Data transmission method and device of remote control unmanned ship communication system

Abstract

The application discloses a data transmission method and device of a remote control unmanned ship communication system, and adaptively selects different transmission channels to forward data according to the running state of a target device. When the target device is in an online state, a direct transmission channel is used to realize point-to-point direct forwarding, so that queuing and waiting and processing delay of data in intermediate links are avoided, and transmission efficiency of control instructions and core data is significantly improved. When the target device is in an offline state, the data is automatically distributed to all online candidate devices through a broadcast transmission channel, so that the data can still be received and used by other online devices in the system under the condition that the target device is offline, data loss is avoided, efficient data routing can be realized without relying on complex message queue middleware scheduling and load balancing components, and the complexity of component deployment and maintenance is reduced, so that transmission efficiency and data reliability are considered in a light-weighted manner.

Description

Technical Field

[0001] This invention relates to the field of unmanned vessel communication technology, and in particular to a data transmission method and apparatus for a remotely controlled unmanned vessel communication system. Background Technology

[0002] Currently, with the continuous increase in operational demands in fields such as marine surveying, waterway inspection, hydrological monitoring, and emergency rescue, unmanned surface vessels (USVs) have become an important operational platform for surveying and related industries due to their outstanding advantages of high efficiency, safety, low cost, and ability to replace manual labor in complex waters. During missions, USVs need to transmit diverse data in real time with ground control equipment, including ship control commands, multibeam echo sounding data, GNSS positioning information, attitude sensor data, and video streams. The real-time performance, reliability, and security of data transmission are subject to stringent requirements, especially in long-distance or complex waterway operations, where the stability and transmission efficiency of the communication link directly determine the success or failure of the USV mission.

[0003] Traditional unmanned surface vessel (USV) communication systems often employ complex distributed architectures on their servers, requiring the deployment of multiple middleware, message queues, and database components. This results in high construction and maintenance costs, creating significant technical barriers and financial burdens for small and medium-sized surveying and mapping units. Secondly, existing mainstream software often uses a unified message forwarding mechanism, transmitting all types of data through the same processing path without differentiation. This "one-size-fits-all" approach easily leads to high-frequency sensor data blocking control commands, severely impacting the real-time performance of remote control operations and the safety of USV operation. Thirdly, while MQTT (Message Queuing Telemetry Transport)-based IoT architectures are relatively simple to implement, they suffer from high protocol overhead and message queue processing latency in high-throughput scenarios, making it difficult to meet the stringent data integrity requirements of surveying and mapping scenarios. Furthermore, modern surveying USVs typically carry multiple types of sensors with significantly different data formats, sampling frequencies, and real-time requirements. Traditional architectures require extensive customized development for multi-sensor access, resulting in insufficient system scalability and difficulty adapting to the surveying and mapping industry's demands for data security and personalized deployment. Summary of the Invention

[0004] This invention provides a data transmission method and apparatus for a remotely controlled unmanned vessel communication system, which improves data transmission efficiency while reducing the maintenance cost of unmanned vessel communication transmission.

[0005] To address the aforementioned technical problems, this invention provides a data transmission method for a remotely controlled unmanned surface vessel (UUV) communication system, comprising: Acquire the data to be transmitted, which includes the unmanned vessel identification information and the data source; Based on the data source, a target device corresponding to the unmanned vessel identification information is determined, and the target device includes a target control device or a target unmanned vessel. Acquire device status data, and determine the operating status of the target device based on the device status data; the operating status is determined based on the connection status of the communication link, and the operating status includes online status and offline status. If the target device is in an online state, the data to be transmitted is transmitted to the target device through the first transmission channel, and after the transmission is completed, the data to be transmitted is distributed to other online devices based on a preset message broadcast queue; the first transmission channel is a direct transmission channel between the target control device or the target unmanned vessel. If the target device is in an offline state, the data to be transmitted is transmitted to all candidate devices via the second transmission channel, wherein the candidate devices are control devices or unmanned vessels that are in an online state.

[0006] This invention acquires the data to be transmitted and identifies its source, then determines the corresponding target device based on the unmanned vessel's identification information, and adaptively selects different transmission channels for data forwarding based on the target device's operating status. When the target device is online, a direct transmission channel is used for point-to-point forwarding, avoiding queuing and processing delays in intermediate stages, significantly improving the transmission efficiency of control commands and core data. When the target device is offline, it automatically switches to a broadcast transmission channel to distribute data to all online candidate devices, ensuring that data can still be received and utilized by other online devices in the system even when the target device is offline, avoiding data loss. Through this adaptive channel switching mechanism based on device online status, Redis memory broadcast is used as a lightweight backup channel in offline / multi-terminal synchronization scenarios, complementing the TCP direct channel in online scenarios. This reduces the complexity of component deployment and maintenance while ensuring data transmission efficiency and security, avoiding queuing delays for online control commands, and effectively solving the technical defect of existing solutions where control commands are easily blocked due to the unified message forwarding mechanism.

[0007] Furthermore, the data source includes control equipment or unmanned surface vessels; determining the target device corresponding to the unmanned surface vessel identification information based on the data source includes: When the data source of the data to be transmitted is an unmanned vessel, a target control device is matched in a preset device binding list based on the unmanned vessel identification information; When the data source of the data to be transmitted is a control device, the data to be transmitted is parsed to obtain the target unmanned vessel identifier, and the target unmanned vessel is determined based on the target unmanned vessel identifier.

[0008] This invention achieves precise routing of uplink unmanned surface vessel (USV) data and downlink control data by employing differentiated target device determination strategies based on different data sources. When data originates from an USV, the USV's identification information is used to quickly match the corresponding target control device in a pre-defined device binding list, ensuring that the sensor data and status information uploaded by the USV can be accurately received by the specific control device with which it is bound. When data originates from a control device, the target USV's identification is extracted by parsing the data to be transmitted, thereby accurately determining the target USV that needs to receive control commands. This allows for rapid and accurate identification of the target object for data transmission regardless of the data flow direction, avoiding invalid transmission or erroneous forwarding due to ambiguous target device identification. This improves the targeting of data transmission, saves unnecessary overhead on the communication link, and provides a reliable decision-making premise for subsequent channel selection based on device status.

[0009] Furthermore, before acquiring device status data and determining the operating status of the target device based on the device status data, the process includes: A device status table is constructed based on the device identifiers and operating statuses of all certified devices. Establish a communication link with the certified device, and mark the online status of the certified device whose communication link has been successfully established as online. The connection status of the communication link is continuously monitored based on a preset time interval. If no service data uploaded by the authenticated device is received within a preset timeout period, the running status of the authenticated device in the device status table is changed to offline status.

