CN111615122A - Communication method, device and terminal for unmanned ship formation - Google Patents
Communication method, device and terminal for unmanned ship formation Download PDFInfo
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Abstract
The application is applicable to the technical field of unmanned ship control, and provides a communication method, a device and a terminal for unmanned ship formation, wherein the communication method comprises the following steps: detecting whether the server application of the lead unmanned ship can carry out data communication with shore-side equipment or not; if the fact that the server application of the leading unmanned ship cannot carry out data communication with the shore end equipment is detected, the number of other non-leading unmanned ships which are respectively corresponding to each non-leading unmanned ship and can carry out data communication with the non-leading unmanned ship is obtained, and the packet loss rate and the communication time delay of each non-leading unmanned ship when carrying out data communication with other non-leading unmanned ships which can carry out data communication with the non-leading unmanned ship are obtained; updating the non-leading unmanned ship with the number larger than the first threshold value into a new leading unmanned ship, wherein the packet loss rate of the non-leading unmanned ship is smaller than the second threshold value and the communication time delay of the non-leading unmanned ship is the minimum, and the new leading unmanned ship is in data communication with shore-end equipment; the fault tolerance of the unmanned ship formation and the communication quality of the unmanned ship formation are improved.
Description
Technical Field
The application belongs to the technical field of unmanned ship control, and particularly relates to a communication method, device and terminal for unmanned ship formation.
Background
In a high-humidity environment with high marine noise, the propagation distance of sound is greatly reduced, the sound of a single unmanned ship is limited, and deterrence force is difficult to generate, so that the remote synchronous calling function of unmanned ship formation is particularly necessary when tasks such as warning patrol, cooperative escort, cooperative pursuit, cooperative driving-away, cooperative enclosure and the like are executed.
The realization process of the function is as follows: the audio signals are transmitted to the leading unmanned ship in the unmanned ship formation through the unmanned ship shore end equipment, the leading unmanned ship transmits the audio signals to all other unmanned ships in the formation, power amplification is carried out through power amplifiers of all the unmanned ships, then, the audio signals are simultaneously played by all the unmanned ships through loudspeakers, and the remote synchronous calling function is achieved.
However, the current unmanned ship formation often has the problem of poor fault tolerance. When a leading unmanned ship in the unmanned ship formation fails and cannot receive audio signals sent by shore-side equipment, the synchronous shouting function of the unmanned ship formation is also disabled.
Disclosure of Invention
The embodiment of the application provides a communication method, a communication device, a communication terminal and a computer-readable storage medium for unmanned ship formation, which can improve fault tolerance of unmanned ship formation and communication quality of unmanned ship formation.
A first aspect of an embodiment of the present application provides a communication method for formation of unmanned ships, where the formation of unmanned ships includes a lead unmanned ship and at least one non-lead unmanned ship; the leader unmanned ship and the non-leader unmanned ship are both provided with a server application and a client application; the communication method for the unmanned ship formation comprises the following steps:
detecting whether the server application of the lead unmanned ship can carry out data communication with shore-side equipment or not;
if the fact that the server application of the leading unmanned ship cannot perform data communication with shore-side equipment is detected, acquiring the number of other non-leading unmanned ships which are respectively corresponding to each non-leading unmanned ship and can perform data communication with the non-leading unmanned ship, and acquiring the packet loss rate and the communication time delay of each non-leading unmanned ship when performing data communication with the other non-leading unmanned ships which can perform data communication with the non-leading unmanned ship;
and updating the non-leading unmanned ship with the number larger than the first threshold value into a new leading unmanned ship, wherein the packet loss rate of the non-leading unmanned ship is smaller than the second threshold value and the communication time delay of the non-leading unmanned ship is the minimum, and the new leading unmanned ship is in data communication with the shore end equipment.
