CN107124201A - A kind of subsurface communication method towards Shui Zhong robots - Google Patents
A kind of subsurface communication method towards Shui Zhong robots Download PDFInfo
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- CN107124201A CN107124201A CN201710144265.2A CN201710144265A CN107124201A CN 107124201 A CN107124201 A CN 107124201A CN 201710144265 A CN201710144265 A CN 201710144265A CN 107124201 A CN107124201 A CN 107124201A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W74/00—Wireless channel access
- H04W74/08—Non-scheduled access, e.g. ALOHA
- H04W74/0808—Non-scheduled access, e.g. ALOHA using carrier sensing, e.g. carrier sense multiple access [CSMA]
- H04W74/0825—Non-scheduled access, e.g. ALOHA using carrier sensing, e.g. carrier sense multiple access [CSMA] with collision detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W74/00—Wireless channel access
- H04W74/08—Non-scheduled access, e.g. ALOHA
- H04W74/0808—Non-scheduled access, e.g. ALOHA using carrier sensing, e.g. carrier sense multiple access [CSMA]
- H04W74/0816—Non-scheduled access, e.g. ALOHA using carrier sensing, e.g. carrier sense multiple access [CSMA] with collision avoidance
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Abstract
The present invention proposes a kind of subsurface communication method towards Shui Zhong robots, including：Set up the subsurface communication network topology structure and subsurface communication procotol towards Shui Zhong robots；Based on above-mentioned subsurface communication network topology structure and subsurface communication procotol towards Shui Zhong robots, using subsurface communication network channel detection device, the communication between detection Shui Zhong robots whether there is electric field signal；When the request of You Shuizhong robots sends data, the electric field communication data link layer under water of collision detection protocol design is accessed based on carrier sense multiple, detects that the channel spare time is busy before this, it is determined that after channel idle, data are sent in time；If channel busy, into stochastic backoff process, stochastic backoff process is designed using truncated binary exponential backoff.The present invention has reliability high, and the detection channel spare time, busy accurate, increase and decrease node was convenient, and Communication Jamming is few, the advantages of good environmental adaptability, volume compact.
Description
Technical field
The present invention relates to subsurface communication technical field, more particularly to a kind of subsurface communication method towards Shui Zhong robots.
Background technology
With the continuous consumption of land resources, the exploitation of ocean increasingly has special strategic position and military value,
If subsurface communication network can be set up in marine site deeper to be changed to the military of country, economy-zone.Meanwhile, if can make
Multirobot is in communication with each other in water, it is possible to achieve multi-robot Cooperation, and completing individual machine people by robot team formation has been difficult to
Into complex task, improve operating efficiency.
But compared with land and space communication, the development level of communication network is also very backward in ocean.Particularly to energy
In amount and volume all limited miniature waters for robot, it is badly in need of a kind of effective subsurface communication mode.But, subsurface communication skill
Art is always to perplex the problem of people.Such as, the unusual flourishing telecommunications methods in land and space, due to depositing
In serious decay, it is virtually impossible to work under water；And there is high, the larger Doppler frequency shift of ambient noise and many in underwater sound communication
The problems such as footpath effect, if wanting this method to be applied to robot in miniature water, it will also face communication equipment volume is big, energy consumption is high etc.
Problem；Optical communication is very high to water quality requirement, it is impossible to applied in muddy water body.These subsurface communication methods, although can expire
The requirement communicated in sufficient certain condition water, but have respective defect for the application of communication mode in robot in miniature water.
The A of patent of invention CN 105827270 disclose a kind of underwater communication device towards Shui Zhong robots, with application
Environment limit less, traffic rate is fast, communication reliability is high, real-time good, communication delay is few, volume compact the advantages of.The patent
The method for using electric field communication in water, mainly realizes the foundation of communicator and realizes pair between Shui Zhong robots
To communication.The research in the current field is in the starting stage, and urgently occurs realizing that multirobot leads to for the communicator
The method of letter.