[0010] This invention constructs a device status table based on the identification information and operational status of all certified devices. When a device successfully establishes a communication link, its online status is marked as online, allowing the device status table to reflect the real-time online status of each device in the system. Furthermore, the system continuously monitors the connection status of each communication link at preset time intervals. If no service data is received from a device within a preset timeout period, the system automatically updates the device's operational status to offline. This lightweight status monitoring method using a heartbeat timeout mechanism achieves accurate perception of device online status without deploying additional service discovery components, ensuring correct channel selection and avoiding data mistransmission or transmission failures due to misjudgment of status.

[0011] Furthermore, if the target device is in an online state, transmitting the data to be transmitted to the target device via the first transmission channel includes: When the target device is a target control device and the target control device is in an online state, the data to be transmitted is forwarded to the target control device based on memory. When the target device is a target unmanned vessel and the target unmanned vessel is in an online state, the control command of the target unmanned vessel is obtained based on the data to be transmitted, and the control command is forwarded to the target unmanned vessel based on memory.

[0012] This invention achieves high-speed, memory-level transparent transmission by directly forwarding data from memory when the target device is online. When the target device is a target control device and is online, the data to be transmitted from the unmanned vessel is directly forwarded from memory to the target control device. When the target device is the target unmanned vessel and is online, control commands are extracted from the data to be transmitted and forwarded to the target unmanned vessel from memory. Throughout the forwarding process, the data resides in the server's memory, without passing through middleware or disk. This eliminates the memory copying overhead and context switching latency caused by multiple copies of data between middleware / disk in traditional data transmission. This allows control commands and core sensor data to be delivered to the target device with extremely low latency, ensuring that control commands are not blocked by high-frequency sensor data on the transmission path. This fundamentally guarantees the timeliness and safety of unmanned vessel remote control operations and fully leverages the extreme performance advantages of direct transmission channels in low-latency scenarios.

[0013] Furthermore, if the target device is in an offline state, the data to be transmitted is transmitted to all candidate devices via the second transmission channel, including: When the target device is a target unmanned vessel and the target unmanned vessel is in an offline state, all unmanned vessels in an online state are obtained based on the device status table and used as a candidate device set. When the target device is a target control device and the target control device is in an offline state, all control devices in an online state are obtained based on the device status table and used as a candidate device set. The data to be transmitted is stored in a preset message broadcast queue, and the data to be transmitted is distributed to all candidate devices in the candidate device set based on the message broadcast queue.

[0014] This invention ensures that data can still be effectively transferred to other relevant devices within the system even when the target device is unreachable by automatically switching to a broadcast distribution mechanism when the target device is offline. When the offline device is the target unmanned vessel, the system obtains all unmanned vessels with an online operating status as a candidate device set based on the device status table; when the offline device is the target control device, the system obtains all control devices with an online operating status as a candidate device set. Based on this, the data to be transmitted is stored in a preset message broadcast queue, and the data is distributed to all online devices in the candidate device set through this queue. This memory-level message broadcast-based distribution method allows a single piece of data to be received simultaneously by multiple online devices without establishing multiple independent point-to-point transmission links, making it particularly suitable for the practical needs of multiple vessels under one control or multiple control vessels under one vessel scenarios where data needs to be shared by multiple parties. Simultaneously, the broadcast transmission channel and the direct transmission channel complement each other organically. The former ensures transmission efficiency in multi-device data sharing scenarios, while the latter ensures extremely low latency in single-device precise control scenarios. The two channels automatically switch according to the target device status, enabling the system to balance transmission efficiency and data reachability in various operational scenarios.

[0015] Furthermore, the step of distributing the data to be transmitted to other online devices based on a preset message broadcast queue includes: When the target device is a target unmanned vessel and the target unmanned vessel is in an online state, unmanned vessels in an online state other than the target unmanned vessel are obtained based on the device status table and used as a set of devices to be synchronized. When the target device is a target control device and the target control device is in an online state, all control devices in an online state other than the target control device are obtained based on the device status table and used as a set of devices to be synchronized. The data to be transmitted is stored in a preset message broadcast queue, and the data to be transmitted is distributed to all devices in the set of devices to be synchronized based on the message broadcast queue.

[0016] Furthermore, after determining the target device corresponding to the unmanned vessel identification information based on the data source, the method further includes: When the target device is a target unmanned vessel, the data type is determined based on the data to be transmitted, and the data to be transmitted is transmitted to the storage module based on the data type and a preset message broadcast queue, so that the storage module can classify and store the data to be transmitted.

[0017] This invention, after identifying the target device as a target unmanned surface vessel (USV), further identifies the data type of the data to be transmitted and, based on the data type, distributes the data to the storage module for categorized storage via a message broadcast queue. This achieves temporal decoupling and link separation between real-time data transmission and persistent storage. When the target device is a USV, the system identifies the specific data type of the data to be transmitted and pushes different categories of data to the corresponding data processing branches of the storage module through a preset message broadcast queue. This design, separating real-time transmission from asynchronous storage, ensures that control commands and sensor data can be transmitted to the target USV with the highest priority, while also ensuring that operational data is stored completely and orderly on disk. This provides reliable raw data support for subsequent data review and analysis, operational quality assessment, and compliance auditing, achieving a balance and unity between transmission efficiency and data integrity.

[0018] In a second aspect, the present invention provides a data transmission device for a remotely controlled unmanned vessel communication system, comprising: a data acquisition module, a target confirmation module, a status confirmation module, a first transmission module, and a second transmission module; The data acquisition module is used to acquire data to be transmitted, which includes unmanned vessel identification information and data source; The target confirmation module is used to determine the target device corresponding to the unmanned vessel identification information based on the data source, wherein the target device includes a target control device or a target unmanned vessel; The status confirmation module is used to acquire device status data and determine the operating status of the target device based on the device status data; the operating status is determined based on the connection status of the communication link, and the operating status includes online status and offline status; The first transmission module is configured to transmit the data to be transmitted to the target device via a first transmission channel if the target device is in an online state, and to distribute the data to be transmitted to other online devices based on a preset message broadcast queue after the transmission is completed; the first transmission channel is a direct transmission channel between the target control device or the target unmanned vessel. The second transmission module is used to transmit the data to be transmitted to all candidate devices based on the second transmission channel if the target device is in an offline state, wherein the candidate devices are control devices or unmanned vessels in an online state.

