CN113141591A - Anti-interference system of multi-agent search and rescue network model - Google Patents
Anti-interference system of multi-agent search and rescue network model Download PDFInfo
- Publication number
- CN113141591A CN113141591A CN202110375407.2A CN202110375407A CN113141591A CN 113141591 A CN113141591 A CN 113141591A CN 202110375407 A CN202110375407 A CN 202110375407A CN 113141591 A CN113141591 A CN 113141591A
- Authority
- CN
- China
- Prior art keywords
- underwater vehicle
- underwater
- vehicle
- vehicles
- water surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 38
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 15
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/22—Traffic simulation tools or models
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses an anti-interference system of a multi-agent search and rescue network model, which comprises an underwater vehicle, a first underwater vehicle, a second underwater vehicle and a third underwater vehicle; the underwater vehicle comprises a plurality of underwater vehicles which are longitudinally arranged on the lower side of the water surface vehicle, the plurality of underwater vehicles and the water surface vehicle are positioned on the same straight line, the depth of each first underwater vehicle is different, the first underwater vehicles are wirelessly connected with the water surface vehicle through wireless signals and play a role in depth fixing and communication supporting points, under normal conditions, the distance between every two first underwater vehicles is the same, and a plurality of second underwater vehicles are distributed around each first underwater vehicle. Compared with the traditional multi-agent search and rescue network model, the technical scheme has stronger anti-interference capability and can effectively prevent the underwater mobile equipment from being lost.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to an anti-interference system of a multi-agent search and rescue network model.
Background
The underwater sensor node is carried on underwater mobile equipment such as an Autonomous Underwater Vehicle (AUV) or an underwater glider, and the like, and the underwater sensor node is an underwater wireless sensor network. In the multi-agent search and rescue net set, a plurality of underwater mobile devices can be equipped, and the underwater mobile devices form a net set through a control system, so that a large area of sea area is searched, and the search and rescue efficiency can be greatly improved. However, due to the complex underwater environment, some interference factors may cause the communication link to be disconnected and disconnected, and after the signal is lost for a long time, the underwater mobile device is very likely to be lost or damaged.
Disclosure of Invention
The invention aims to provide an anti-interference system of a multi-agent search and rescue network model, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an anti-interference system of a multi-agent search and rescue network model comprises an underwater vehicle, a first underwater vehicle, a second underwater vehicle and a third underwater vehicle;
the underwater vehicle comprises a plurality of first underwater vehicles, a plurality of second underwater vehicles and a plurality of underwater vehicles, wherein the first underwater vehicles are longitudinally arranged on the lower side of the water surface vehicle, the plurality of first underwater vehicles and the water surface vehicle are positioned on the same straight line, the depth of each first underwater vehicle is different, the first underwater vehicles are wirelessly connected with the water surface vehicle through wireless signals and play a role in depth setting and communication supporting points, under the normal condition, the distance between every two first underwater vehicles is the same, and the periphery of each first underwater vehicle is uniformly distributed with the plurality of second underwater vehicles;
the second underwater vehicle is annularly distributed around the first underwater vehicle, the information collected by the second underwater vehicle is collected to the first underwater vehicle and then is uniformly transmitted to the surface vehicle by the first underwater vehicle, and the second underwater vehicle is wirelessly connected with the first underwater vehicle through wireless signals;
the third underwater vehicle is positioned on the outer side of the second underwater vehicle, the depth of the third underwater vehicle can be adjusted, and the third underwater vehicle has the capability of wirelessly communicating with the first underwater vehicle and the second underwater vehicle;
the water surface vehicle is positioned on the water surface, can navigate on the water surface, is provided with a GPS positioning device, can position the position of the water surface vehicle, plays a role of a collecting node, can collect signals collected by a first underwater vehicle, a second underwater vehicle and a third underwater vehicle, and sends the signals to a processing through a satellite or the Internet for processing, when the signals are weak and have a risk of disconnection, the first underwater vehicle and the second underwater vehicle stop moving firstly, the water surface vehicle sends the signals to the third underwater vehicle, after the signals are received, the third underwater vehicle dives and moves to a node with a weak signal, a high-power signal transceiver is arranged in the third underwater vehicle, the third underwater vehicle establishes wireless connection with the node with the weak signal, and at the moment, the node with the weak signal moves along with the third underwater vehicle, and the third underwater vehicle plays a role of a bridge to ensure the connection between the surface vehicle and the node, and when the signal is restored to a normal threshold value, the third underwater vehicle is disconnected from the node and is restored to the original relative position.