The content of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
Therefore, it is an object of the invention to propose a kind of subsurface communication method towards Shui Zhong robots, with reliability
Height, detection channel status is accurate, increase and decrease node is convenient, and Communication Jamming is few, the advantages of good environmental adaptability, volume compact.
To achieve these goals, embodiments of the invention provide a kind of subsurface communication method towards Shui Zhong robots,
Comprise the following steps：
Step S1, sets up the subsurface communication network topology structure and subsurface communication procotol towards Shui Zhong robots, its
In, the subsurface communication network topology structure uses Distributed Design, and the subsurface communication procotol uses hierarchical design, bag
Include：Physical layer, data link layer and application layer；
Step S2, is assisted based on the above-mentioned subsurface communication network topology structure towards Shui Zhong robots and subsurface communication network
View, using subsurface communication network channel detection device, the communication between detection Shui Zhong robots whether there is electric field signal, with root
Channel status is judged according to testing result, to realize the monitoring of channel；
Step S3, when there is the Shui Zhong robots request to send data, collision detection is accessed based on carrier sense multiple
(CSMA/CA：Carrier Sense Multiple Access with Collision Avoidance) Protocol Design water
Lower electric field communication data link layer, detects channel status before this, it is determined that after channel idle, data are sent in time；If letter
Road is busy, then into stochastic backoff process；
Step S4, if channel busy, into stochastic backoff process, the stochastic backoff process uses and blocks binary system
Exponential backoff algorithm is designed, wherein, node to be sent is waited after channel idle, is kept out of the way and is sent after a random time, with
Reduce when each node sends data and the probability collided occur.
Further, in the step S1, using in distributed subsurface communication network topology structure, each node is autonomous
Motion, and in a dynamic fashion with other node radio communications.
Further, in the step S1, the physical layer be used to providing the modulation /demodulation of communication data, filter and amplification and
Wireless receiving and dispatching；
The data link layer, which is used to realize, transmits the number in units of frame on the link between multiple Shui Zhong robots
According to ensure the fair allocat of channel resource；
The application layer is used to produce or responding communication data and instruction, the syntax and semantics for defining data and instruction, with
Ensure microprocessor identification data and the instruction of the Shui Zhong robots.
Further, the data link layer includes medium access control (MAC：Medium Access Control) agreement,
The media access control protocol is used for reasonable distribution electric field communication channel resource under water.
Further, in the step S2, the subsurface communication network channel detection device includes：Phaselocked loop and computing are put
Big device, wherein,
The input of the phaselocked loop is connected with the receiving device circuit of the Shui Zhong robots, for the reception to be set
The electric field signal that standby circuit is received is sent to the inverting input of the operational amplifier；
The inverting input of the operational amplifier is connected with the output end of the phase-locked loop circuit, the operational amplifier
In-phase input end access a comparative level, be compared for output level and comparative level to the phaselocked loop, and will
Comparative result is exported to the microcontroller of the Shui Zhong robots by standardized serial communication protocol interface.
Further, in the step S3,
When the request of Shui Zhong robots sends data, it is necessary to be detected twice to channel.
When first time detecting channel idle, the Shui Zhong robots are waiting distributed interframe gap (DIFS：
Distributed Inter-Frame Spacing) after, second is carried out to channel and is detected, otherwise returns and detects for the first time, push away
It is tardy to send data；
When detecting channel idle for the second time, then it is transmitted, otherwise into stochastic backoff process.
Further, in the step S4, described stochastic backoff process, including：
First, it is determined that basic back off time, referred to as time slot, are designated as τ；Determine discrete integer set [0,1 ..., (2k-
1)], referred to as competition window；Wherein, parameter k needs to choose according to communication nodes quantity, when node negligible amounts, can be taken as knot
Point number；A random number is chosen from competition window again, is referred to as keeping out of the way number, is designated as r.
In stochastic backoff process, a time slot τ is often waited, a channel status is detected, will if now channel idle
Keep out of the way several r and subtract 1, until r reduces to 0, data transmission can be carried out；Conversely, then repeating wait time slot τ, channel status is judged
Step, until channel idle.Shui Zhong robots at least need to wait r times of τ to be just transmitted.