[0019] Furthermore, the data source includes control equipment or unmanned surface vessels; the target confirmation module is used to determine the target device corresponding to the unmanned surface vessel identification information based on the data source, including: When the data source of the data to be transmitted is an unmanned vessel, a target control device is matched in a preset device binding list based on the unmanned vessel identification information; When the data source of the data to be transmitted is a control device, the data to be transmitted is parsed to obtain the target unmanned vessel identifier, and the target unmanned vessel is determined based on the target unmanned vessel identifier.

[0020] Furthermore, it also includes a state maintenance module, used for: A device status table is constructed based on the device identifiers and operating statuses of all certified devices. Establish a communication link with the certified device, and mark the online status of the certified device whose communication link has been successfully established as online. The connection status of the communication link is continuously monitored based on a preset time interval. If no service data uploaded by the authenticated device is received within a preset timeout period, the running status of the authenticated device in the device status table is changed to offline status.

[0021] Furthermore, the first transmission module is configured to transmit the data to be transmitted to the target device via the first transmission channel if the target device is in an online state, including: When the target device is a target control device and the target control device is in an online state, the data to be transmitted is forwarded to the target control device based on memory. When the target device is a target unmanned vessel and the target unmanned vessel is in an online state, the control command of the target unmanned vessel is obtained based on the data to be transmitted, and the control command is forwarded to the target unmanned vessel based on memory. Attached Figure Description

[0022] Figure 1 A schematic flowchart of a data transmission method for a remotely controlled unmanned vessel communication system provided in an embodiment of the present invention; Figure 2 A diagram illustrating a multi-control transparent transmission architecture for a remotely controlled unmanned surface vessel communication system provided in this embodiment of the invention. Figure 3 This invention provides a diagram illustrating a one-to-many communication system architecture for a remotely controlled unmanned surface vessel (UAV) communication system. Figure 4 A schematic diagram of a classification storage process provided in an embodiment of the present invention; Figure 5 A schematic flowchart of a remotely controlled unmanned vessel communication system provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a remotely controlled unmanned vessel communication system provided in an embodiment of the present invention. Detailed Implementation

[0023] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0024] The terms "first" and "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0025] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0026] Example 1 See Figure 1 , Figure 1 This is a flowchart illustrating a data transmission method for a remotely operated unmanned surface vessel (ROV) communication system according to an embodiment of the present invention. The embodiment of the present invention provides a data transmission method for a remotely operated unmanned surface vessel (ROV) communication system, including steps 101 to 105, as detailed below: Step 101: Obtain the data to be transmitted, which includes the unmanned vessel identification information and data source; In this embodiment, the remotely controlled unmanned surface vessel (ROV) communication system includes a transparent transmission server, several ROVs, and several control devices, wherein the transparent transmission server is connected to both the ROVs and the control devices. This ROV communication system can be configured as a one-ship-multiple-control transparent transmission architecture or a one-control-multiple-ship transparent transmission architecture.

[0027] Please refer to Figure 2 , Figure 2 This is a diagram illustrating a multi-control transparent transmission architecture for a remotely controlled unmanned vessel communication system, provided as an embodiment of the present invention.

[0028] In one optional embodiment, the remote-controlled unmanned vessel communication system includes an unmanned vessel, namely the master vessel 1, a transparent transmission server, namely the transparent transmission module, a master control device, n slave control modules, and a storage module. The unmanned vessel communicates bidirectionally with the transparent transmission server through a TCP long connection, the master control device also communicates bidirectionally with the transparent transmission server through a TCP long connection, the slave control modules communicate bidirectionally with the transparent transmission service through broadcast, and the storage module communicates with the transparent transmission server through broadcast.

[0029] Please refer to Figure 3 , Figure 3 This is a diagram illustrating the architecture of a one-to-many communication system for a remotely controlled unmanned vessel, provided as an embodiment of the present invention.

[0030] In one optional embodiment, the remote-controlled unmanned vessel communication system includes a master unmanned vessel, namely master vessel 1, several slave unmanned vessels, namely vessels 2-n, a transparent transmission server, namely a transparent transmission module, a master control device, and a storage module. The master vessel 1 communicates bidirectionally with the transparent transmission server through a TCP long connection, the master control device also communicates bidirectionally with the transparent transmission server through a TCP long connection, the slave unmanned vessels communicate bidirectionally with the transparent transmission service through broadcast, and the storage module communicates with the transparent transmission server through broadcast.

[0031] In this embodiment, after the transparent transmission server starts up, it listens for TCP connection requests from unmanned surface vessels (USVs) and control devices on various preset ports. After the device powers on and completes network initialization, it actively initiates a TCP connection to the transparent transmission server. Once the connection is successfully established, it reports a login data packet according to a preset communication protocol. This data packet contains the device's unique identifier. For USVs, this identifier is the serial number (SN) burned in at the factory or an electronic serial number defined by the surveying unit. For control devices, in addition to their own identifier, the login data packet also includes the identification information of the target USV they are preparing to control.

[0032] In this embodiment, before acquiring device status data and determining the operating status of the target device based on the device status data, the following steps are included: A device status table is constructed based on the device identifiers and operating statuses of all certified devices. Establish a communication link with the certified device, and mark the online status of the certified device whose communication link has been successfully established as online. The connection status of the communication link is continuously monitored based on a preset time interval. If no service data uploaded by the authenticated device is received within a preset timeout period, the running status of the authenticated device in the device status table is changed to offline status.

[0033] In this embodiment, after receiving a login request, the pass-through server first performs format verification and legality checks on the identifier reported by the device to confirm that the data packet is complete and undamaged. Then, the server compares the device identifier with the device whitelist stored in the local database or cache. If a match is found, the server updates the device's online status, marks the device as online in the device online status table in memory, and records its current TCP link information.

[0034] In an optional embodiment, considering that surveying units often need to temporarily add new unmanned vessels or remote control terminals during actual operations, and that the on-site environment often lacks the conditions for database configuration, if the device identifier does not exist in the whitelist, the server will not directly refuse login. Instead, it allows unregistered devices to automatically complete registration, adding their identifiers to the device list and executing the login process, enabling the device to connect immediately upon power-up. After successful login, the server creates an independent communication session context for the device in memory, including data transmission and reception buffers and link status monitoring counters, for high-speed transmission of subsequent business data and link health monitoring. The entire login authentication process can be completed within hundreds of milliseconds after the TCP connection is established, ensuring a usable experience for operators as soon as the device is powered on.

