromagnetic waveguide modes completely dissipated, indicating that the node was physically damaged and permanently failed. S44, Adaptive Ladder Wake-up Interval Algorithm: Defining the Basic Probe Interval Increasing step size Number of consecutive no responses Real-time detection interval calculation formula: The detection cycle is gradually increased as the fault duration increases, achieving a dynamic balance between power consumption and detection sensitivity. The topology is rolled back immediately when a valid response and energy recovery are detected.

10. The self-healing networking method for deleting nodes in a star-flash chain relay communication as described in claim 6, characterized in that: The link anti-collision time slot management mechanism and data verification are equipped with a quantitative timing scheduling algorithm and verification model. The specific implementation method is as follows: S51, Superframe Timing Partition Model: Define the total duration of the entire network communication superframe as... The time slots are evenly divided into four non-overlapping sub-slots, satisfying the timing constraint formula: ； in To detect time slot duration, For beam control time slot duration, For regular data slot duration, For the duration of the bypass emergency time slot; S52, Time Slot Priority Scheduling Criterion Algorithm: Setting Link Priority Weight Coefficients The larger the weight value, the higher the priority. The preset weight relationship satisfies: The corresponding bypass emergency time slot has the highest priority. When self-healing is triggered, it will seize timing resources according to the weight coefficient to prevent link crosstalk and timing conflicts. S53, Time Slot Dynamic Opening / Closing Strategy: Closed under normal operating conditions. , Time slot resources, only reserved , Operation; after fault self-healing is activated, all four types of time slots will be fully open and priority will be given to ensuring operation. Time slot resource usage; S54. Data Integrity Verification Algorithm: Employs a cyclic redundancy check (CRC) mechanism, where the sending end verifies the encrypted data sequence. With preset generator polynomial Perform modulo-2 division to solve for the redundancy check code. ,Will and Send in bundles.

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