Further, after the step S3, also comprise the following steps：
Step S4, using the reality of the operation of MATLAB emulation tool simulation communication agreements, and multiple Shui Zhong robots
Communications applications, employ the running that Dynamic Graph form illustrates agreement.
The subsurface communication method towards Shui Zhong robots according to embodiments of the present invention, will electric field communication procotol under water
It is divided into physical layer, data link layer and application layer, is set based on cordless communication network carrier sense multiple access collision detection protocol
Electric field communication network data link layer MAC protocol under water has been counted, Communication of Muti-robot System Channel Sharing in water is solved, generation is mutually touched
The technical barrier such as hit, effectively reduce communication bit error rates, improve traffic rate.
The communication process of the invention realized by electric field under water simultaneously monitors channel status in real time, is set based on CSMA/CA agreements
Data link layer MAC protocol has been counted, stochastic backoff process is devised according to truncated binary exponential backoff, the machine in water
Practical application has been carried out on people, solve many nodes under water electric field communication when the problem that collides by Channel Sharing, Ke Yiyou
The probability that the reduction communication collision of effect occurs, improves the handling capacity and reliability of network, enhances the stability of communication network,
It ensure that whole device reliability and autgmentability.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the flow chart of the subsurface communication method towards Shui Zhong robots according to the embodiment of the present invention；
Fig. 2 is the subsurface communication agreement operation schematic diagram towards Shui Zhong robots according to the embodiment of the present invention；
Fig. 3 is to detect circuit diagram according to the channel status of the embodiment of the present invention；
Fig. 4 is the data link layer MAC protocol of electric field communication under water based on CSMA/CA agreements according to the embodiment of the present invention
Flow chart.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
The embodiment of the present invention proposes a kind of subsurface communication method towards Shui Zhong robots, and this method is applied to be based on electric field
Networking, communication, the cooperation of robot in the miniature water of communication network, are conducive to multiple Shui Zhong robots collaboration completion tasks, can
To solve the problem of robot communication is clashed in multiple water, complex environment is can adapt to, the stability of information network is ensured,
And real-time communication is met, it is a kind of technical scheme effectively, practical, application prospect is good.
As shown in figure 1, the embodiment of the present invention towards communication means under robot water in water, comprise the following steps：
Step S1, sets up the subsurface communication network topology structure and subsurface communication procotol towards Shui Zhong robots.
Subsurface communication network topology structure uses Distributed Design.In one embodiment of the invention, using distribution
Subsurface communication network topology structure in, be characterized in non-stop layer, self-organizing, not fixed infrastructure, each node
Can autokinetic movement, and keep and the wireless networks contacted of other nodes in a dynamic way.
Subsurface communication procotol uses hierarchical design, and subsurface communication procotol of the invention is by Shui Zhong robots
Subsurface communication network protocol stack is divided into three-decker, including：Physical layer, data link layer and application layer.
(1) physical layer is used to provide the technologies such as modulation /demodulation, filter and amplification and the wireless receiving and dispatching of communication data.
Specifically, physical layer is the bottom in communication network, is responsible for modulation /demodulation and the wireless receiving and dispatching of data.Sending
End, by water robot data link layer produce data signal be converted into can water transmission electric field signal.In receiving terminal,
The electric field signal in water is detected, and by filtering, amplification, signal is reverted to the data signal that transmitting terminal is sent.Above-mentioned functions
The main transmitting and receiving device by Shui Zhong robots is performed.
(2) data link layer is used to realize and transmitted on the link between multiple Shui Zhong robots using frame as unit data, with
Ensure the fair allocat of channel resource.
In one embodiment of the invention, data link layer includes MAC protocol, and MAC protocol is used for reasonable distribution under water
Electric field communication channel resource.