[0035] In this embodiment, the transparent transmission server maintains a device status table in memory, using the device identifier as the key and the online status as the value, and updates the table immediately whenever a status change occurs. The moment a device successfully establishes a connection and completes login, the corresponding entry in the status table is marked as online. Subsequently, the server actively detects the activity level of each communication link at set time intervals. During navigation, the unmanned vessel may briefly enter a communication dead zone. Although the TCP connection has not been explicitly closed by the operating system, data transmission and reception are actually impossible. If it is not marked as offline in time, subsequent data to be transmitted will still attempt to be sent to the device via the direct channel, resulting in invalid waiting and transmission delays. When the data hierarchical routing process reaches the stage where the target device's operating status needs to be queried, the transparent transmission server directly reads the current marking value of the device from the device status table, using this as the basis for deciding whether to use the direct channel or the broadcast channel.

[0036] In this embodiment, when the transparent transmission server receives heartbeat data or service data reported by the target device through the communication link, it determines that the communication link is normal, updates the online status of the target device in the device online status table to online status, and resets the preset timeout duration.

[0037] This invention constructs a device status table based on the identification information and operational status of all certified devices. When a device successfully establishes a communication link, its online status is marked as online, allowing the device status table to reflect the real-time online status of each device in the system. Furthermore, the system continuously monitors the connection status of each communication link at preset time intervals. If no service data is received from a device within a preset timeout period, the system automatically updates the device's operational status to offline. This lightweight status monitoring method using a heartbeat timeout mechanism achieves accurate perception of device online status without deploying additional service discovery components, ensuring correct channel selection and avoiding data mistransmission or transmission failures due to misjudgment of status.

[0038] In this embodiment, after the transparent transmission server starts, it continuously listens to the configured TCP service ports, waiting for the unmanned surface vessel (USV) and control equipment to connect. After the equipment completes login authentication and establishes a long TCP connection, it begins to send business data to the server. The USV, according to the acquisition rhythm of each sensor, encapsulates multibeam echo sounding data, GNSS positioning data, attitude data, and ship control status information into data frames conforming to a standardized protocol, and continuously pushes them to the server through its own TCP channel. Similarly, when the control equipment needs to issue control commands to the USV, it also sends data frames carrying the target USV identifier and specific command content via the TCP link. Each time the transparent transmission server receives a data frame, it performs packet unpacking and parsing of its header or specified fields according to the protocol specifications, extracting the data source identifier and USV identifier information. The data source identifier is used to determine whether the data frame comes from the USV channel or the control equipment channel; the USV identifier information represents the source USV for uplink data and indicates the target USV to which the control command is delivered for downlink data.

[0039] Step 102: Based on the data source, determine the target device corresponding to the unmanned vessel identification information, wherein the target device includes a target control device or a target unmanned vessel; In this embodiment, the data source includes control equipment or unmanned surface vessels (USVs); determining the target device corresponding to the USV identification information based on the data source includes: When the data source of the data to be transmitted is an unmanned vessel, a target control device is matched in a preset device binding list based on the unmanned vessel identification information; When the data source of the data to be transmitted is a control device, the data to be transmitted is parsed to obtain the target unmanned vessel identifier, and the target unmanned vessel is determined based on the target unmanned vessel identifier.

[0040] In this embodiment, the transparent transmission server extracts the data source identifier from the header or protocol field of the data frame to be transmitted, thereby determining whether the frame data comes from the unmanned vessel channel or the control device channel, and selects a completely different target device positioning path accordingly. When the data source identifier indicates that the frame data is sent from the unmanned vessel, the transparent transmission server extracts the unmanned vessel identification information from a specified field of the data frame, and then uses the identifier as a query key to retrieve the target control device that is bound to the unmanned vessel from a preset device binding list.

[0041] In this embodiment, the device binding list is an in-memory data structure dynamically maintained by the pass-through server during the device login phase. Whenever a control device logs in and reports the identifier of the target unmanned surface vessel it intends to control, the server records this pair of relationships in the list, ensuring that subsequent uplink data can accurately locate the corresponding control terminal. This device binding list allows multiple control devices to be bound to the same unmanned surface vessel. The master control device has full control permissions, while the slave control devices are used for data monitoring. The server delivers data precisely based on the binding relationships, rather than simply broadcasting data to all online devices, thus saving communication overhead for unrelated devices.

[0042] In this embodiment, when the data source identifier indicates that the frame data was sent by the control device, the transparent transmission server parses the data frame and extracts the target unmanned surface vessel (USV) identifier. This identifier is written into a designated field of the data frame by the control device when issuing control commands, declaring the recipient of the command. After extracting the identifier, the server directly queries the online status and communication link information of the target USV in the device status table, without needing to go through the device binding list retrieval process. For downlink data, the data packet itself already carries a clear target indication, so bypassing the binding list to directly locate the target USV is more efficient. When the same frame data enters the transparent transmission server, it is split into two distinct target device paths based on its source direction. Uplink data relies on the binding relationship to find the control device, while downlink data relies on the target identifier declared within the data frame to find the USV. The two paths do not interfere with each other.

[0043] This invention achieves precise routing of uplink unmanned surface vessel (USV) data and downlink control data by employing differentiated target device determination strategies based on different data sources. When data originates from an USV, the USV's identification information is used to quickly match the corresponding target control device in a pre-defined device binding list, ensuring that the sensor data and status information uploaded by the USV can be accurately received by the specific control device with which it is bound. When data originates from a control device, the target USV's identification is extracted by parsing the data to be transmitted, thereby accurately determining the target USV that needs to receive control commands. This allows for rapid and accurate identification of the target object for data transmission regardless of the data flow direction, avoiding invalid transmission or erroneous forwarding due to ambiguous target device identification. This improves the targeting of data transmission, saves unnecessary overhead on the communication link, and provides a reliable decision-making premise for subsequent channel selection based on device status.

[0044] Step 103: Obtain device status data, and determine the operating status of the target device based on the device status data; the operating status is determined based on the connection status of the communication link, and the operating status includes online status and offline status; In this embodiment, the pass-through server determines the target device's operating status not through an external query interface, but entirely based on locally maintained real-time data. After the device completes login authentication and establishes a long TCP connection with the pass-through server, the server continuously performs link health monitoring throughout the lifecycle of that communication link, while maintaining a device status table.

[0045] In this embodiment, the operating status of the target device can be queried in the operating status table by using the device identifier of the target device. The operating status includes online status and offline status.