According to a second aspect of the embodiments of the present application, there is provided a communication device for formation of unmanned ships, where the formation of unmanned ships includes a lead unmanned ship and at least one non-lead unmanned ship; the leader unmanned ship and the non-leader unmanned ship are both provided with a server application and a client application; the communication device for the formation of the unmanned ship comprises:
the detection unit is used for detecting whether the server application of the lead unmanned ship can carry out data communication with shore-side equipment or not;
the acquiring unit is used for acquiring the number of other non-leading unmanned ships which respectively correspond to each non-leading unmanned ship and can carry out data communication with the non-leading unmanned ship and acquiring the packet loss rate and the communication time delay of each non-leading unmanned ship when carrying out data communication with the other non-leading unmanned ships which can carry out data communication with the non-leading unmanned ship, if the fact that the server application of the leading unmanned ship cannot carry out data communication with shore end equipment is detected;
and the updating unit is used for updating the non-leading unmanned ship with the number larger than the first threshold into a new leading unmanned ship in the non-leading unmanned ship with the number smaller than the second threshold and the minimum communication time delay, and performing data communication between the new leading unmanned ship and the shore-side equipment.
A third aspect of the embodiments of the present application provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the above method.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a terminal device, causes the terminal device to perform the steps of the method.
In the embodiment of the application, whether the service end application of the unmanned ship of the leader can carry out data communication with shore end equipment or not is monitored in real time, the service end application of the unmanned ship of the leader can not carry out data communication with the shore end equipment, the number of the unmanned ships of the non leader is larger than a first threshold value, the packet loss rate is smaller than a second threshold value, the unmanned ship of the non leader with the minimum communication time delay is updated to be a new unmanned ship of the leader, when the original unmanned ship of the leader breaks down, the new unmanned ship of the leader can ensure that the unmanned ship of the leader carries out a formation task normally, for example, the remote synchronous call of the unmanned ship formation is ensured to be carried out normally, the problem that the unmanned ship of the leader breaks down in the unmanned ship formation and the synchronous call function of the unmanned ship formation fails is solved, and the fault tolerance of the unmanned ship formation is improved.
In addition, the new piloted unmanned ship can interact with the maximum number of other non-piloted unmanned ships, and has the advantages of low packet loss rate and low communication time delay, so that the communication quality of the formation of the unmanned ships can be effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic diagram of a single unmanned ship communicating with shore-side equipment according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating an implementation of a communication method for formation of unmanned ships according to an embodiment of the present application;
fig. 3 is a schematic diagram of an unmanned ship formation and shore-side equipment communication provided by an embodiment of the present application;
fig. 4 is a schematic structural diagram of a communication device for formation of unmanned ships according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic diagram illustrating that a single unmanned ship performs a remote shouting function through a shore-side device such as a base station or a remote controller according to an embodiment of the present application; the shore-end equipment is provided with the client application, and can control the unmanned ship to sail and realize the remote shouting of the unmanned ship. The unmanned ship is provided with a server application and a client application, and a simple data interaction link can be established by operating the client application of the shore-side equipment, the server application and the client application of the unmanned ship.
When bank end equipment realizes the remote function of calling out of a single unmanned ship, bank end equipment such as a base station or a remote controller receives calling out audio data from bank end users, the received calling out audio data are transmitted to the service end application of the unmanned ship through a public network or a private network (namely a local area network), the service end application of the unmanned ship is transmitted to the client application of the unmanned ship, then power amplification is carried out through a power amplifier, the calling out audio is played through a loudspeaker, and the remote function of calling out is realized.
However, in a high-humidity environment with high noise at sea, the propagation distance of sound is greatly reduced, the sound of a single unmanned ship is limited, and deterrence force is difficult to generate, so that the remote synchronous shouting function of unmanned ship formation is particularly necessary when tasks such as warning patrol, cooperative guard navigation, cooperative pursuit, cooperative driving-away, cooperative enclosure and the like are executed.
The realization process of the function is as follows: the audio signal that will shout through unmanned ship bank end equipment conveys the unmanned ship of the leading team in the unmanned ship formation, and the unmanned ship of leading team conveys audio frequency to all other unmanned ships in the formation, by the power amplifier amplification power of each unmanned ship, then, audio frequency is broadcast simultaneously through loudspeaker to all unmanned ships rethread, realizes the long-range function of shouting in step.
However, the current unmanned ship formation often has the problem of poor fault tolerance. When a leading unmanned ship in the unmanned ship formation fails and cannot receive audio signals sent by shore-side equipment, the synchronous shouting function of the unmanned ship formation is also disabled.
Based on the above, the communication method, the communication device, the communication terminal and the computer-readable storage medium for unmanned ship formation can improve fault tolerance of unmanned ship formation and communication quality of unmanned ship formation, and solve the problem of failure of synchronous calling function of unmanned ship formation caused by failure of leading unmanned ships in unmanned ship formation.
It should be noted that the communication method for formation of the unmanned ship is not only suitable for an application scenario of realizing a synchronous shouting function of formation of the unmanned ship, but also suitable for other application scenarios of requiring communication between the unmanned ships in the formation of the unmanned ship, as can be understood by those skilled in the art.
Fig. 2 shows a schematic implementation flow chart of a communication method for formation of an unmanned ship, which can be applied to a terminal such as an unmanned ship or a shore-end device, and is executed by a communication device configured on the terminal for formation of an unmanned ship.
Wherein the formation of unmanned ships may include one lead unmanned ship and at least one non-lead unmanned ship; and the piloted unmanned ship and the non-piloted unmanned ship are both provided with a server application and a client application. The server application can enable each client application to perform normal data interaction.
As shown in fig. 3, in the embodiment of the application, when the lead unmanned ship is not in a fault, the server application of the lead unmanned ship is in a normal working state, and the server application of the lead unmanned ship can perform data communication (shown by a solid line in the figure) with the shore-side device and the client applications of other lead unmanned ships, for example, receive a shout audio data packet sent by the shore-side device and send the received shout audio data packet to the client applications of each non-lead unmanned ship, and the lead unmanned ship and each non-lead unmanned ship process audio contents corresponding to the received shout audio data packet by using the client applications installed by the lead unmanned ship and each non-lead unmanned ship, so as to implement a synchronous shout function. At this time, the server applications of the other non-lead unmanned ships are in a semi-sleep state, and only broadcast the heartbeat data of the server applications, and receive the heartbeat data of the lead unmanned ship and the other non-lead unmanned ships (shown by dotted lines in the figure).
Based on the data interaction method applied between the client applications by the unmanned ship formation server shown in fig. 3, as shown in fig. 2, the communication method for unmanned ship formation provided by the embodiment of the present application may include steps 101 to 103.
In the embodiment of the application, whether the communication fault exists in the piloted unmanned ship can be judged by detecting whether the server application of the piloted unmanned ship can carry out data communication with shore end equipment. For example, when the server application of the lead unmanned ship cannot perform data communication with the shore-side equipment, it indicates that the lead unmanned ship has a communication fault and needs to be replaced by a new lead unmanned ship; when the server application of the lead unmanned ship can perform data communication with the shore end equipment, the communication fault does not exist in the lead unmanned ship, and the lead unmanned ship can not be replaced.
In some embodiments of the present application, the detecting whether the server application of the lead unmanned ship can perform data communication with the shore-side device may include: and the service end application of the leader unmanned ship sends feedback data to the shore end equipment after receiving the shouting audio data packet sent by the shore end equipment, judges whether the shore end equipment receives the feedback data, and determines whether the service end application of the leader unmanned ship can carry out data communication with the shore end equipment.
For example, if the shore-side device does not receive the feedback data, it indicates that the server application of the lead unmanned ship cannot perform data communication with the shore-side device, and if the shore-side device can receive the feedback data, it indicates that the server application of the lead unmanned ship can perform data communication with the shore-side device.
In addition, in some embodiments of the application, the detection of whether the server application of the lead unmanned ship can perform data communication with the shore-side device may be implemented by judging whether the client application of the non-lead unmanned ship can receive a shout audio data packet sent by the lead unmanned ship.
Specifically, if the client application of the non-leading unmanned ship cannot receive the shout audio data packet sent by the leading unmanned ship, the client application of the non-leading unmanned ship indicates that the server application of the leading unmanned ship cannot perform data communication with the shore-side equipment, and if the client application of the non-leading unmanned ship can receive the shout audio data packet sent by the leading unmanned ship, the client application of the non-leading unmanned ship indicates that the server application of the leading unmanned ship can perform data communication with the shore-side equipment.
In the embodiment of the application, if it is detected that the server application of the lead unmanned ship cannot perform data communication with the shore-side equipment, it is indicated that the lead unmanned ship has a communication fault, and in order to avoid functional failures such as synchronous shouting of the formation of the unmanned ship, a new lead unmanned ship needs to be replaced.
