CN113141591B - 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
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- CN113141591B CN113141591B CN202110375407.2A CN202110375407A CN113141591B CN 113141591 B CN113141591 B CN 113141591B CN 202110375407 A CN202110375407 A CN 202110375407A CN 113141591 B CN113141591 B CN 113141591B
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- 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
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- 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
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- 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
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- 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
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Abstract
The invention discloses an anti-interference system of a multi-agent search and rescue network model, which comprises a water surface aircraft, a first underwater aircraft, a second underwater aircraft and a third underwater aircraft, wherein the first underwater aircraft is connected with the second underwater aircraft; the first underwater vehicles share a plurality of first underwater vehicles and are longitudinally distributed on the lower side of the water surface vehicle, the first underwater vehicles and the water surface vehicle are in a straight line, the depth of each first underwater vehicle is different, the first underwater vehicles are in wireless connection with the water surface vehicle through wireless signals, the function of a depth setting and communication supporting point is achieved, under normal conditions, the distance between each first underwater vehicle 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 loss of underwater mobile equipment.
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 wireless sensor network is formed by mounting the underwater sensor node on underwater mobile equipment such as an Autonomous Underwater Vehicle (AUV) or an underwater glider. In the multi-agent search and rescue network group, a plurality of underwater mobile devices are arranged, and the underwater mobile devices are formed into a network group through a control system, so that the sea area is searched in a large area, and the search and rescue efficiency can be greatly improved. However, due to the complex underwater environment, some interference factors can cause the time-break and time-connection of the communication link, 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 above purpose, the present invention provides the following technical solutions:
An anti-interference system of a multi-agent search and rescue network model comprises a water surface aircraft, a first underwater aircraft, a second underwater aircraft and a third underwater aircraft;
The first underwater vehicles are in a plurality of shapes and are longitudinally arranged on the lower side of the water surface vehicle, the first underwater vehicles and the water surface vehicle are in a straight line, the depth of each first underwater vehicle is different, the first underwater vehicles are in wireless connection with the water surface vehicle through wireless signals to play a role of depth setting and communication supporting points, under normal conditions, the distance between the first underwater vehicles is the same, and a plurality of second underwater vehicles are distributed around each first underwater vehicle;
The second underwater vehicle is annularly distributed around the first underwater vehicle, information collected by the second underwater vehicle is collected at the first underwater vehicle and then is uniformly transmitted to the water surface vehicle by the first underwater vehicle, and the second underwater vehicle is in wireless connection with the first underwater vehicle through wireless signals;
The third underwater vehicle is positioned outside 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 aircraft is positioned on the water surface, can navigate on the water surface and is provided with a GPS positioning device, the water surface aircraft can position the position of the water surface aircraft, the water surface aircraft plays a role of collecting nodes, signals collected by the first underwater aircraft, the second underwater aircraft and the third underwater aircraft can be collected and sent to be processed through satellites or the Internet, when the signals are weaker and have the risk of disconnection, the first underwater aircraft and the second underwater aircraft stop moving first, the water surface aircraft sends signals to the third underwater aircraft, after the signals are received, the third underwater aircraft dives and moves to the node with weaker signals, a high-power signal receiving and transmitting device is arranged in the third underwater aircraft, the third underwater aircraft firstly establishes wireless connection with the node with weaker signals, at the moment, the node with weaker signals can move together with the third underwater aircraft, the third underwater aircraft plays a role of a bridge to ensure connection between the water surface aircraft and the nodes, and after the signals are restored to the normal threshold, the third underwater aircraft is disconnected and the relative position of the node is restored.
Preferably, each first underwater vehicle is independently connected with the water surface vehicle in a wireless manner 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 are each suspended 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 network group consisting of a water surface vehicle, a first underwater vehicle, a second underwater vehicle and a third underwater vehicle, wherein the water surface vehicle is positioned on the water surface, 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, meanwhile, the water 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, under the normal state, the first underwater vehicle and the second underwater vehicle can form a fixed search and rescue network group, the position relationship between the first underwater vehicle and the second underwater vehicle is unchanged, the position of the third underwater vehicle can be changed, when the signal of a certain node is weak, the third underwater vehicle can move to the vicinity of the node, and at the moment, the third underwater vehicle is equivalent to a relay station, so that the node can keep communication with the water surface vehicle unblocked, and the problem of losing of mobile equipment can be 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 loss of underwater mobile equipment.
Drawings
Fig. 1 is a schematic block diagram of the structure of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, the invention provides an anti-interference system of a multi-agent search and rescue network model, which comprises a water surface aircraft, a first underwater aircraft, a second underwater aircraft and a third underwater aircraft;
The first underwater vehicles are in a plurality of shapes and are longitudinally arranged on the lower side of the water surface vehicle, the first underwater vehicles and the water surface vehicle are in a straight line, the depth of each first underwater vehicle is different, the first underwater vehicles are in wireless connection with the water surface vehicle through wireless signals to play a role of depth setting and communication supporting points, under normal conditions, the distance between the first underwater vehicles is the same, and a plurality of second underwater vehicles are distributed around each first underwater vehicle;
The second underwater vehicle is annularly distributed around the first underwater vehicle, information collected by the second underwater vehicle is collected at the first underwater vehicle and then is uniformly transmitted to the water surface vehicle by the first underwater vehicle, and the second underwater vehicle is in wireless connection with the first underwater vehicle through wireless signals;
The third underwater vehicle is positioned outside 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 aircraft is positioned on the water surface, can navigate on the water surface and is provided with a GPS positioning device, the water surface aircraft can position the position of the water surface aircraft, the water surface aircraft plays a role of collecting nodes, signals collected by the first underwater aircraft, the second underwater aircraft and the third underwater aircraft can be collected and sent to be processed through satellites or the Internet, when the signals are weaker and have the risk of disconnection, the first underwater aircraft and the second underwater aircraft stop moving first, the water surface aircraft sends signals to the third underwater aircraft, after the signals are received, the third underwater aircraft dives and moves to the node with weaker signals, a high-power signal receiving and transmitting device is arranged in the third underwater aircraft, the third underwater aircraft firstly establishes wireless connection with the node with weaker signals, at the moment, the node with weaker signals can move together with the third underwater aircraft, the third underwater aircraft plays a role of a bridge to ensure connection between the water surface aircraft and the nodes, and after the signals are restored to the normal threshold, the third underwater aircraft is disconnected and the relative position of the node is restored.
Specifically, each first underwater vehicle is independently connected with the water surface vehicle in a wireless manner through a wireless network, and two adjacent first underwater vehicles are also connected together through the wireless network.
Specifically, the first underwater vehicle, the second underwater vehicle and the third underwater vehicle can be suspended in water.
When in use, the first underwater vehicle, the second underwater vehicle and the third underwater vehicle are tiled on the water surface, each underwater vehicle is preset with depth and position, 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 for searching, the water surface vehicle can move along with the first underwater vehicle closest to the first underwater vehicle, and the water surface vehicle can collect the information collected by the first underwater vehicle, the second underwater vehicle and the third underwater vehicle by arranging a multi-agent search and rescue network group consisting of the water surface vehicle, the first underwater vehicle, the second underwater vehicle and the third underwater vehicle, the first underwater vehicle, the second underwater vehicle and the third underwater vehicle are all communication nodes, under the normal state, the first underwater vehicle and the second underwater vehicle form a fixed search and rescue network group, the position relationship between the first underwater vehicle and the second underwater vehicle is unchanged, the position of the third underwater vehicle can be changed, when the signal of a certain node is weaker, the third underwater vehicle can move to the vicinity of the node, and at the moment, the third underwater vehicle is equivalent to a relay station, so that the node can keep communication with the water surface vehicle unblocked, and the problem of losing underwater mobile equipment is avoided.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by 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 water surface aircraft, a first underwater aircraft, a second underwater aircraft and a third underwater aircraft;
The first underwater vehicles are in a plurality of shapes and are longitudinally arranged on the lower side of the water surface vehicle, the first underwater vehicles and the water surface vehicle are in a straight line, the depth of each first underwater vehicle is different, the first underwater vehicles are in wireless connection with the water surface vehicle through wireless signals to play a role of depth setting and communication supporting points, under normal conditions, the distance between the first underwater vehicles is the same, and a plurality of second underwater vehicles are distributed around each first underwater vehicle;
The second underwater vehicle is annularly distributed around the first underwater vehicle, information collected by the second underwater vehicle is collected at the first underwater vehicle and then is uniformly transmitted to the water surface vehicle by the first underwater vehicle, and the second underwater vehicle is in wireless connection with the first underwater vehicle through wireless signals;
The third underwater vehicle is positioned outside 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 aircraft is positioned on the water surface, can navigate on the water surface and is provided with a GPS positioning device, the water surface aircraft can position the position of the water surface aircraft, the water surface aircraft plays a role of collecting nodes, signals collected by the first underwater aircraft, the second underwater aircraft and the third underwater aircraft can be collected and sent to be processed through satellites or the Internet, when the signals are weaker and have the risk of disconnection, the first underwater aircraft and the second underwater aircraft stop moving first, the water surface aircraft sends signals to the third underwater aircraft, after the signals are received, the third underwater aircraft dives and moves to the node with weaker signals, a high-power signal receiving and transmitting device is arranged in the third underwater aircraft, the third underwater aircraft firstly establishes wireless connection with the node with weaker signals, at the moment, the node with weaker signals can move together with the third underwater aircraft, the third underwater aircraft plays a role of a bridge to ensure connection between the water surface aircraft and the nodes, and after the signals are restored to the normal threshold, the third underwater aircraft is disconnected and the relative position of the node is restored.
2. The anti-interference system of the multi-agent search and rescue network model according to claim 1, wherein: each first underwater vehicle is independently connected with the water surface vehicle in a wireless mode through a wireless network, and two adjacent first underwater vehicles are also connected together through the wireless network.
3. The anti-interference system of the multi-agent search and rescue network model according to claim 1, wherein: the first underwater vehicle, the second underwater vehicle, and the third underwater vehicle may be suspended in water.
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| CN202110375407.2A CN113141591B (en) | 2021-04-08 | 2021-04-08 | Anti-interference system of multi-agent search and rescue network model |
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| CN202110375407.2A CN113141591B (en) | 2021-04-08 | 2021-04-08 | Anti-interference system of multi-agent search and rescue network model |
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| CN113141591A CN113141591A (en) | 2021-07-20 |
| CN113141591B true CN113141591B (en) | 2024-04-30 |
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