[0046] Step 104: If the target device is in an online state, the data to be transmitted is transmitted to the target device through the first transmission channel, and after the transmission is completed, the data to be transmitted is distributed to other online devices based on a preset message broadcast queue; the first transmission channel is a direct transmission channel between the target control device or the target unmanned vessel. In this embodiment, if the target device is in an online state, transmitting the data to be transmitted to the target device via the first transmission channel includes: When the target device is a target control device and the target control device is in an online state, the data to be transmitted is forwarded to the target control device based on memory. When the target device is a target unmanned vessel and the target unmanned vessel is in an online state, the control command of the target unmanned vessel is obtained based on the data to be transmitted, and the control command is forwarded to the target unmanned vessel based on memory.

[0047] In this embodiment, once the data to be transmitted has completed the location of the target device and confirmed that the target device is online, the transparent transmission server triggers the data forwarding process of the first transmission channel.

[0048] In this embodiment, since the uplink sensor data or status information from the unmanned vessel is typically large in volume and continuously flowing in, if it were to be queued and forwarded through an additional message queue middleware or serialization buffer layer, each enqueue, dequeue, and format conversion would consume CPU clock cycles and increase memory access overhead, accumulating significant overhead in high-frequency data scenarios. Therefore, if the target device is a control device, the pass-through server directly writes the data to be transmitted into the sending buffer based on the TCP communication link context (ChannelHandlerContext) corresponding to the target control device and immediately flushes it. The data does not go through an additional message queue queuing or protocol conversion layer within the pass-through server, thereby reducing intermediate processing steps and waiting latency in the traditional forwarding path, enabling sensor data and status information to be transmitted back to the control device with lower latency.

[0049] In this embodiment, when the target device is an unmanned surface vessel (USV), the pass-through server also uses memory-level forwarding based on the TCP channel to transmit the data to be transmitted to the TCP link of the target USV. The data to be transmitted from the control device is usually control commands. The difference between control commands and sensor data is that control commands are action commands issued by the operator to the USV. Although the data volume is small, it is extremely sensitive to latency, so the memory pass-through method is also used to ensure its reliability.

[0050] In this embodiment, for a certain transmitted data, when its transmission target is the master control device, it is forwarded through the memory forwarding mechanism in the transparent transmission server.

[0051] In this embodiment, uplink data refers to data flowing from the unmanned surface vessel (USV) to the transparent transmission server and then to the control equipment. This type of data mainly includes operational data collected by various sensors on the USV, including multibeam echo sounding data, GNSS positioning data, attitude sensor data, and ship control status information such as battery level and water temperature.

[0052] In this embodiment, downlink data refers to data flowing from the control device to the transparent transmission server and then to the target unmanned surface vessel (USV). This type of data mainly consists of various control commands issued by the operator to the USV, including steering commands, speed change commands, route planning commands, and mission start or termination commands. The control device encapsulates these commands into data frames carrying the target USV's identifier and sends them to the transparent transmission server via its own TCP link. The server parses the data, extracts the control command content, and then forwards it to the corresponding target USV through a direct channel. The USV's actuators then respond and execute the corresponding actions.

[0053] In this embodiment, uplink data is forwarded as complete data frames, while downlink data requires the control command portion to be extracted before forwarding.

[0054] In this embodiment, after transmitting the data to be transmitted to the target device based on the first transmission channel, the method further includes: When the target device is a target unmanned vessel and the target unmanned vessel is in an online state, unmanned vessels in an online state other than the target unmanned vessel are obtained based on the device status table and used as a set of devices to be synchronized. When the target device is a target control device and the target control device is in an online state, all control devices in an online state other than the target control device are obtained based on the device status table and used as a set of devices to be synchronized. The data to be transmitted is stored in a preset message broadcast queue, and the data to be transmitted is distributed to all devices in the set of devices to be synchronized based on the message broadcast queue.

[0055] In this embodiment, other online devices refer to all devices in the set of devices to be synchronized.

[0056] In this embodiment, after completing the direct forwarding of data through the first transmission channel, the transparent transmission server does not stop processing the frame of data but triggers a parallel data synchronization process. The server executes differentiated synchronization filtering logic based on the type of the target device. If the target device that just received data is an unmanned surface vessel (USV), the server queries the device status table to obtain all other USVs that are online, excluding the USV itself, and includes these devices in the set of devices to be synchronized. If the target device is a control device, the server queries all other control devices that are online to form the set of devices to be synchronized. After the set of devices to be synchronized is determined, the server writes the data to be transmitted into a preset message broadcast queue. This queue operates in memory using a publish-subscribe model, and immediately distributes the data to each device in the set of devices to be synchronized after writing. In this embodiment, the direct channel ensures that the master control device obtains the lowest latency control response and core data return, while the subsequent broadcast synchronization ensures that other online devices in the system can also synchronously obtain the same data. In a one-to-many scenario, after the master control device issues a turning command to a particular unmanned vessel and transmits it via a direct channel, other online unmanned vessels will also receive this command synchronously via broadcast. This ensures that all vessels in the entire cluster are aware that the master control device is performing a control action on one of the vessels. In a one-to-many-control scenario, after the uplink status data of the unmanned vessel reaches the master control device, other slave control devices can also synchronously obtain this data via broadcast, achieving information alignment among multiple monitoring parties. Simultaneously with the broadcast distribution, the asynchronous storage module also subscribes to the queue and independently completes the persistent storage of data to disk, ensuring that storage operations do not affect the efficiency of synchronous distribution.

[0057] This invention achieves high-speed, memory-level transparent transmission by directly forwarding data from memory when the target device is online. When the target device is a target control device and is online, the data to be transmitted from the unmanned vessel is directly forwarded from memory to the target control device. When the target device is the target unmanned vessel and is online, control commands are extracted from the data to be transmitted and forwarded to the target unmanned vessel from memory. Throughout the forwarding process, the data resides in the server's memory, without passing through middleware or disk. This eliminates the memory copying overhead and context switching latency caused by multiple copies of data between middleware / disk in traditional data transmission. This allows control commands and core sensor data to be delivered to the target device with extremely low latency, ensuring that control commands are not blocked by high-frequency sensor data on the transmission path. This fundamentally guarantees the timeliness and safety of unmanned vessel remote control operations and fully leverages the extreme performance advantages of direct transmission channels in low-latency scenarios.

[0058] Step 105: If the target device is in an offline state, the data to be transmitted is transmitted to all candidate devices via the second transmission channel, wherein the candidate devices are control devices or unmanned vessels in an online state.