Preferably, each first underwater vehicle is separately and wirelessly connected with the surface vehicle through a wireless network, and two adjacent first underwater vehicles are also connected together through the wireless network.
Preferably, the first underwater vehicle, the second underwater vehicle and the third underwater vehicle can suspend in water.
Compared with the prior art, the invention has the beneficial effects that: the invention is provided with a multi-agent search and rescue net group consisting of an underwater vehicle, a first underwater vehicle, a second underwater vehicle and a third underwater vehicle, wherein the underwater vehicle is positioned on the water surface and can collect information collected by the first underwater vehicle, the second underwater vehicle and the third underwater vehicle and transmit the information to a processing center for processing, meanwhile, the underwater vehicle also plays the role of a control module, each of the first underwater vehicle, the second underwater vehicle and the third underwater vehicle is a communication node, the first underwater vehicle and the second underwater vehicle can form a fixed search and rescue net group under normal state, the position relation among the fixed search and rescue net group is not changed, the position of the third underwater vehicle can be changed, and when the signal of a certain node is weaker, the third underwater vehicle can move to the vicinity of the node, at the moment, the third underwater vehicle is used as a relay station, so that the node can keep smooth communication with the surface vehicle, and the problem of losing the underwater mobile equipment is avoided. Compared with the traditional multi-agent search and rescue network model, the technical scheme has stronger anti-interference capability and can effectively prevent the underwater mobile equipment from being lost.
Drawings
FIG. 1 is a block diagram schematically illustrating the structure of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the invention provides an anti-interference system of a multi-agent search and rescue network model, wherein the anti-interference system of the multi-agent search and rescue network model comprises an underwater vehicle, a first underwater vehicle, a second underwater vehicle and a third underwater vehicle;
the underwater vehicle comprises a plurality of first underwater vehicles, a plurality of second underwater vehicles and a plurality of underwater vehicles, wherein the first underwater vehicles are longitudinally arranged on the lower side of the water surface vehicle, the plurality of first underwater vehicles and the water surface vehicle are positioned on the same straight line, the depth of each first underwater vehicle is different, the first underwater vehicles are wirelessly connected with the water surface vehicle through wireless signals and play a role in depth setting and communication supporting points, under the normal condition, the distance between every two first underwater vehicles is the same, and the periphery of each first underwater vehicle is uniformly distributed with the plurality of second underwater vehicles;
the second underwater vehicle is annularly distributed around the first underwater vehicle, the information collected by the second underwater vehicle is collected to the first underwater vehicle and then is uniformly transmitted to the surface vehicle by the first underwater vehicle, and the second underwater vehicle is wirelessly connected with the first underwater vehicle through wireless signals;
the third underwater vehicle is positioned on the outer side of the second underwater vehicle, the depth of the third underwater vehicle can be adjusted, and the third underwater vehicle has the capability of wirelessly communicating with the first underwater vehicle and the second underwater vehicle;
the water surface vehicle is positioned on the water surface, can navigate on the water surface, is provided with a GPS positioning device, can position the position of the water surface vehicle, plays a role of a collecting node, can collect signals collected by a first underwater vehicle, a second underwater vehicle and a third underwater vehicle, and sends the signals to a processing through a satellite or the Internet for processing, when the signals are weak and have a risk of disconnection, the first underwater vehicle and the second underwater vehicle stop moving firstly, the water surface vehicle sends the signals to the third underwater vehicle, after the signals are received, the third underwater vehicle dives and moves to a node with a weak signal, a high-power signal transceiver is arranged in the third underwater vehicle, the third underwater vehicle establishes wireless connection with the node with the weak signal, and at the moment, the node with the weak signal moves along with the third underwater vehicle, and the third underwater vehicle plays a role of a bridge to ensure the connection between the surface vehicle and the node, and when the signal is restored to a normal threshold value, the third underwater vehicle is disconnected from the node and is restored to the original relative position.