In the embodiment of the application, the more the number of other unmanned non-leading vessels capable of carrying out data communication with one unmanned non-leading vessel is, the stronger the data interaction capacity of the unmanned non-leading vessel is; the lower the packet loss rate of a certain non-leading unmanned ship is, the higher the reliability is when the non-leading unmanned ship communicates with other non-leading unmanned ships; the communication delay is lower when a certain non-leading unmanned ship communicates with other non-leading unmanned ships, which indicates that when the non-leading unmanned ship communicates with other non-leading unmanned ships, the other non-leading unmanned ships can receive the data sent by the non-leading unmanned ship more quickly, that is, the communication efficiency is higher.
Therefore, in order to ensure the communication quality of the formation of the unmanned ships, when it is detected that the service end application of the leading unmanned ship cannot perform data communication with the shore end equipment, the number of other non-leading unmanned ships capable of performing data communication with the service end application and corresponding to each non-leading unmanned ship can be obtained, the packet loss rate and the communication delay of each non-leading unmanned ship during data communication with the other non-leading unmanned ships capable of performing data communication with the non-leading unmanned ship can be obtained, and the non-leading unmanned ship with the new leading unmanned ship, which has the large number of other non-leading unmanned ships capable of performing data communication with the service end application, and the low packet loss rate and the low communication delay, can be selected as the new leading unmanned ship.
Specifically, in some embodiments of the present application, the acquiring the number of other unmanned non-lead vessels capable of performing data communication with each unmanned non-lead vessel corresponding to each unmanned non-lead vessel may include: the method comprises the steps of obtaining the number of other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships when the non-leading unmanned ships broadcast heartbeat data to server applications of the non-leading unmanned ships except the non-leading unmanned ships, and taking the number of the other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships as the number of the other non-leading unmanned ships capable of carrying out data communication with the non-leading unmanned ships corresponding to the non-leading unmanned ships respectively.
In the embodiment of the application, when the piloting unmanned ship breaks down, the server applications of other non-piloting unmanned ships are converted from the semi-sleep state to the wake-up state, and besides broadcasting heartbeat data of the non-piloting unmanned ships, the number of the other non-piloting unmanned ships capable of sending the heartbeat data to the non-piloting unmanned ships can be calculated. Therefore, the number of the other non-leading unmanned ships which are respectively corresponding to the non-leading unmanned ships and can perform data communication with the non-leading unmanned ships can be obtained by obtaining the number of the other non-leading unmanned ships which can send heartbeat data to the non-leading unmanned ships and calculating the number of the other non-leading unmanned ships which can send the heartbeat data to the non-leading unmanned ships when the non-leading unmanned ships broadcast heartbeat data to the server applications of the other non-leading unmanned ships except the non-leading unmanned ships.
In some embodiments of the present application, the obtaining packet loss ratios, corresponding to each non-lead unmanned ship, when performing data communication with other non-lead unmanned ships capable of performing data communication with the non-lead unmanned ship may include: obtaining the ratio of the quantity of heartbeat data received from the heartbeat data broadcasted by the server applications of the other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships within a preset time period, which is obtained by calculation of each non-leading unmanned ship, to the corresponding total quantity of the heartbeat data, and taking the average value of the ratios as the packet loss rate of each non-leading unmanned ship when performing data communication with the other non-leading unmanned ships capable of performing data communication with the non-leading unmanned ship.
Since a certain non-lead unmanned ship may be capable of performing data communication with a plurality of other non-lead unmanned ships, it is necessary to obtain a ratio of the number of heartbeat data received from the heartbeat data broadcasted by the server application of each of the other non-lead unmanned ships capable of sending heartbeat data to itself within a preset time period, which is calculated by each of the non-lead unmanned ships, to the corresponding total number of heartbeat data, and determine packet loss rates of the non-lead unmanned ships when performing data communication with the other non-lead unmanned ships capable of performing data communication, which correspond to each of the non-lead unmanned ships, in a manner of obtaining an average value of the ratios.
It should be noted that, in other embodiments of the present application, a ratio between the quantity of heartbeat data received from the heartbeat data broadcasted by the server application of each of the other non-lead unmanned ships capable of sending heartbeat data to itself within a preset time period, which is obtained by calculation by each of the non-lead unmanned ships, and the corresponding total quantity of heartbeat data is obtained, and a median corresponding to the ratio may also be used as a packet loss rate when each of the non-lead unmanned ships performs data communication with the other non-lead unmanned ships capable of performing data communication with the non-lead unmanned ship, which corresponds to each of the non-lead unmanned ships.
In some embodiments of the present application, the obtaining of the communication delay corresponding to each non-lead unmanned ship when performing data communication with other non-lead unmanned ships capable of performing data communication with the non-lead unmanned ship may include: and obtaining the mean square error of the time difference between the GPS time of each heartbeat data and the GPS time carried by each heartbeat data in a group of heartbeat data which are calculated by each non-leading unmanned ship and received from each other non-leading unmanned ship capable of sending the heartbeat data to the non-leading unmanned ship, and taking the mean value of the mean square error as the communication time delay of each non-leading unmanned ship when the non-leading unmanned ship is in data communication with the other non-leading unmanned ships capable of carrying out data communication.
In particular, a formula may be utilized
Calculating the mean square error RMS of the time difference between the GPS time of each heartbeat data and the GPS time carried by each heartbeat data, wherein N represents the number of a group of heartbeat data, tiAnd the time difference between the received GPS time of the ith heartbeat data in the group of heartbeat data and the GPS time carried by the corresponding heartbeat data is represented.
And 103, updating the non-leading unmanned ship with the number larger than the first threshold value into a new leading unmanned ship, wherein the packet loss rate of the non-leading unmanned ship is smaller than a second threshold value and the communication time delay of the non-leading unmanned ship is the minimum, and the new leading unmanned ship performs data communication with the shore-end equipment.
The first threshold value represents the lowest quantity value of the non-leading unmanned ship capable of carrying out data communication with the leading unmanned ship; the second threshold value represents the lowest packet loss rate value of the leading unmanned ship. In the embodiment of the present application, both the first threshold and the second threshold may be set through practical experience, and may also be adjusted according to an actual application scenario.
In the embodiment of the application, when the leading unmanned ship is updated, the packet loss rate is smaller than the second threshold value, and the non-leading unmanned ship with the minimum communication time delay is updated to be a new leading unmanned ship by selecting the non-leading unmanned ship with the number larger than the first threshold value, namely, the non-leading unmanned ship with the minimum communication time delay is selected as the new leading unmanned ship in the non-leading unmanned ship which meets the minimum numerical value requirement of the non-leading unmanned ship capable of carrying out data communication with the leading unmanned ship and the minimum packet loss rate numerical requirement of the leading unmanned ship, so that the new leading unmanned ship can interact with the maximum number of other non-leading unmanned ships, has low packet loss rate and low communication time delay, and therefore, the communication quality of the formation of the unmanned ships can be effectively improved.
In the embodiment of the application, whether the server application of the unmanned ship of the lead team can carry out data communication with shore end equipment or not is monitored in real time, the server application of the unmanned ship of the lead team can not carry out data communication with the shore end equipment, and the unmanned ship of the lead team is updated, so that when the unmanned ship of the original lead team breaks down, the unmanned ship of the new lead team can guarantee the normal execution task of the formation of the unmanned ship, and the fault tolerance of the formation of the unmanned ship is improved.
In some embodiments of the application, when the server of the leader unmanned ship is used for data communication with shore-side equipment, the server can receive a shout audio data packet sent by the shore-side equipment; the synchronous calling function of unmanned ship formation is realized.
However, because network delays between the lead unmanned ship and each non-lead unmanned ship are inconsistent, when the unmanned ship formation synchronous shouting function is realized, noisy sounds are easily generated due to different unmanned ship sounds which are asynchronous.
To avoid this, in some embodiments of the present application, the shouting of the unmanned ship after receiving the audio data packet sent by the shore-end device may include: and writing the GPS time T of the leading unmanned ship in the shout audio data packet to obtain a new shout audio data packet, and sending the new shout audio data packet to the client application of the leading unmanned ship and the client applications of the non-leading unmanned ships, so that the audio content corresponding to the shout audio data packet is played when the client application of the leading unmanned ship and the client applications of the non-leading unmanned ships reach the appointed time T + T.
In some embodiments of the application, when the client application of the self of the leading unmanned ship and the client application of each non-leading unmanned ship reach appointed time T + T, the audio content corresponding to the audio data packet is played, the automatic time service function can be started by the leading unmanned ship and each non-leading unmanned ship, so that the time of the leading unmanned ship and each non-leading unmanned ship is GPS time, the client application of the non-leading unmanned ship is ensured to be after receiving the audio data packet, the client application of the self of the leading unmanned ship and the client application of each non-leading unmanned ship can reach the appointed time T + T in the GPS, and when the audio content corresponding to the audio data packet is played, the synchronous call calling function can be realized.