[0059] In this embodiment, if the target device is in an offline state, then transmitting the data to be transmitted to all candidate devices via the second transmission channel includes: When the target device is a target unmanned surface vessel and the target unmanned surface vessel is in an offline state, all unmanned surface vessels in an online state are obtained based on the device status table and used as a candidate device set. When the target device is a target control device and the target control device is in an offline state, all control devices in an online state are obtained based on the device status table and used as a candidate device set. The data to be transmitted is stored in a preset message broadcast queue, and the data to be transmitted is distributed to all candidate devices in the candidate device set based on the message broadcast queue.

[0060] In this embodiment, when the transparent transmission server determines that the target device is offline, it will trigger the broadcast distribution process of the second transmission channel.

[0061] In this embodiment, if the target unmanned vessel is offline, the pass-through server queries the device status table and filters out all unmanned vessels with an online operating status to form a candidate device set; if the target control device is offline, then all control devices with an online status are filtered to form a candidate device set.

[0062] In this embodiment, after the candidate device set is determined, the pass-through server writes the data to be transmitted into a preset message broadcast queue. This message broadcast queue runs in Redis memory and adopts a publish-subscribe data distribution model. The pass-through server acts as the publisher, writing data to the queue, and all online devices that have subscribed to the queue act as consumers, pulling data from the queue or having data actively pushed by the queue. After writing is complete, the queue immediately distributes the data to the TCP communication link corresponding to each device in the candidate device set.

[0063] In an optional embodiment, in a multi-vessel-one-control operation scenario, if the master control device issues a command to a certain unmanned vessel but the vessel is offline, the command can be broadcast and distributed so that it can be received by other online unmanned vessels in the system, making it convenient for operators to know the status of the command issuance or to adjust the operation plan according to the actual situation. In an optional embodiment, in a scenario of multiple controls per vessel, if the target control device for uplink data from one of the unmanned vessels goes offline, broadcast distribution ensures that other online control devices can still receive the status information of the unmanned vessel, preventing data loss due to a single point of failure.

[0064] This invention ensures that data can still be effectively transferred to other relevant devices within the system even when the target device is unreachable by automatically switching to a broadcast distribution mechanism when the target device is offline. When the offline device is the target unmanned vessel, the system obtains all unmanned vessels with an online operating status as a candidate device set based on the device status table; when the offline device is the target control device, the system obtains all control devices with an online operating status as a candidate device set. Based on this, the data to be transmitted is stored in a preset message broadcast queue, and the data is distributed to all online devices in the candidate device set through this queue. This memory-level message broadcast-based distribution method allows a single piece of data to be received simultaneously by multiple online devices without establishing multiple independent point-to-point transmission links, making it particularly suitable for the practical needs of multiple vessels under one control or multiple control vessels under one vessel scenarios where data needs to be shared by multiple parties. Simultaneously, the broadcast transmission channel and the direct transmission channel complement each other organically. The former ensures transmission efficiency in multi-device data sharing scenarios, while the latter ensures extremely low latency in single-device precise control scenarios. The two channels automatically switch according to the target device status, enabling the system to balance transmission efficiency and data reachability in various operational scenarios.

[0065] In this embodiment, after determining the target device corresponding to the unmanned vessel identification information based on the data source, the method further includes: When the target device is a target unmanned vessel, the data type is determined based on the data to be transmitted, and the data to be transmitted is transmitted to the storage module based on the data type and a preset message broadcast queue, so that the storage module can classify and store the data to be transmitted.

[0066] In this embodiment, when the target device is a target unmanned vessel, the data type is determined based on the type identifier field in the data to be transmitted, and the data to be transmitted is sent to the storage module via the message broadcast queue. The storage module, as an independent subscriber to the message broadcast queue, classifies and asynchronously stores the data to be transmitted according to the data type.

[0067] Please refer to Figure 4 , Figure 4 This is a schematic diagram of a classification and storage process provided in an embodiment of the present invention.

[0068] In this embodiment, after locating the target device, if the pass-through server determines that the target device is an unmanned surface vessel (USV), the server identifies the data type identifier from the protocol header or a specified field of the data frame to be transmitted. This identifier is written by the USV during the data encapsulation stage to declare the category to which the current data frame belongs, covering categories such as ship control status data, flight control attitude data, positioning spatiotemporal data, and water depth detection data. After identification, the server writes the data to be transmitted into a preset message broadcast queue. This queue is independent of the real-time transmission channel and is specifically used to send data to the storage module.

[0069] In this embodiment, the storage module retrieves data asynchronously and routes the data to the corresponding parsing branch according to the data type: ship control status data is parsed to extract equipment operating parameters such as water temperature and battery level; flight control data is parsed to extract flight control parameters such as speed, yaw angle, and attitude angle; positioning data is parsed to extract spatiotemporal information such as latitude, longitude, altitude, and positioning time; and water depth data is parsed to extract standardized water depth values ​​and waveform characteristic parameters. After each branch completes parsing, it is written to the corresponding dedicated database or cache area for subsequent data traceability, operation quality assessment, and mapping result generation. This completely separates real-time transmission and data storage in terms of timing. If the storage module encounters disk write delays or database lock waits, it will not backpressure the real-time transmission link. The control interaction between the unmanned vessel and the control equipment is not affected by any storage operations, thus balancing the real-time response requirements during operation with the integrity and traceability of post-operation data analysis.

[0070] This invention, after identifying the target device as a target unmanned surface vessel (USV), further identifies the data type of the data to be transmitted and, based on the data type, distributes the data to the storage module for categorized storage via a message broadcast queue. This achieves temporal decoupling and link separation between real-time data transmission and persistent storage. When the target device is a USV, the system identifies the specific data type of the data to be transmitted and pushes different categories of data to the corresponding data processing branches of the storage module through a preset message broadcast queue. This design, separating real-time transmission from asynchronous storage, ensures that control commands and sensor data can be transmitted to the target USV with the highest priority, while also ensuring that operational data is stored completely and orderly on disk. This provides reliable raw data support for subsequent data review and analysis, operational quality assessment, and compliance auditing, achieving a balance and unity between transmission efficiency and data integrity.

[0071] Please refer to Figure 5 and Figure 6 , Figure 5 This is a flowchart illustrating a remotely controlled unmanned surface vessel communication system provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of a remotely controlled unmanned vessel communication system provided in an embodiment of the present invention.

[0072] In this embodiment, the remote-controlled unmanned vessel communication system includes a transparent transmission server, several unmanned vessels, several unmanned vessel remote control (control devices), a Redis cache, a storage module, and a web module.