Specifically, each first underwater vehicle is independently and wirelessly connected with the surface vehicle through a wireless network, and two adjacent first underwater vehicles are connected together through the wireless network.
Specifically, the first underwater vehicle, the second underwater vehicle and the third underwater vehicle can suspend in water.
When the system is used, a first underwater vehicle, a second underwater vehicle and a third underwater vehicle are tiled on the water surface, the depth and the position of each underwater vehicle are preset, then the first underwater vehicle, the second underwater vehicle and the third underwater vehicle can move to the preset positions and establish wireless connection with the water surface vehicle, then the first underwater vehicle and the second underwater vehicle start to move and search, the water surface vehicle can move along with the first underwater vehicle closest to the water surface vehicle, a multi-agent search net group consisting of the water surface vehicle, the first underwater vehicle, the second underwater vehicle and the third underwater vehicle is arranged, the water surface vehicle is positioned on the water surface, and information collected by the first underwater vehicle, the second underwater vehicle and the third underwater vehicle can be collected and transmitted to a processing center for processing, and meanwhile, the surface vehicle also plays a role of a control module, each of the first underwater vehicle, the second underwater vehicle and the third underwater vehicle is a communication node, in a normal state, the first underwater vehicle and the second underwater vehicle form a fixed search and rescue network group, the position relation between the first underwater vehicle and the second underwater vehicle is not changed, the position of the third underwater vehicle can be changed, when a signal of a certain node is weaker, the third underwater vehicle can move to the vicinity of the node, and the third underwater vehicle is equivalent to a relay station at the moment, so that the node can keep smooth communication with the surface vehicle, and the problem that the underwater mobile equipment is lost is avoided.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. An anti-interference system of a multi-agent search and rescue network model is characterized in that: the anti-interference system of the intelligent search and rescue network model comprises a surface vehicle, a first underwater vehicle, a second underwater vehicle and a third underwater vehicle;
the underwater vehicle comprises a plurality of first underwater vehicles, a plurality of second underwater vehicles and a plurality of underwater vehicles, wherein the first underwater vehicles are longitudinally arranged on the lower side of the water surface vehicle, the plurality of first underwater vehicles and the water surface vehicle are positioned on the same straight line, the depth of each first underwater vehicle is different, the first underwater vehicles are wirelessly connected with the water surface vehicle through wireless signals and play a role in depth setting and communication supporting points, under the normal condition, the distance between every two first underwater vehicles is the same, and the periphery of each first underwater vehicle is uniformly distributed with the plurality of second underwater vehicles;
the second underwater vehicle is annularly distributed around the first underwater vehicle, the information collected by the second underwater vehicle is collected to the first underwater vehicle and then is uniformly transmitted to the surface vehicle by the first underwater vehicle, and the second underwater vehicle is wirelessly connected with the first underwater vehicle through wireless signals;
the third underwater vehicle is positioned on the outer side of the second underwater vehicle, the depth of the third underwater vehicle can be adjusted, and the third underwater vehicle has the capability of wirelessly communicating with the first underwater vehicle and the second underwater vehicle;
the water surface vehicle is positioned on the water surface, can navigate on the water surface, is provided with a GPS positioning device, can position the position of the water surface vehicle, plays a role of a collecting node, can collect signals collected by a first underwater vehicle, a second underwater vehicle and a third underwater vehicle, and sends the signals to a processing through a satellite or the Internet for processing, when the signals are weak and have a risk of disconnection, the first underwater vehicle and the second underwater vehicle stop moving firstly, the water surface vehicle sends the signals to the third underwater vehicle, after the signals are received, the third underwater vehicle dives and moves to a node with a weak signal, a high-power signal transceiver is arranged in the third underwater vehicle, the third underwater vehicle establishes wireless connection with the node with the weak signal, and at the moment, the node with the weak signal moves along with the third underwater vehicle, and the third underwater vehicle plays a role of a bridge to ensure the connection between the surface vehicle and the node, and when the signal is restored to a normal threshold value, the third underwater vehicle is disconnected from the node and is restored to the original relative position.