Specifically, data link layer is responsible for transmitting the data in units of frame, energy on the link between Shui Zhong robots
Channel resource is liberally distributed between the Shui Zhong robots vied each other, includes the MAC protocol of good design.In transmitting terminal,
Data link layer is responsible for being packaged into the data of application layer and instruction into the frame with stem and afterbody, it is ensured that data can be by logical
Communication network is successfully transmitted to destination；In receiving terminal, data link layer is responsible for the binary data weight that physical layer is received
New assembling framing, and on give application layer.Above-mentioned functions are mainly performed by the microcontroller of Shui Zhong robots.
(3) application layer is used to produce or responding communication data and instruction, the syntax and semantics for defining data and instruction, with true
The microprocessor identification data of robot and instruction in water conservation, are responsible for the communication between microprocessor and microcontroller.
Specifically, application layer is responsible for producing or responding communication data and instruction, defines grammer, the semanteme of data and instruction,
And communication and semanteme, grammer identification between the microprocessor and microcontroller of Shui Zhong robots.Above-mentioned functions mainly pass through
Microprocessor, the microcontroller implementation of Shui Zhong robots.
Step S2, is assisted based on the above-mentioned subsurface communication network topology structure towards Shui Zhong robots and subsurface communication network
View, using subsurface communication network channel detection device, the communication between detection Shui Zhong robots whether there is electric field signal, with root
Channel status is judged according to testing result, to realize the monitoring of channel.
Specifically, subsurface communication network channel detection device includes：Phaselocked loop and operational amplifier.The input of phaselocked loop
It is connected with the receiving device circuit of Shui Zhong robots, the electric field signal for receiving device circuit to be received is sent to operation amplifier
The inverting input of device.The inverting input of operational amplifier is connected with the output end of phase-locked loop circuit, operational amplifier it is same
Mutually input termination comparative level, is compared, and comparative result is exported for output level and comparative level to phaselocked loop
To the microcontroller of Shui Zhong robots.
As shown in figure 3, channel spare time busy detection circuit includes：Phaselocked loop 2, operational amplifier 3, battery 4, slide rheostat
5th, electric capacity 6 and resistance 7.
Specifically, higher level's circuit is sent electric field signal to phaselocked loop 2 by port 1, and being detected as electric field through phaselocked loop 2 leads to
Believe and exported after signal.The signal is a rectangular signal, turns into height after the RC charge-discharge circuit being made up of electric capacity 6 and resistance 7
Level signal, and then export to the inverting input of operational amplifier 3.
The positive pole of battery 4 is divided into two-way, is connected all the way through slide rheostat 5 with the in-phase input end of operational amplifier 3,
Another road is connected with the positive pole of operational amplifier 3, and the negative pole of operational amplifier 3 and the negative pole of battery 4 are grounded.
The level signal of the level signal of in-phase input end and inverting input is compared by operational amplifier 3, will be compared
Exported compared with result by the output end of operational amplifier 3 to the microcontroller of Shui Zhong robots, so that the micro-control of Shui Zhong robots
Device processed obtains the mark of channel idle or busy state.This mark is reached into microcontroller by standardized serial communication protocol interface
Device, can determine whether channel status, meet demand of the agreement to " monitoring " of channel.
In one embodiment of the invention, whether the state of communication channel can be by phaselocked loop 2 by the pulse of electric field communication
The inverting input that signal is transferred to operational amplifier 3 is judged.Wherein, when 2 output pulse signal of phaselocked loop, computing is put
The homophase input terminal voltage of big device 3 is less than anti-phase input terminal voltage, illustrates channel busy；Conversely, when phaselocked loop 2 does not export arteries and veins
Signal is rushed, the homophase input terminal voltage of operational amplifier 3 is more than anti-phase input terminal voltage, illustrates channel idle.
Step S3, when the request of You Shuizhong robots sends data, the electric field communication under water based on CSMA/CA Protocol Designs
Data link layer, detects channel status before this, it is determined that after channel idle, data are sent in time；If channel busy, enter
Enter stochastic backoff process.
Electric field communication data link layer MAC protocol is based on CSMA/CA Protocol Designs, for solving in how each water under water
Robot communication channel distribution, sends the technical barriers such as collision.CSMA/CA agreements are classical protocol of wireless local area network, are nothings
Important a member in line local area network standard IEEE 802.11.CSMA/CA accesses channel using distributed coordination mode.
The MAC protocol of the data link layer of electric field communication under water based on CSMA/CA Protocol Designs, can be in Shui Zhong robots
Send before data, first detect that the channel spare time is busy, it is determined that after channel idle, data are sent in time.If channel busy, into basis
Stochastic backoff process, each robot sends data in an orderly manner by channel competition, justice.
The control flow of media access control protocol is illustrated below with reference to Fig. 4.
Specifically, when Shui Zhong robots, which begin with data, to be needed to send by subsurface communication channel, the medium access control
Agreement processed starts effect, it is necessary to be detected twice to channel.
When first time detecting channel idle, the Shui Zhong robots are carried out second after DIFS is waited to channel
Detection, otherwise returns and detects for the first time, postpone and send data；
When detecting channel idle for the second time, then it is transmitted, otherwise into stochastic backoff process.
Step S4, if channel busy, into stochastic backoff process, stochastic backoff process uses and blocks binary system index
Keep out of the way the design of (Truncated Binary Exponential Backoff) algorithm.Wherein, node to be sent is waited in channel
After free time, keep out of the way and sent after a random time, the probability collided occur to reduce when each node sends data.
Specifically, the basic back off time for being referred to as time slot (Time Slot) is set, from competition window (Contention
Window random back number) is chosen.When entering stochastic backoff process, often communication channel is being sent the water of data by other
Middle robot takes, and after the robot completes data and sent, other robot need to wait keep out of the way number inverse to 0 when
Between, there is the probability collided so as to reduce when each robot sends data, and ensure that each robot can liberally access letter
Road.
Stochastic backoff process, including：When entering stochastic backoff process, first from competition window [0,1 ..., (2k-1)]
Randomly select one and keep out of the way number, be designated as r.A time slot τ is often waited, a channel status is detected, will if now channel idle
Keep out of the way several r and subtract 1, when r reduces to 0, data transmission can be carried out；Conversely, then repeating wait time slot τ, channel status is judged
The step of, until channel idle.Shui Zhong robots at least need to wait r times of τ to be just transmitted.
The present invention can Shi Duoshuizhong robots when being in communication with each other, the reasonable competition to channel, it is determined that transmission order, to realize
Distribution to limited channel resources, solves multiple robots in the communication means and sends what data were clashed in synchronization
Problem.
In addition, after step s 3, also comprising the following steps：
Step S4, using the reality of the operation of MATLAB emulation tool simulation communication agreements, and multiple Shui Zhong robots
Communications applications, employ the running that Dynamic Graph form illustrates agreement.
MATLAB emulates the requirement of the subsurface communication agreement according to Shui Zhong robots, devises directly perceived, simple, effective exhibition
Show program, and displaying is made to different situations such as transmission, competition, waits, employ the fortune that Dynamic Graph form illustrates agreement
Row process.
Specifically, as shown in Fig. 2 being emulated by MATLAB emulation tools to the operation of communication protocol, 3 are shown
Node is at war with to communication channel successively, the process of random back, including selection keeps out of the way number, waits, sends out from competition window
The process sent.
Node 1 produces transmission demand data in t=Os, detects channel idle, waits and (the subgraph of node 1 is sent after DIFS
First triangle shown in).
Node 2,3 produces in t=0.15s and t=0.2s send demand data respectively, but detection finds channel busy, because
This chooses respectively from competition window keeps out of the way number 3 and 5, into stochastic backoff process.Because node 1 occupies channel, node 2,3
Keep out of the way number be always maintained at constant (as shown in node 2, first rectangle of 3 subgraphs).
Node 1 is sent in t=0.4s, and node 2,3 detects channel idle, is kept out of the way number and is started to reduce.
The number of keeping out of the way of node 2 is reduced to 0 in t=0.42s, is transmitted (such as first triangle institute of the subgraph of node 2
Show).Node 3 is continued waiting for.
Node 1 produces new transmission demand data in t=0.51s, and it, which needs to choose from competition window, new keeps out of the way number
And waited, this keep out of the way number be greater than node 3 keep out of the way number (as shown in first rectangle of the subgraph of node 1).
Node 2 is sent in t=0.82s, and node 1,3 detects channel idle, is kept out of the way number and is started to reduce.Then,
The number of keeping out of the way of node 3 is reduced to 0, is transmitted (as shown in first triangle of the subgraph of node 3).
Process afterwards is by that analogy.
It should be noted that before being chosen due to node and kept out of the way and be not transmitted after number, each time slot detects channel status, only
Detect channel idle then keep out of the way number subtract 1, and just completed data send produce send demand data node needs again
Number is kept out of the way in selection, and what this kept out of the way that number do not send Data Node typically larger than keeps out of the way number, so that the node for not sending data is excellent
First send, it is ensured that each node accesses the fairness of channel.
It is preferred that, the parameter of competition window is determined k and elects 3 as by the present invention, so that competition window is [0,1 ..., (23- 1)],
Can avoid because keep out of the way it is several it is excessive caused by channel wastage.
The subsurface communication method towards Shui Zhong robots according to embodiments of the present invention, will electric field communication procotol under water
It is divided into physical layer, data link layer and application layer, is set based on cordless communication network carrier sense multiple access collision detection protocol
Electric field communication network data link layer MAC protocol under water has been counted, Communication of Muti-robot System Channel Sharing in water is solved, generation is mutually touched
The technical barrier such as hit, effectively reduce communication bit error rates, improve traffic rate.
The communication process of the invention realized by electric field under water simultaneously monitors channel status in real time, based on wireless network carrier prison
Listen multiple spot to access collision detection protocol and devise data link layer media access control protocol, according to truncated binary exponential back off
Algorithm devises stochastic backoff process, and practical application has been carried out in Shui Zhong robots, solves many nodes electric field communication under water
When the problem that collides by Channel Sharing, the probability of communication collision generation can be effectively reduced, handling up for network is improved
Amount and reliability, enhance the stability of communication network, it is ensured that whole device reliability and autgmentability.
Because the present invention is that electric field is realized under water based on small range waters, so relative to traditional underwater sound and light
Learn communication network have application environment limitation less, traffic rate is fast, communication reliability is high, real-time good, communication delay is few, volume
Compact the advantages of, it is adapted under finite field waters among Communication of Muti-robot System.
The present invention can realize the good control of Shui Zhong robots and complete various tasks.Specifically, utilizing this hair
Bright subsurface communication agreement, it is possible to achieve the communication between multiple Shui Zhong robots, multi-robot Cooperation task, so as to complete list
Individual robot is difficult to the complex task completed, and then realizes robot team formation in water, improves operating efficiency.In addition, of the invention
It can be also used for the collection of Large Copacity sensing data under water.The present invention can be applied in medium and small river hydrologic monitoring field, side
Just control underwater monitoring equipment completes a variety of Detection tasks, and simple to operate, uses safety.
Networking, communication, the formation of present invention robot suitable for the miniature water based on electric field communication network, are conducive to many
Ge Shuizhong robots cooperate with completion task, and as a kind of technical scheme effectively, practical, application prospect is had an optimistic view of.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
By appended claims and its equivalent limit.