[0073] In this embodiment, after the unmanned surface vessel (USV) completes power-on and network initialization, it proactively initiates a TCP connection request to the transparent transmission server and reports a login data packet, thus completing identity authentication and establishing a communication link. After successful online access, the USV begins continuously pushing business data to the transparent transmission server according to the collection frequency of each sensor. These data frames carry USV identification information and data source identifiers.

[0074] After receiving a data frame from the unmanned surface vessel (USV), the pass-through server parses it to extract the data source identifier and USV identifier. Then, using the USV identifier as the query key, it searches the device binding list for control devices bound to that USV. The search result determines the subsequent data distribution path. If a matching control device exists in the binding list and is currently online, the pass-through server recognizes the presence of a master control device, triggering the forwarding process of the memory pass-through channel. This channel employs a memory-level data forwarding mechanism, where data is delivered directly to the master control device without additional message queue queuing or serialization buffering within the pass-through server, ensuring that sensor data and status information are transmitted back to the control terminal with extremely low latency. Simultaneously, control commands issued by the master control device also flow back to the USV via the same path, forming a two-way interactive closed loop that ensures real-time synchronization of control commands and status feedback.

[0075] If the pass-through server fails to find a matching online control device for the unmanned vessel in the device binding list, it assumes that no master control device exists and triggers the message broadcast channel's distribution process. The same unmanned vessel data is written to an in-memory message broadcast queue, which uses a publish-subscribe model to simultaneously distribute data to all online slave control devices that have subscribed to the queue. In operational scenarios, slave control devices are primarily used for data monitoring and analysis; they can synchronously acquire real-time status information of the unmanned vessel but do not have the authority to issue core control commands. The broadcast distribution also covers the asynchronous storage module, which acts as an independent consumer, pulling data from the broadcast queue and writing it to the corresponding storage database after data type identification.

[0076] In this embodiment, with a master controller present and memory pass-through enabled, after the pass-through server completes the direct forwarding of data to the master controller, it will still synchronously push the same data to the message broadcast queue for consumption by slave controllers and asynchronous storage modules. This "pass-through first, broadcast later" design ensures that the master controller receives the lowest latency control response without sacrificing the data synchronization needs of other monitoring terminals.

[0077] In this embodiment, after data is transmitted or broadcast, it enters the processing scope of the asynchronous storage module. The storage module routes different categories of data to their respective parsing branches based on the data type identifiers in the data frames: ship control status data is parsed to obtain operating parameters such as water temperature and battery level; flight control attitude data is parsed to obtain speed, yaw angle, and attitude angle; positioning data is parsed to obtain latitude, longitude, and altitude; and water depth data is parsed to obtain standardized water depth values ​​and waveform characteristic parameters. After parsing, each branch writes the data to its corresponding dedicated database and adds a unified timestamp to each data packet, establishing a multi-dimensional index. Based on these timestamps and indexes, the system can accurately reconstruct the complete operational trajectory of the unmanned surface vessel, the process of equipment status changes, and the acquisition sequence of data from each sensor. This supports spatiotemporal source tracing analysis, enabling the rapid location of the specific time point and environmental factors causing the deviation when the unmanned surface vessel experiences operational deviations or equipment anomalies. This provides detailed data for operational quality assessment, equipment fault diagnosis, and operational process optimization.

[0078] This invention also provides a data transmission device for a remotely controlled unmanned vessel communication system, comprising: a data acquisition module, a target confirmation module, a status confirmation module, a first transmission module, and a second transmission module; The data acquisition module is used to acquire data to be transmitted, which includes unmanned vessel identification information and data source; The target confirmation module is used to determine the target device corresponding to the unmanned vessel identification information based on the data source, wherein the target device includes a target control device or a target unmanned vessel; The status confirmation module is used to acquire device status data and determine the operating status of the target device based on the device status data; the operating status is determined based on the connection status of the communication link, and the operating status includes online status and offline status; The first transmission module is configured to transmit the data to be transmitted to the target device via a first transmission channel if the target device is in an online state, and to distribute the data to be transmitted to other online devices based on a preset message broadcast queue after the transmission is completed; the first transmission channel is a direct transmission channel between the target control device or the target unmanned vessel. The second transmission module is used to transmit the data to be transmitted to all candidate devices based on the second transmission channel if the target device is in an offline state, wherein the candidate devices are control devices or unmanned vessels in an online state.

[0079] In this embodiment, the data source includes control equipment or unmanned surface vessels (USVs); the target confirmation module is used to determine the target device corresponding to the USV identification information based on the data source, including: When the data source of the data to be transmitted is an unmanned vessel, a target control device is matched in a preset device binding list based on the unmanned vessel identification information; When the data source of the data to be transmitted is a control device, the data to be transmitted is parsed to obtain the target unmanned vessel identifier, and the target unmanned vessel is determined based on the target unmanned vessel identifier.

[0080] In this embodiment, a state maintenance module is also included, used for: A device status table is constructed based on the device identifiers and operating statuses of all certified devices. Establish a communication link with the certified device, and mark the online status of the certified device whose communication link has been successfully established as online. The connection status of the communication link is continuously monitored based on a preset time interval. If no service data uploaded by the authenticated device is received within a preset timeout period, the running status of the authenticated device in the device status table is changed to offline status.

[0081] In this embodiment, the first transmission module is used to transmit the data to be transmitted to the target device based on the first transmission channel if the target device is in an online state, including: When the target device is a target control device and the target control device is in an online state, the data to be transmitted is forwarded to the target control device based on memory. When the target device is a target unmanned vessel and the target unmanned vessel is in an online state, the control command of the target unmanned vessel is obtained based on the data to be transmitted, and the control command is forwarded to the target unmanned vessel based on memory.

[0082] In this embodiment, the second transmission module is used to transmit the data to be transmitted to all candidate devices based on the second transmission channel if the target device is in an offline state, including: When the target device is a target unmanned surface vessel and the target unmanned surface vessel is in an offline state, all unmanned surface vessels in an online state are obtained based on the device status table and used as a candidate device set. When the target device is a target control device and the target control device is in an offline state, all control devices in an online state are obtained based on the device status table and used as a candidate device set. The data to be transmitted is stored in a preset message broadcast queue, and the data to be transmitted is distributed to all candidate devices in the candidate device set based on the message broadcast queue.

[0083] In this embodiment, a storage module is also included, which, after determining the target device corresponding to the unmanned vessel identification information based on the data source, further includes: When the target device is a target unmanned vessel, the data type is determined based on the data to be transmitted, and the data to be transmitted is transmitted to the storage module based on the data type and a preset message broadcast queue, so that the storage module can classify and store the data to be transmitted.