The method comprises the steps that t is predetermined waiting time, the waiting time is longer than the time of network delay, and therefore when the unmanned ship formation synchronously calls according to the audio content corresponding to the calling audio data packet, the client application of the unmanned ship of the leading team and the client application of each unmanned ship of the non-leading team can be guaranteed to have received the playing calling audio data packet, the problem that different unmanned ship sounds are not synchronous due to inconsistent network delay of each unmanned ship is solved, and the synchronous calling effect of the unmanned ship formation is improved.
In some embodiments of the present application, the function of starting automatic time service by the lead unmanned ship and each non-lead unmanned ship may include: when the service end application of the leading unmanned ship and each non-leading unmanned ship starts to operate, the service end application of the leading unmanned ship and each non-leading unmanned ship starts an automatic time service function, and after the automatic time service is successful, a time service success reminding message is sent to the shore end equipment, so that the shore end equipment can confirm whether the time of the leading unmanned ship and each non-leading unmanned ship is the GPS time according to the received time service success reminding message.
In some embodiments of the present application, after the service end application of the lead unmanned ship and each non-lead unmanned ship starts the automatic time service function, the method may further include that the service end application of the lead unmanned ship and each non-lead unmanned ship judges whether a difference between the system time of the lead unmanned ship and the GPS time is less than a time threshold, and determines that automatic time service is successful when the difference between the system time of the lead unmanned ship and the GPS time is less than the time threshold, and sends a time service success reminding message to the shore-end device; and when the difference value between the self system time and the GPS time is greater than or equal to the time threshold value, determining that the automatic time service fails, and restarting the automatic time service function.
It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.
Fig. 4 is a schematic diagram of a communication device 400 for an unmanned ship formation configured at a terminal according to an embodiment of the present invention, where the unmanned ship formation includes a lead unmanned ship and at least one non-lead unmanned ship; the leader unmanned ship and the non-leader unmanned ship are both provided with a server application and a client application; the communication device 400 of the formation of the unmanned ship may include: an acquisition unit 401, a judgment unit 402, and a playback unit 403.
A detecting unit 401, configured to detect whether a server application of the lead unmanned ship can perform data communication with a shore-side device;
an obtaining unit 402, configured to, if it is detected that the server application of the lead unmanned ship cannot perform data communication with the shore-side device, obtain the number of other non-lead unmanned ships that can perform data communication with each non-lead unmanned ship and correspond to each non-lead unmanned ship, and obtain a packet loss rate and a communication delay when performing data communication with the other non-lead unmanned ships that can perform data communication with each non-lead unmanned ship, which correspond to each non-lead unmanned ship;
an updating unit 403, configured to update the non-leading unmanned ship with the number greater than the first threshold, where the packet loss rate is smaller than the second threshold and the communication delay is the minimum, to a new leading unmanned ship, and perform data communication between the new leading unmanned ship and the shore-side device.
In some embodiments of the present application, the obtaining unit 402 is further specifically configured to: the method comprises the steps of obtaining the number of other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships when the non-leading unmanned ships broadcast heartbeat data to server applications of the non-leading unmanned ships except the non-leading unmanned ships, and taking the number of the other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships as the number of the other non-leading unmanned ships capable of carrying out data communication with the non-leading unmanned ships corresponding to the non-leading unmanned ships respectively.
In some embodiments of the present application, the obtaining unit 402 is further specifically configured to: obtaining the ratio of the quantity of heartbeat data received from the heartbeat data broadcasted by the server applications of the other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships within a preset time period, which is obtained by calculation of each non-leading unmanned ship, to the corresponding total quantity of the heartbeat data, and taking the average value of the ratios as the packet loss rate of each non-leading unmanned ship when performing data communication with the other non-leading unmanned ships capable of performing data communication with the non-leading unmanned ship.
In some embodiments of the present application, the obtaining unit 402 is further specifically configured to: and obtaining the mean square error of the time difference between the GPS time of each heartbeat data and the GPS time carried by each heartbeat data in a group of heartbeat data which are calculated by each non-leading unmanned ship and received from each other non-leading unmanned ship capable of sending the heartbeat data to the non-leading unmanned ship, and taking the mean value of the mean square error as the communication time delay of each non-leading unmanned ship when the non-leading unmanned ship is in data communication with the other non-leading unmanned ships capable of carrying out data communication.
In some embodiments of the present application, the communication device 400 for formation of unmanned ship further comprises a playing unit for: receiving a shouting audio data packet sent by a shore end device; and writing the GPS time T of the leading unmanned ship in the shout audio data packet to obtain a new shout audio data packet, and sending the new shout audio data packet to the client application of the leading unmanned ship and the client applications of the non-leading unmanned ships, so that the audio content corresponding to the shout audio data packet is played when the client application of the leading unmanned ship and the client applications of the non-leading unmanned ships reach the appointed time T + T.
In some embodiments of the present application, the communication device 400 for formation of unmanned ships further includes a time service unit, configured to start an automatic time service function of the lead unmanned ship and each non-lead unmanned ship, so that the times of the lead unmanned ship and each non-lead unmanned ship are GPS times.
In some embodiments of the present application, the time service unit is further specifically configured to: when the leader unmanned ship and each non-leader unmanned ship start to operate at the server side application, the server side application of the leader unmanned ship and each non-leader unmanned ship starts the automatic time service function, and after the automatic time service is successful, a time service success reminding message is sent to the shore side equipment.
It should be noted that, for convenience and brevity of description, the specific working process of the communication device 300 for formation of unmanned ship formation described above may refer to the corresponding process of the method described in fig. 2 to 3, and is not described herein again.
Fig. 5 is a schematic diagram of a terminal according to an embodiment of the present application. The terminal 5 may include: a processor 50, a memory 51 and a computer program 52, such as a communication program for unmanned ship formation, stored in said memory 51 and operable on said processor 50. The processor 50, when executing the computer program 52, implements the steps of the above-described communication method embodiments of the formation of the unmanned ship, such as the steps 101 to 103 shown in fig. 2. Alternatively, the processor 50, when executing the computer program 52, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the units 401 to 403 shown in fig. 4.
The computer program may be divided into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the terminal. For example, the computer program may be divided into a detection unit, an acquisition unit and an update unit, each unit having the following specific functions: the detection unit is used for detecting whether the server application of the lead unmanned ship can carry out data communication with shore-side equipment or not; the acquiring unit is used for acquiring the number of other non-leading unmanned ships which respectively correspond to each non-leading unmanned ship and can carry out data communication with the non-leading unmanned ship and acquiring the packet loss rate and the communication time delay of each non-leading unmanned ship when carrying out data communication with the other non-leading unmanned ships which can carry out data communication with the non-leading unmanned ship, if the fact that the server application of the leading unmanned ship cannot carry out data communication with shore end equipment is detected; and the updating unit is used for updating the non-leading unmanned ship with the number larger than the first threshold into a new leading unmanned ship in the non-leading unmanned ship with the number smaller than the second threshold and the minimum communication time delay, and performing data communication between the new leading unmanned ship and the shore-side equipment.
The terminal may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is only an example of a terminal and is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or different components, e.g., the terminal may also include input-output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the terminal, such as a hard disk or a memory of the terminal. The memory 51 may also be an external storage device of the terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal. The memory 51 is used for storing the computer program and other programs and data required by the terminal. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal and method may be implemented in other ways. For example, the above-described apparatus/terminal embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. The communication method for the formation of the unmanned ship is characterized in that the formation of the unmanned ship comprises a leading unmanned ship and at least one non-leading unmanned ship; the leader unmanned ship and the non-leader unmanned ship are both provided with a server application and a client application; the communication method for the unmanned ship formation comprises the following steps:
detecting whether the server application of the lead unmanned ship can carry out data communication with shore-side equipment or not;
if the fact that the server application of the leading unmanned ship cannot perform data communication with shore-side equipment is detected, acquiring the number of other non-leading unmanned ships which are respectively corresponding to each non-leading unmanned ship and can perform data communication with the non-leading unmanned ship, and acquiring the packet loss rate and the communication time delay of each non-leading unmanned ship when performing data communication with the other non-leading unmanned ships which can perform data communication with the non-leading unmanned ship;
and updating the non-leading unmanned ship with the number larger than the first threshold value into a new leading unmanned ship, wherein the packet loss rate of the non-leading unmanned ship is smaller than the second threshold value and the communication time delay of the non-leading unmanned ship is the minimum, and the new leading unmanned ship is in data communication with the shore end equipment.
2. The communication method according to claim 1, wherein the obtaining the number of other non-lead unmanned ships with which data communication can be performed corresponding to each non-lead unmanned ship comprises:
the method comprises the steps of obtaining the number of other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships when the non-leading unmanned ships broadcast heartbeat data to server applications of the non-leading unmanned ships except the non-leading unmanned ships, and taking the number of the other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships as the number of the other non-leading unmanned ships capable of carrying out data communication with the non-leading unmanned ships corresponding to the non-leading unmanned ships respectively.
3. The communication method according to claim 1, wherein the obtaining packet loss ratios corresponding to the non-lead unmanned ships in data communication with the other non-lead unmanned ships capable of performing data communication with the non-lead unmanned ships comprises:
obtaining the ratio of the quantity of heartbeat data received from the heartbeat data broadcasted by the server applications of the other non-leading unmanned ships capable of sending heartbeat data to the non-leading unmanned ships within a preset time period, which is obtained by calculation of each non-leading unmanned ship, to the corresponding total quantity of the heartbeat data, and taking the average value of the ratios as the packet loss rate of each non-leading unmanned ship when performing data communication with the other non-leading unmanned ships capable of performing data communication with the non-leading unmanned ship.
4. The communication method according to claim 1, wherein the obtaining of the communication delay corresponding to each non-lead unmanned ship in data communication with the other non-lead unmanned ships capable of data communication therewith comprises:
and obtaining the mean square error of the time difference between the GPS time of each heartbeat data and the GPS time carried by each heartbeat data in a group of heartbeat data which are calculated by each non-leading unmanned ship and received from each other non-leading unmanned ship capable of sending the heartbeat data to the non-leading unmanned ship, and taking the mean value of the mean square error as the communication time delay of each non-leading unmanned ship when the non-leading unmanned ship is in data communication with the other non-leading unmanned ships capable of carrying out data communication.
5. The communication method of claim 1, wherein the service side application of the lead unmanned ship in data communication with the shore side equipment comprises: receiving a shouting audio data packet sent by a shore end device;
after the leader unmanned ship receives a shout audio data packet sent by a shore end device, the method comprises the following steps:
and writing the GPS time T of the leading unmanned ship in the shout audio data packet to obtain a new shout audio data packet, and sending the new shout audio data packet to the client application of the leading unmanned ship and the client applications of the non-leading unmanned ships, so that the audio content corresponding to the shout audio data packet is played when the client application of the leading unmanned ship and the client applications of the non-leading unmanned ships reach the appointed time T + T.
6. The communication method according to claim 5, wherein before playing the audio content corresponding to the shout audio data packet by the client application of the leader drone and the client applications of the non-leader drones at the appointed time T + T, the method comprises:
and starting the automatic time service functions of the piloted unmanned ships and the non-piloted unmanned ships.
7. The communication method according to claim 6, wherein the starting of the automatic time service function of the lead unmanned ship and each of the non-lead unmanned ships comprises:
when the leader unmanned ship and each non-leader unmanned ship start to operate at the server side application, the server side application of the leader unmanned ship and each non-leader unmanned ship starts the automatic time service function, and after the automatic time service is successful, a time service success reminding message is sent to the shore side equipment.
8. The communication device for the formation of the unmanned ship is characterized in that the formation of the unmanned ship comprises a leading unmanned ship and at least one non-leading unmanned ship; the leader unmanned ship and the non-leader unmanned ship are both provided with a server application and a client application; the communication device for the formation of the unmanned ship comprises:
the detection unit is used for detecting whether the server application of the lead unmanned ship can carry out data communication with shore-side equipment or not;
the acquiring unit is used for acquiring the number of other non-leading unmanned ships which respectively correspond to each non-leading unmanned ship and can carry out data communication with the non-leading unmanned ship and acquiring the packet loss rate and the communication time delay of each non-leading unmanned ship when carrying out data communication with the other non-leading unmanned ships which can carry out data communication with the non-leading unmanned ship, if the fact that the server application of the leading unmanned ship cannot carry out data communication with shore end equipment is detected;
and the updating unit is used for updating the non-leading unmanned ship with the number larger than the first threshold into a new leading unmanned ship in the non-leading unmanned ship with the number smaller than the second threshold and the minimum communication time delay, and performing data communication between the new leading unmanned ship and the shore-side equipment.
9. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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