Claims (8)
1. a kind of subsurface communication method towards Shui Zhong robots, it is characterised in that comprise the following steps：
Step S1, sets up the subsurface communication network topology structure and subsurface communication procotol towards Shui Zhong robots, wherein, institute
State subsurface communication network topology structure and use Distributed Design, the subsurface communication procotol uses hierarchical design, including：Thing
Manage layer, data link layer and application layer；
Step S2, based on above-mentioned subsurface communication network topology structure and subsurface communication procotol towards Shui Zhong robots, profit
With subsurface communication network channel detection device, detect that the communication between Shui Zhong robots whether there is electric field signal, with according to inspection
Survey result and judge channel status, to realize the monitoring of channel；
Step S3, when there is the Shui Zhong robots request to send data, collision detection protocol is accessed based on carrier sense multiple
The electric field communication data link layer under water of design, detects channel status, it is determined that after channel idle, number is sent in time before this
According to；If channel busy, into stochastic backoff process；
Step S4, if channel busy, into stochastic backoff process, the stochastic backoff process uses and blocks binary system index
Back off algorithm is designed, wherein, node to be sent is waited after channel idle, keeps out of the way and is sent after a random time, to reduce
There is the probability collided when sending data in each node.
2. the subsurface communication method as claimed in claim 1 towards Shui Zhong robots, it is characterised in that in the step S1
In, using in distributed subsurface communication network topology structure, each node autokinetic movement, and in a dynamic fashion with other nodes
Radio communication.
3. the subsurface communication method as claimed in claim 1 towards Shui Zhong robots, it is characterised in that in the step S1
In, the physical layer is used for modulation /demodulation, filter and amplification and the wireless receiving and dispatching for providing communication data；
The data link layer is used to realize to be transmitted using frame as unit data on the link between multiple Shui Zhong robots, with
Ensure the fair allocat of channel resource；
The application layer is used to produce or responding communication data and instruction, the syntax and semantics for defining data and instruction, to ensure
The microprocessor identification data of the Shui Zhong robots and instruction.
4. the subsurface communication method towards Shui Zhong robots as described in claim 1 or 3, it is characterised in that the Data-Link
Road floor includes media access control protocol, and the media access control protocol is used for reasonable distribution, and electric field communication channel is provided under water
Source.
5. the subsurface communication method as claimed in claim 1 towards Shui Zhong robots, it is characterised in that in the step S2
In, the subsurface communication network channel detection device includes：Phaselocked loop and operational amplifier, wherein,
The input of the phaselocked loop is connected with the receiving device circuit of the Shui Zhong robots, for the receiving device is electric
The electric field signal that road is received is sent to the inverting input of the operational amplifier；
The inverting input of the operational amplifier is connected with the output end of the phase-locked loop circuit, the operational amplifier it is same
Phase input accesses a comparative level, is compared for output level and comparative level to the phaselocked loop, and will compare
As a result export to the microcontroller of the Shui Zhong robots.
6. the subsurface communication method as claimed in claim 3 towards Shui Zhong robots, it is characterised in that in the step S3
In, when the request of Shui Zhong robots sends data, it is necessary to be detected twice to channel,
When first time detecting channel idle, the Shui Zhong robots are carried out after distributed interframe gap is waited to channel
Second is detected, is otherwise returned and is detected for the first time, postpones and send data；
When detecting channel idle for the second time, then it is transmitted, otherwise into stochastic backoff process.
7. the subsurface communication method as claimed in claim 1 towards Shui Zhong robots, it is characterised in that in the step S4
In, the stochastic backoff process, including：
First, it is determined that basic back off time, referred to as time slot, are designated as τ；Determine discrete integer set [0,1 ..., (2k- 1)], claim
For competition window；Wherein, parameter k needs to choose according to communication nodes quantity, when node negligible amounts, can be taken as node
Number；A random number is chosen from competition window again, is referred to as keeping out of the way number, is designated as r；
In stochastic backoff process, a time slot τ is often waited, a channel status is detected, if now channel idle, will keep out of the way
Number r subtracts 1, until r reduces to 0, can carry out data transmission；Conversely, wait time slot τ is then repeated, the step of judging channel status,
Until channel idle.Shui Zhong robots at least need to wait r times of τ to be just transmitted.
8. the subsurface communication method towards Shui Zhong robots as claimed in claim 1, it is characterised in that the step S3 it
Afterwards, also comprise the following steps：
Step S4, using the practical communication of the operation of MATLAB emulation tool simulation communication agreements, and multiple Shui Zhong robots
Using employing the running that Dynamic Graph form illustrates agreement.
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