[0084] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A data transmission method for a remotely controlled unmanned surface vessel (UAV) communication system, characterized in that, include: Acquire the data to be transmitted, which includes the unmanned vessel identification information and the data source; Based on the data source, a target device corresponding to the unmanned vessel identification information is determined, and the target device includes a target control device or a target unmanned vessel. Acquire device status data, and determine the operating status of the target device based on the device status data; The operating status is determined based on the connection status of the communication link, and the operating status includes online status and offline status. If the target device is in an online state, the data to be transmitted is transmitted to the target device through the first transmission channel, and after the transmission is completed, the data to be transmitted is distributed to other online devices based on a preset message broadcast queue; the first transmission channel is a direct transmission channel between the target control device or the target unmanned vessel. If the target device is in an offline state, the data to be transmitted is transmitted to all candidate devices via the second transmission channel, wherein the candidate devices are control devices or unmanned vessels that are in an online state.

2. The data transmission method of a remotely controlled unmanned surface vessel communication system as described in claim 1, characterized in that, The data source includes control equipment or unmanned surface vessels (USVs); the step of determining the target device corresponding to the USV identification information based on the data source includes: When the data source of the data to be transmitted is an unmanned vessel, a target control device is matched in a preset device binding list based on the unmanned vessel identification information; When the data source of the data to be transmitted is a control device, the data to be transmitted is parsed to obtain the target unmanned vessel identifier, and the target unmanned vessel is determined based on the target unmanned vessel identifier.

3. The data transmission method of a remotely controlled unmanned surface vessel communication system as described in claim 2, characterized in that, Before acquiring device status data and determining the operating status of the target device based on the device status data, the process includes: A device status table is constructed based on the device identifiers and operating statuses of all certified devices. Establish a communication link with the certified device, and mark the online status of the certified device whose communication link has been successfully established as online. The connection status of the communication link is continuously monitored based on a preset time interval. If no service data uploaded by the authenticated device is received within a preset timeout period, the running status of the authenticated device in the device status table is changed to offline status.

4. The data transmission method of a remotely controlled unmanned surface vessel communication system as described in claim 3, characterized in that, If the target device is in an online state, then transmitting the data to be transmitted to the target device via the first transmission channel includes: When the target device is a target control device and the target control device is in an online state, the data to be transmitted is forwarded to the target control device based on memory. When the target device is a target unmanned vessel and the target unmanned vessel is in an online state, the control command of the target unmanned vessel is obtained based on the data to be transmitted, and the control command is forwarded to the target unmanned vessel based on memory.

5. The data transmission method of a remotely controlled unmanned surface vessel communication system as described in claim 4, characterized in that, If the target device is in an offline state, the data to be transmitted is transmitted to all candidate devices via the second transmission channel, including: When the target device is a target unmanned surface vessel and the target unmanned surface vessel is in an offline state, all unmanned surface vessels in an online state are obtained based on the device status table and used as a candidate device set. When the target device is a target control device and the target control device is in an offline state, all control devices in an online state are obtained based on the device status table and used as a candidate device set. The data to be transmitted is stored in a preset message broadcast queue, and the data to be transmitted is distributed to all candidate devices in the candidate device set based on the message broadcast queue.

6. The data transmission method of a remotely controlled unmanned surface vessel communication system as described in claim 5, characterized in that, The distribution of the data to be transmitted to other online devices based on a preset message broadcast queue includes: When the target device is a target unmanned vessel and the target unmanned vessel is in an online state, unmanned vessels in an online state other than the target unmanned vessel are obtained based on the device status table and used as a set of devices to be synchronized. When the target device is a target control device and the target control device is in an online state, all control devices in an online state other than the target control device are obtained based on the device status table and used as a set of devices to be synchronized. The data to be transmitted is stored in a preset message broadcast queue, and the data to be transmitted is distributed to all devices in the set of devices to be synchronized based on the message broadcast queue.

7. A data transmission method for a remotely controlled unmanned surface vessel communication system as described in any one of claims 1 to 6, characterized in that, After determining the target device corresponding to the unmanned vessel identification information based on the data source, the method further includes: When the target device is a target unmanned vessel, the data type is determined based on the data to be transmitted, and the data to be transmitted is transmitted to the storage module based on the data type and a preset message broadcast queue, so that the storage module can classify and store the data to be transmitted.

8. A data transmission device for a remotely controlled unmanned vessel communication system, characterized in that, include: Data acquisition module, target confirmation module, status confirmation module, first transmission module and second transmission module; The data acquisition module is used to acquire data to be transmitted, which includes unmanned vessel identification information and data source; The target confirmation module is used to determine the target device corresponding to the unmanned vessel identification information based on the data source, wherein the target device includes a target control device or a target unmanned vessel; The status confirmation module is used to acquire device status data and determine the operating status of the target device based on the device status data; the operating status is determined based on the connection status of the communication link, and the operating status includes online status and offline status; The first transmission module is configured to transmit the data to be transmitted to the target device via a first transmission channel if the target device is in an online state, and to distribute the data to be transmitted to other online devices based on a preset message broadcast queue after the transmission is completed; the first transmission channel is a direct transmission channel between the target control device or the target unmanned vessel. The second transmission module is used to transmit the data to be transmitted to all candidate devices based on the second transmission channel if the target device is in an offline state, wherein the candidate devices are control devices or unmanned vessels in an online state.

9. The data transmission device for a remotely controlled unmanned vessel communication system as described in claim 8, characterized in that, The data sources include control equipment or unmanned vessels; The target confirmation module is used to determine the target device corresponding to the unmanned vessel identification information based on the data source, including: When the data source of the data to be transmitted is an unmanned vessel, a target control device is matched in a preset device binding list based on the unmanned vessel identification information; When the data source of the data to be transmitted is a control device, the data to be transmitted is parsed to obtain the target unmanned vessel identifier, and the target unmanned vessel is determined based on the target unmanned vessel identifier.

10. The data transmission device for a remotely controlled unmanned vessel communication system as described in claim 9, characterized in that, It also includes a status maintenance module, used for: A device status table is constructed based on the device identifiers and operating statuses of all certified devices. Establish a communication link with the certified device, and mark the online status of the certified device whose communication link has been successfully established as online. The connection status of the communication link is continuously monitored based on a preset time interval. If no service data uploaded by the authenticated device is received within a preset timeout period, the running status of the authenticated device in the device status table is changed to offline status.

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