2. The multi-agent search and rescue network model anti-jamming system according to claim 1, wherein: each first underwater vehicle is independently and wirelessly connected with the surface vehicle through a wireless network, and two adjacent first underwater vehicles are also connected together through the wireless network.
3. The multi-agent search and rescue network model anti-jamming system according to claim 1, wherein: the first underwater vehicle, the second underwater vehicle and the third underwater vehicle can suspend in water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110375407.2A CN113141591B (en) | 2021-04-08 | 2021-04-08 | Anti-interference system of multi-agent search and rescue network model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110375407.2A CN113141591B (en) | 2021-04-08 | 2021-04-08 | Anti-interference system of multi-agent search and rescue network model |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113141591A true CN113141591A (en) | 2021-07-20 |
| CN113141591B CN113141591B (en) | 2024-04-30 |
Family
ID=76810556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110375407.2A Active CN113141591B (en) | 2021-04-08 | 2021-04-08 | Anti-interference system of multi-agent search and rescue network model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113141591B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010139270A (en) * | 2008-12-09 | 2010-06-24 | Mitsubishi Heavy Ind Ltd | System for collecting under-water information |
| CN102006123A (en) * | 2010-11-18 | 2011-04-06 | 南京大学 | Method for prolonging service life of three-dimensional underwater sensor network by moving underwater self-moving device |
| CN104936194A (en) * | 2015-06-08 | 2015-09-23 | 浙江理工大学 | Underwater acoustic sensor networks and node deployment and networking method thereof |
| CN108012319A (en) * | 2017-11-30 | 2018-05-08 | 厦门大学 | A kind of practicality underwater sound cooperation detection network node power distribution optimization method |
| CN109413588A (en) * | 2018-09-27 | 2019-03-01 | 河海大学常州校区 | A kind of underwater node location prediction technique of constant depth underwater sensor network |
| CN109905846A (en) * | 2019-02-18 | 2019-06-18 | 天津城建大学 | A kind of underwater wireless sensor network localization method based on Autonomous Underwater Vehicle |
| CN111132064A (en) * | 2019-12-27 | 2020-05-08 | 华南理工大学 | Underwater sensor data acquisition method based on underwater vehicle |
| KR102218582B1 (en) * | 2019-08-22 | 2021-02-22 | 강릉원주대학교산학협력단 | System for underwater localization |
-
2021
- 2021-04-08 CN CN202110375407.2A patent/CN113141591B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010139270A (en) * | 2008-12-09 | 2010-06-24 | Mitsubishi Heavy Ind Ltd | System for collecting under-water information |
| CN102006123A (en) * | 2010-11-18 | 2011-04-06 | 南京大学 | Method for prolonging service life of three-dimensional underwater sensor network by moving underwater self-moving device |
| CN104936194A (en) * | 2015-06-08 | 2015-09-23 | 浙江理工大学 | Underwater acoustic sensor networks and node deployment and networking method thereof |
| CN108012319A (en) * | 2017-11-30 | 2018-05-08 | 厦门大学 | A kind of practicality underwater sound cooperation detection network node power distribution optimization method |
| CN109413588A (en) * | 2018-09-27 | 2019-03-01 | 河海大学常州校区 | A kind of underwater node location prediction technique of constant depth underwater sensor network |
| CN109905846A (en) * | 2019-02-18 | 2019-06-18 | 天津城建大学 | A kind of underwater wireless sensor network localization method based on Autonomous Underwater Vehicle |
| KR102218582B1 (en) * | 2019-08-22 | 2021-02-22 | 강릉원주대학교산학협력단 | System for underwater localization |
| CN111132064A (en) * | 2019-12-27 | 2020-05-08 | 华南理工大学 | Underwater sensor data acquisition method based on underwater vehicle |
Non-Patent Citations (8)
| Title |
|---|
| ERIC WOLBRECHT: "Field Testing of Moving Short‐baseline Navigation for Autonomous Underwater Vehicles using Synchronized Acoustic Messaging", 《JOURNAL OF FIELD ROBOTICS》, 31 December 2013 (2013-12-31) * |
| SHAOBIN CAI: "Data Collection in Underwater Sensor Networks based on Mobile Edge Computing", 《IEEE ACCESS》, 22 May 2019 (2019-05-22) * |
| YIFAN HU: "An Efficient AUV Based Data-Collection Protocol for Underwater Sensor Network", 《2019 IEEE 19TH INTERNATIONAL CONFERENCE ON COMMUNICATION TECHNOLOGY (ICCT)》, 2 January 2020 (2020-01-02) * |
| 杨彬: "基于水下传感器网络的AUV通信算法研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, 15 February 2007 (2007-02-15) * |
| 杨海波: "水下传感网络框架下的移动数据采集和传输技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, 15 June 2015 (2015-06-15) * |
| 杨珊珊;: "基于无线通信的水下自主航行器跟踪技术", 中国科技信息, no. 18, 12 September 2018 (2018-09-12) * |
| 董朝平: "智能算法在水下移动集群中的应用", 《中国优秀硕士学位论文全文数据库 信息科技辑》, 15 June 2018 (2018-06-15) * |
| 郑君杰;李延斌;尹路;马金钢;王洪涛;: "水下传感器网络系统架构与体系结构研究", 计算机科学, no. 1, 15 June 2013 (2013-06-15) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113141591B (en) | 2024-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208506594U (en) | Unmanned platform cluster cooperative control system | |
| JP6965506B2 (en) | Underwater mobile and underwater communication systems | |
| CN111245523B (en) | Underwater data transmission system | |
| CN107231181A (en) | A kind of air-sea synergic monitoring system and its application method across medium communication | |
| CN105356925A (en) | Amphibious communication system based on relay buoy | |
| CN205646886U (en) | Underwater vehicle fills electric pile and charging system | |
| CN104238552A (en) | Redundancy multi-robot forming system | |
| CN111874194B (en) | AUV underwater docking station and marine environment observation platform based on buoy and AUV | |
| CN103803045A (en) | Novel unmanned environment monitoring ship | |
| CN105590413B (en) | Long distance pipeline oil spilling monitored control system, control website and surveillance center based on big dipper | |
| CN105226750A (en) | Unmanned boat bank base recharging system | |
| CN105898698B (en) | A kind of ship berthing householder method and system based on UWB | |
| CN111034346B (en) | Access point device and method of controlling autonomous vehicle having the same | |
| CN108449731A (en) | A kind of AGV trolley data transmission systems based on ZigBee communications | |
| CN214069930U (en) | Unmanned ship mooring unmanned aerial vehicle communication system | |
| CN114245363B (en) | Beidou emergency communication system and method | |
| CN109002036A (en) | A kind of one key of unmanned boat makes a return voyage control system and method | |
| CN110415557A (en) | Vehicle system and method is inversely sought in parking lot based on 5G, C-V2X and automatic Pilot technology | |
| CN102006123A (en) | Method for prolonging service life of three-dimensional underwater sensor network by moving underwater self-moving device | |
| CN110127009B (en) | Cableless communication underwater vehicle | |
| CN113141591B (en) | Anti-interference system of multi-agent search and rescue network model | |
| CN112363466B (en) | Cluster type oil stain recovery control method and system | |
| CN206583483U (en) | A kind of semi-submersible type fully-automatic intelligent mobile water quality monitoring device | |
| CN111200823A (en) | Communication complement method, device, AUV and storage medium | |
| CN205482974U (en) | Intelligence is from network deployment navigation information shared system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |