High-concurrency management and control method and system for centrally controlling unmanned aerial vehicle by adopting instruction bus

Abstract

The invention discloses a high-concurrency management and control method and system for centralized control of an unmanned aerial vehicle by adopting an instruction bus, and relates to the field of unmanned aerial vehicle management and control. According to the invention, the multi-protocol adaptive communication transceiver module automatically selects a proper communication mode, and accesses an unmanned aerial vehicle control management system in a centralized manner through an instruction bus; the data flow batch processing engine collects unmanned aerial vehicle control management information from the multi-protocol self-adaptive communication transceiver module in a real-time or off-line mode and performs data verification; the instruction arrangement control engine dynamically adjusts and arranges the high-concurrency control instruction of the unmanned aerial vehicle according to the verified unmanned aerial vehicle control management information and the instant requirement of the flight task of the unmanned aerial vehicle; the instruction arrangement control engine issues unmanned aerial vehicle high-concurrency control instructions in a centralized mode through an instruction bus, and instruction execution is completed through an unmanned aerial vehicle control management system. According to the invention, efficient, flexible and reliable centralized control of the unmanned aerial vehicle control management system can be realized, and the effectiveness and reliability of high-concurrency management and control of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a high-concurrency control method and system for centrally controlling unmanned aerial vehicles using a command bus. Background Art

[0002] With the rapid development of drone technology, the rapid popularization of drones of various brands from various drone manufacturers, and the opening and application of various application scenarios of drone flight missions, the control and management of drone flight control instructions has become particularly critical, especially when dealing with the control of high-concurrency flight control instructions of drones, which puts forward higher and higher requirements on the effectiveness and reliability of drone flight control management. Traditional drone flight control mainly focuses on the communication guarantee of drone control instructions, the command control of drone mission payload equipment, and the command control of a single system or a few drones. However, with the large-scale application of drone flight missions in various application scenarios, there is a gradual need for centralized control of high-concurrency flight missions of drones across manufacturers and multiple systems, which puts forward higher control and management requirements for drones. Summary of the invention

[0003] The purpose of the present invention is to provide a high-concurrency management and control method and system for centrally controlling drones using a command bus, so as to achieve efficient, flexible and reliable centralized control of the drone control management system and improve the effectiveness and reliability of high-concurrency management and control of drones.

[0004] To achieve the above object, the present invention provides the following solution.

[0005] On the one hand, the present invention provides a high-concurrency control method for centrally controlling drones using a command bus, comprising:

[0006] The multi-protocol adaptive communication transceiver module automatically selects the appropriate communication method and centrally connects to the drone control and management system of each drone manufacturer via the command bus;

[0007] The data stream batch processing engine collects the drone control management information from the multi-protocol adaptive communication transceiver module in real time or offline via the command bus; the drone control management information includes drone real-time data and drone offline data;

[0008] The data stream batch processing engine verifies the collected UAV control management information, and transmits the verified UAV control management information to the command scheduling control engine via the command bus in real time or offline mode;

[0009] The command scheduling control engine dynamically adjusts and schedules high-concurrency control commands for drones based on verified drone control management information and the immediate requirements of drone flight missions;

[0010] The command orchestration control engine centrally issues high-concurrency control commands for drones via the command bus, and completes command execution through the drone control management system.

[0011] Optionally, the multi-protocol adaptive communication transceiver module automatically selects a suitable communication mode and centrally accesses the drone control management system of each drone manufacturer via the command bus, specifically including:

[0012] The multi-protocol adaptive communication transceiver module selects MQTT, DDS or customized protocol as the communication protocol according to the communication interface requirements of the drone control and management system of different drone manufacturers, and centralizes the access communication of the drone control and management system.

[0013] Optionally, the multi-protocol adaptive communication transceiver module also performs cross-domain transmission of communication messages of the drone control and management system through multi-stream bridging.

[0014] Optionally, the data stream batch processing engine collects drone control management information from the multi-protocol adaptive communication transceiver module via the instruction bus in real time or offline, specifically including:

[0015] The data stream batch processing engine collects the real-time data of the drone from the drone control management system via the command bus, including the drone's current position, speed, acceleration, yaw angle, yaw angular velocity, current power, current mission status, and current load status;

[0016] The data stream batch processing engine collects the drone offline data of the drone control management system in batches via the command bus, including the drone's sensor data, flight mode and flight mission.

[0017] Optionally, the data stream batch processing engine performs data verification on the collected drone control management information, and transmits the verified drone control management information to the command orchestration control engine via the command bus in real time or offline, specifically including:

[0018] The data stream batch processing engine verifies the accuracy, completeness, consistency and reliability of the collected UAV control management information;

[0019] The verified real-time data of the UAV is transmitted to the command arrangement control engine in the form of real-time data stream processing via the command bus;

[0020] The verified UAV offline data is transmitted to the command orchestration control engine in offline data batch processing via the command bus.

[0021] Optionally, the command scheduling control engine dynamically adjusts and schedules the high-concurrency control commands of the drone based on the verified drone control management information and the immediate requirements of the drone flight mission, specifically including:

[0022] Obtain the immediate requirements of the UAV flight mission, including the current flight environment condition parameter mutation information, the current UAV abnormal mutation information and the immediate adjustment requirements of the UAV flight mission;

[0023] Data analysis is performed based on the verified UAV control management information and the immediate requirements of the UAV flight mission, and high-concurrency control instructions for the UAV are constructed according to the data analysis results.

[0024] Optionally, the data analysis based on the verified UAV control management information and the immediate requirements of the UAV flight mission specifically includes:

[0025] Analyze the flight status of the drone based on the drone’s current position, speed, and acceleration data to monitor the drone’s flight status in real time;

[0026] Perform flight attitude angle analysis based on yaw angle and yaw rate data to analyze flight attitude and stability for adjusting control strategies;

[0027] Based on the current power data, combined with the flight mode and flight mission requirements, power optimization management is performed;

[0028] Monitor the current mission status in real time to ensure that the drone executes according to the scheduled mission process;

[0029] Evaluate the quality of task execution by analyzing sensor data and current load status.

[0030] Optionally, constructing a high-concurrency control instruction for a drone according to the data analysis result specifically includes:

[0031] Immediately adjust the priority of each flight mission in the UAV flight mission sequence based on data analysis results;

[0032] Automatically handle the overall task deadlock caused by abnormal mutation of the current drone based on the data analysis results, and assign the current flight task of the out-of-control drone to other controlled drones for execution;

[0033] Redesign the control law of the affected UAVs and adjust the control law of the UAVs that will take over the mission;

[0034] The UAV high-concurrency control instructions and release requirements to be released are generated according to the adjusted task priorities and control laws; the release requirements include timely release of each one and immediate release of batch high-concurrency.

[0035] Optionally, the command arrangement control engine centrally issues high-concurrency control commands for drones via a command bus, specifically including:

[0036] The command orchestration control engine uniformly publishes the UAV high-concurrency control commands according to the publishing requirements, and publishes the UAV high-concurrency control commands to each UAV control management system via the command bus.

[0037] On the other hand, the present invention also provides a high-concurrency control system for centrally controlling drones using a command bus, comprising: a multi-protocol adaptive communication transceiver module, a data stream batch processing engine, and a command scheduling control engine; the multi-protocol adaptive communication transceiver module, the data stream batch processing engine, the command scheduling control engine, and the drone control management system of each drone manufacturer communicate with each other via the command bus;

[0038] The multi-protocol adaptive communication transceiver module is configured to automatically select a suitable communication method and centrally access the drone control management system of each drone manufacturer via the command bus;

[0039] The data stream batch processing engine is configured to collect drone control management information from the multi-protocol adaptive communication transceiver module in real time or offline via the instruction bus; the drone control management information includes drone real-time data and drone offline data;

[0040] The data stream batch processing engine is further configured to perform data verification on the collected UAV control management information, and transmit the verified UAV control management information to the instruction orchestration control engine via the instruction bus in real time or offline mode;

[0041] The command scheduling control engine is configured to dynamically adjust and schedule high-concurrency control commands for the UAV based on the verified UAV control management information and the immediate requirements of the UAV flight mission;

[0042] The instruction orchestration control engine is also configured to centrally issue high-concurrency control instructions for drones via an instruction bus, and complete instruction execution through the drone control management system.

[0043] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0044] The present invention discloses a high-concurrency control method and system for centralized control of unmanned aerial vehicles using a command bus. With the command bus as the core, the unmanned aerial vehicle control management system access communication is centralized, the data verification and processing of unmanned aerial vehicle control management information is centralized, and the arrangement and release control of high-concurrency control commands of unmanned aerial vehicles are centralized, and finally a closed-loop control mechanism is formed to realize the high-concurrency control of centralized control of unmanned aerial vehicles. The centralized control of the command bus ensures the efficiency and flexibility of the whole system, can adapt to dynamic changes, abnormal situations and real-time adjustment requirements, and ensures the effectiveness and reliability of high-concurrency control of unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A flow chart of a high-concurrency control method for centrally controlling drones using a command bus provided by the present invention;

[0047] Figure 2 A schematic diagram of the principle of a high-concurrency management and control method for centrally controlling drones using a command bus provided by the present invention;

[0048] Figure 3 A structural hierarchy diagram of a high-concurrency control system for centrally controlling drones using a command bus provided by the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The present invention aims to provide a high-concurrency management and control method for centrally controlling unmanned aerial vehicles using a command bus, mainly including a communication method for centrally accessing an unmanned aerial vehicle control management system through a command bus, a data processing method for centrally performing unmanned aerial vehicle control management information through a command bus, and a control method for centrally arranging and publishing high-concurrency control instructions for unmanned aerial vehicles through a command bus, so as to ultimately achieve efficient, flexible and reliable centralized control of the unmanned aerial vehicle control management system and improve the effectiveness and reliability of high-concurrency management and control of unmanned aerial vehicles.

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] See also Figure 1 and Figure 2 The present invention provides a high-concurrency control method for centrally controlling drones using a command bus, comprising the following steps 1 to 5. Figure 3 The present invention establishes three execution entities based on the command bus, namely: a multi-protocol adaptive communication transceiver module, a data stream batch processing engine, and a command orchestration control engine; its docking entity is the drone control and management system of drones of different manufacturers and brands. Each drone control and management system acts as an execution agent, and controls the drone cluster to perform various collaborative flight tasks through a ground remote control station or a remote control handle. In order to meet the requirements of high-concurrency, centralized and efficient management and control of multi-system drones across manufacturers, the present invention sets a multi-protocol adaptive communication transceiver module, a data stream batch processing engine, a command orchestration control engine, and the drone control and management systems of each drone manufacturer to communicate with each other via the command bus. Among them, the execution entity-multi-protocol adaptive communication transceiver module is mainly used to automatically select a suitable communication method, centrally access the drone control and management systems of each manufacturer, and realize centralized access and communication of the drone control and management system via the command bus. The execution entity-data stream batch processing engine is mainly used to centrally access drone control and management information, including real-time and offline data of drones, and realize centralized data collection of drone control and management information via the command bus. The execution subject - data stream batch processing engine is also used to verify the data of the connected drone control management information, and efficiently transmit the data processing results to the command orchestration control engine in real time or offline mode, so as to realize centralized verification and processing of drone control management information data. The execution subject - command orchestration control engine is mainly used to optimize and adjust the orchestration of drone high-concurrency control instructions based on the drone control management information data after verification and according to dynamic adjustment requirements, so as to realize centralized orchestration of drone high-concurrency control instructions. The execution subject - command orchestration control engine is also used to centrally issue drone high-concurrency control instructions based on the completed instructions, complete the execution of instructions through the drone control management system execution agent, and re-acquire the execution results of instructions, so as to finally realize centralized high-concurrency control of drones through the command bus. Refer to the following Figures 1 to 3 The implementation steps 1 to 5 are described in detail.

[0053] Step 1: The multi-protocol adaptive communication transceiver module automatically selects the appropriate communication method and centrally connects to the drone control management system of each drone manufacturer via the command bus.

[0054] The present invention uses a multi-protocol adaptive communication transceiver module to centrally access the drone control and management systems of various manufacturers via a command bus, so as to collect drone control management information (such as current command execution status, drone real-time data, drone offline data, etc.) and assist in control command arrangement.

[0055] The execution subject of step 1 is the multi-protocol adaptive communication transceiver module; the docking subject is the UAV control and management system execution agent; its function is to automatically select the appropriate communication method (according to the communication interface requirements of the control and management system of the UAV manufacturer) through the multi-protocol adaptive communication transceiver module and the protocol conversion agent, and centrally perform the access communication of the UAV control and management system; and the multi-protocol adaptive communication transceiver module supports the expansion of edge processing in a relatively weak network environment through multi-stream bridging, and performs cross-domain transmission and reception of communication messages of the UAV control and management system, thereby ensuring data transmission efficiency and ensuring low latency and high reliability of communication.

[0056] Specifically, according to the communication interface requirements of the drone control and management system of mainstream drone manufacturers, two lightweight communication protocols are supported: MQTT (Message Queuing Telemetry Transport) message queue telemetry transmission based on TCP / IP protocol, or DDS (Data Distribution Service) data distribution service based on TCP / UDP. For the non-standardized communication protocols used in the drone control and management system interface of non-mainstream drone manufacturers, interface customization and system docking are required according to the manufacturer's interface protocol standards.

[0057] Among them, the multi-protocol adaptive communication transceiver module specifically includes: a multi-protocol automatic docking adaptation submodule, which is used to automatically adapt to the drone control management system docking protocol; a protocol automatic communication sending submodule and a protocol automatic communication receiving submodule, which are used to automatically control the communication sending and receiving of the drone control management system. Among them, the multi-protocol automatic docking adaptation submodule is implemented based on the following principles: the mainstream docking protocols are MQTT and DDS. After knowing which protocol communication the drone control management system to be docked belongs to, the configuration personnel will write the determined drone control management system code and the drone control management system protocol type code pairing information into the multi-protocol automatic docking adaptation list; multi-protocol automatic docking is realized by reading the list information.

[0058] Step 2: The data stream batch processing engine collects UAV control management information from the multi-protocol adaptive communication transceiver module via the command bus in real time or offline mode.

[0059] The present invention centrally accesses the control and management information of unmanned aerial vehicles through a data stream batch processing engine, and its execution subject is a command bus data stream batch processing engine, and the docking subject is a multi-protocol adaptive communication transceiver module; the function is based on the access of the unmanned aerial vehicle control management system, and the data stream batch processing engine accesses the control and management information of the unmanned aerial vehicle from the multi-protocol adaptive communication transceiver module via the command bus in real time or offline mode. The unmanned aerial vehicle control management information includes all the information of the unmanned aerial vehicle control, such as the real-time data of the unmanned aerial vehicle, the offline data of the unmanned aerial vehicle, the current command execution status and the execution results of the high-concurrency control instructions of the unmanned aerial vehicle. Among them, the real-time data of the unmanned aerial vehicle includes the current position, speed, acceleration, yaw angle, yaw angular velocity, current power, current mission status and current load status of the unmanned aerial vehicle. The offline data of the unmanned aerial vehicle includes the sensing data of the unmanned aerial vehicle, the flight mode of the unmanned aerial vehicle and the flight mission of the unmanned aerial vehicle.

[0060] The data stream batch processing engine is a data processing engine built into the command bus. It supports the real-time data stream of the drone collected through the command bus and provides real-time data stream processing; it supports the offline data of the drone collected in batches through the command bus and provides offline data batch processing.

[0061] The data stream batch processing engine connects to the UAV control management system via the command bus and accesses the execution agent. It can collect the real-time data stream of the UAV control management system to achieve real-time collection; it can also collect the offline data of the UAV control management system to achieve offline data batch collection. The next step is to verify the accuracy, completeness, consistency and reliability of the collected UAV control management information.

[0062] Step 3: The data stream batch processing engine verifies the collected UAV control management information, and transmits the verified UAV control management information to the instruction orchestration control engine via the instruction bus in real time or offline mode.

[0063] The data stream batch processing engine performs data verification processing on the drone control management information centrally accessed via the command bus to ensure that the received data is accurate, complete, consistent and valid, and then further processes the data, which may include data collection based on command control, data preprocessing based on format conversion and data registration, data modeling based on feature extraction and classification and feature recognition, and data analysis and processing.

[0064] Specifically, based on the accessed UAV control management information, the data stream batch processing engine verifies the data accuracy, completeness, consistency and reliability of the UAV control management information. The specific verification process includes:

[0065] Step 3.1: Data accuracy verification, including expert data comparison and scenario-based verification. Expert data comparison: Verify the accuracy of data records by comparing with known accurate data. For example, compare the location data collected by the drone with high-precision GPS data. Scenario-based verification: Test the accuracy of data in different flight environments and conditions to ensure that the data can truly reflect the status of the drone in various situations.

[0066] Step 3.2: Data integrity verification, including methods based on missing rate statistics and data field verification. Based on missing rate statistics: the missing rate of statistical data, for data with high missing rates, take supplementary measures, such as data interpolation or re-collection. Based on data field verification: check whether each data field is missing, and ensure that each data record is complete.

[0067] Step 3.3: Data consistency check, including data comparison and data format unification. Data comparison: Check whether there are logical contradictions in the data by comparing data from different data sources. For example, data from different sensors at the same time point should be consistent. Data format unification: Ensure that data from all data sources follow a unified format and specification to reduce human errors and system errors.

[0068] Step 3.4: Data reliability analysis, including data error analysis and fusion algorithm-based methods. Among them, based on data error analysis: analyze the error characteristics of each sensor and data source, including systematic error, random error, etc., to ensure that the data exhibits stable properties in multiple measurements. Based on fusion algorithm: apply multi-sensor fusion algorithms, such as Kalman filtering, to improve data reliability and accuracy. By fusing data from different sensors, the error of a single sensor can be effectively reduced. In addition, data reliability analysis also includes monitoring possible data distortion.

[0069] The verified drone control management information data is transmitted to the instruction orchestration control engine via the instruction bus in the form of real-time data stream processing (such as Kafka, Pulsar, Flink, Storm, Spark, etc.) or offline data batch processing (such as Apache, Hadoop, MapReduce, etc.).

[0070] The present invention performs data verification processing on the centrally accessed UAV control management information through a data stream batch processing engine, and obtains data with standardized format, corrected alignment, feature extraction and feature recognition after processing, which can be used to support data analysis with different needs.

[0071] Step 4: The command scheduling control engine dynamically adjusts and schedules the high-concurrency control commands of the UAV based on the verified UAV control management information and the immediate requirements of the UAV flight mission.

[0072] The UAV control management information verified in step 3 is analyzed, and the abnormal information returned by the UAV control management system execution agent is received in real time through the instruction orchestration control engine, such as the UAV control instruction execution failure status information and the UAV abnormal situation information. This is one of the UAV control management information returned by the UAV control management system docking execution agent collected by the instruction bus in real time or offline through the stream batch processing engine. The UAV high-concurrency control instructions are centrally orchestrated and optimized through the instruction orchestration control engine.

[0073] The command arrangement control engine is a command arrangement processing engine built into the command bus. System administrators can modify or re-edit the control management task instructions of the drone in real time based on the drone control management information or abnormal situation information collected by the command bus. The step 4 specifically includes:

[0074] Step 4.1: Based on the drone control management information after batch processing of the command bus data stream, the command bus command arrangement control engine analyzes the drone's current position, speed, acceleration, yaw angle, yaw angular velocity, current power, current mission status, drone sensor data, drone's current load status, drone's flight mode, and drone's flight mission. The analysis process is as follows:

[0075] Step 4.1.1: Perform data preprocessing on the above data information, including: Data cleaning: remove noise and outliers in the received data. For example, use filtering algorithms to filter sensor data to reduce errors and improve data quality; perform data interpolation: use linear interpolation and other difference methods to fill in missing data points, or interpolate missing data to ensure data integrity.

[0076] Step 4.1.2: Perform data verification, including data consistency check: check whether the data reported by different sensors are logically self-consistent, such as the relationship between acceleration and velocity, and whether the rate of change of yaw velocity and yaw angle are consistent to ensure data consistency; perform data accuracy verification: verify the accuracy of each data by comparing it with known accurate data, such as comparing GPS data with high-precision ground base station data.

[0077] Step 4.1.3: Perform data analysis and use the analysis results to guide the construction of UAV flight control management instructions, including:

[0078] Step 4.1.3.1: UAV flight status analysis: Based on the position, velocity and acceleration data, analyze the flight trajectory and dynamic characteristics of the UAV to monitor the flight status of the UAV in real time and respond promptly to possible anomalies;

[0079] Step 4.1.3.2: Perform UAV flight attitude angle analysis: Use yaw angle and yaw velocity data to analyze flight attitude and stability for adjusting control strategies;

[0080] Step 4.1.3.3: Perform power monitoring, including power management: Based on the current power information, evaluate the drone's endurance and the possibility of completing the mission. If the power is lower than the safety threshold, the system will automatically issue a warning and adjust the flight plan to ensure that the drone can return safely; perform power optimization: Combine the flight mode and mission requirements to optimize power usage and extend the drone's operating time. For example, automatically switch to energy-saving flight mode when the power is low.

[0081] Step 4.1.3.4: Perform mission status monitoring, including mission progress tracking: Monitor the current mission status in real time to ensure that the UAV executes according to the predetermined mission process. Once deviations are found, take immediate corrective measures to ensure that the mission proceeds as planned.

[0082] Step 4.1.3.5: Perform task quality assessment: Evaluate the quality of task execution by analyzing sensor data and current load status. For example, analyze the target status based on multispectral images during monitoring and adjust the operation plan in a timely manner.

[0083] Step 4.1.4: Perform decision support, combine the above system operations, and use the analysis results to construct UAV flight control management instructions, provide construction suggestions and instruction risk assessment, and improve the success rate of flight control management tasks.

[0084] Step 4.2: Instructions are centrally arranged and optimized. By obtaining the immediate requirements of the UAV flight mission, such as the sudden change information of the current flight environment condition parameters, the abnormal sudden change information of the current UAV, and the immediate adjustment requirements of the UAV flight mission, the UAV flight control instructions are dynamically adjusted and arranged according to the immediate requirements. The UAV flight mission is automatically executed according to the established mission instructions. In order to adapt to the task change needs encountered in the actual mission execution, the system supports the dynamic adjustment of the UAV flight control instructions through the instruction arrangement control engine based on the changes in the immediate constraints and control requirements. This process needs to collect and consider factors such as the current flight information of the UAV, the flight mission execution sequence, and time constraints, aiming to achieve the optimization or sub-optimization of the overall mission efficiency, including: 1) Supporting sorting according to the urgency and priority of the task: high-priority tasks should be allocated UAV resources first; 2) UAV status monitoring and emergency fault handling: timely grasp the status of each UAV and prepare emergency plans; 3) Communication and data sharing mechanism: ensure real-time and effective data transmission and communication, especially in complex electromagnetic environments; 4) Real-time situation changes and response strategies: adjust the mission planning and execution strategy according to the enemy's dynamics at any time.

[0085] The command bus efficiently processes and centrally orchestrates high-concurrency control commands for drones through a distributed deployment of the command orchestration control engine (application load balancing, caching mechanism, asynchronous processing mechanism, service splitting, and current limiting and degradation level mechanism); the command orchestration control engine of the command bus supports instant and dynamic adjustment of the priority of each drone's flight mission (such as receiving a sudden change in a condition parameter in a certain area, giving priority or delaying the execution of the flight mission in that area), supports instant adjustment of the priority of a certain flight mission of a certain drone in the flight mission sequence of the drone based on its urgency (such as receiving an emergency return to the warehouse command, pausing the current task and returning to the warehouse first), supports fault-tolerant mechanisms, and automatic processing.

[0086] The step 4.2 specifically includes:

[0087] Step 4.2.1: Real-time monitoring: Continuously monitor the current status of the drone, including flight data, sensor readings, and actuator performance. Once an abnormality is detected, it is immediately marked and the fault handling process is initiated.

[0088] Step 4.2.2: Prioritize tasks: Immediately after a failure occurs, evaluate the priority of tasks involving the failed UAV. High priority tasks need to be reassigned to other normally functioning UAVs. Based on the urgency of the tasks and the status of each UAV, select the most suitable backup UAV to take over the tasks of the failed UAV. This process needs to take into account factors such as the location, endurance, and load capacity of the UAV.

[0089] Step 4.2.3: Control reconstruction and compensation: Redesign the control law of the affected UAV for the detected fault, and adjust the control law of the UAV that will take over the task. Control and compensate the position and attitude control loops to ensure that the UAV can still fly stably when some blades are broken. Continuously receive real-time data from the UAV, dynamically adjust the control parameters according to environmental changes and mission progress, and maintain optimal flight performance and mission execution efficiency.

[0090] Step 4.2.4: Emergency response and return: When the fault cannot be solved immediately or the impact of the fault is too great, enable the emergency return procedure to allow the affected drone to return safely to the starting point or the nearest safe landing point. Ensure that the affected drone does not cause greater safety hazards. Even during the return process, the drone continues to maintain a high degree of autonomous obstacle avoidance capability according to the original Fetion self-control mechanism, ensuring that it can autonomously avoid obstacles and return safely in emergencies. In the event of an overall task deadlock caused by an abnormal mutation of the current drone, such as when the drone executing the current task loses control, the fault-tolerant mechanism automatically assigns the current task of the out-of-control drone to other controlled drones to ensure the effectiveness and continuity of the overall task.

[0091] The command scheduling control engine of the present invention schedules the priority of each UAV flight mission according to the immediate requirements of the UAV flight mission. If a sudden change in a condition parameter in a certain area is received, the flight mission in that area will be executed first or later. The priority of each task in the flight mission sequence of a certain UAV will be scheduled according to the immediate requirements. If an emergency return to the warehouse instruction is received, the current task will be suspended and the return to the warehouse will be made first. After the scheduling is completed, the UAV high-concurrency control instructions and release requirements to be released are obtained, such as sending instructions one by one on time or supporting batch high-concurrency instant release instructions with secondary confirmation of rights.

[0092] Step 5: The command orchestration control engine centrally issues high-concurrency control commands for drones via the command bus, and completes command execution through the drone control management system.

[0093] The command orchestration control engine uniformly releases the high-concurrency control commands of drones through the command bus. The execution subject of this process is the command orchestration control engine, and the final receiving subject is the execution agent of the drone control management system. By obtaining the communication address and current communication status of the drone execution agent in the original control management system, based on the completion of the orchestration of the drone high-concurrency control commands to be released and the release requirements (such as sending commands one by one on time or supporting the batch high-concurrency immediate release of commands with secondary confirmation of rights), the command orchestration control engine uniformly releases the drone high-concurrency control commands through the command bus, and finally releases the drone high-concurrency control commands to the drone control management system execution agent through the data stream batch processing engine and the multi-protocol adaptive communication transceiver module. Furthermore, the execution results of the drone high-concurrency control commands are collected through the command bus, which should be analyzed and obtained in the next step 2—the data stream batch processing engine collects the drone control management information data.

[0094] In summary, the five steps of the high-concurrency control workflow of UAVs organized and constructed by the command bus above ultimately constitute a closed-loop control mechanism. With the command bus as the core, the access communication of the UAV control management system is centralized, the data processing of the UAV control management information is centralized, and the high-concurrency control command arrangement and release control of UAVs are centralized, which ultimately realizes the high-concurrency control of UAVs with centralized control. The centralized control of the command bus ensures the overall efficiency and flexibility of the system, can adapt to dynamic changes, abnormal situations and real-time adjustment requirements, and ensures the effectiveness and reliability of high-concurrency control of UAVs.

[0095] In some embodiments, the present invention also provides a high-concurrency control system for centrally controlling drones using a command bus, comprising: a multi-protocol adaptive communication transceiver module, a data stream batch processing engine, and a command orchestration control engine. The multi-protocol adaptive communication transceiver module, the data stream batch processing engine, the command orchestration control engine, and the drone control management system of each drone manufacturer communicate with each other via the command bus. Among them, the multi-protocol adaptive communication transceiver module is configured to automatically select a suitable communication mode and centrally access the drone control management system of each drone manufacturer via the command bus. The data stream batch processing engine is configured to collect drone control management information from the multi-protocol adaptive communication transceiver module in real time or offline via the command bus; the drone control management information includes drone real-time data and drone offline data. The data stream batch processing engine is also configured to perform data verification on the collected drone control management information, and transmit the verified drone control management information to the command orchestration control engine via the command bus in real time or offline. The command orchestration control engine is configured to dynamically adjust and orchestrate drone high-concurrency control instructions based on the verified drone control management information according to the immediate requirements of the drone flight mission. The instruction orchestration control engine is also configured to centrally issue high-concurrency control instructions for drones via an instruction bus, and complete instruction execution through the drone control management system.

[0096] The present invention centrally performs access communication of the drone control and management system via the command bus. The appropriate communication method is automatically selected through the multi-protocol adaptive communication transceiver module and the protocol conversion agent to centrally perform access communication of the drone control and management system. Specifically, according to the communication interface requirements of the drone control and management system of each drone manufacturer, two lightweight communication protocols, MQTT based on TCP / IP protocol or DDS based on TCP / UDP, are supported respectively. In addition, the multi-protocol adaptive communication transceiver module of the command bus supports the expansion of edge processing in a relatively weak network environment through multi-stream bridging, and performs cross-domain transmission and reception of communication messages of the drone control and management system, thereby ensuring data transmission efficiency and ensuring low latency and high reliability of communication.

[0097] The present invention also centrally processes the data of the control management information of the unmanned aerial vehicle via the command bus. Based on the access of the unmanned aerial vehicle control management system, the data stream batch processing engine accesses the control management information of the unmanned aerial vehicle from the multi-protocol adaptive communication transceiver module in real time or offline mode; and verifies the data accuracy, integrity, consistency and reliability of the unmanned aerial vehicle control management information to monitor possible data distortion; the verified unmanned aerial vehicle control management information data is transmitted to the command arrangement control engine of the command bus in the form of real-time data stream processing (such as the current position, speed, acceleration, yaw angle, yaw angular velocity, current power, current mission status, current load status, etc. of the unmanned aerial vehicle) or offline data batch processing (such as the sensor data of the unmanned aerial vehicle, the flight mode of the unmanned aerial vehicle and the flight mission of the unmanned aerial vehicle, etc.).

[0098] The command bus provides centralized orchestration and release control of high-concurrency control commands for drones. Based on the drone control management information after batch processing of the data stream, the command bus's command orchestration control engine analyzes the drone's current position, speed, acceleration, yaw angle, yaw angular velocity, current power, current mission status, drone sensor data, drone's current load status, drone's flight mode, and drone's flight mission information. According to the immediate requirements of the drone's flight mission (such as the current flight environment condition parameter mutation information, the current drone abnormal mutation information, and the drone's flight mission immediate adjustment requirements, etc.), it instantly and dynamically adjusts the orchestration and release of drone flight control commands. The above-mentioned instant dynamic adjustment scenarios are often accompanied by high-concurrency drone control management information data analysis. The command bus deploys the command orchestration control engine in a distributed manner through the application of load balancing, caching mechanism, asynchronous processing mechanism, service splitting, and current limiting and degradation mechanisms, and efficiently processes and centrally performs the control management of the orchestration and release of high-concurrency control commands for drones. The command scheduling control engine of the command bus supports real-time dynamic adjustment of the priority of each UAV flight mission (for example, if a sudden change in the condition parameters of a certain area is received, the flight mission in that area will be executed first or later); it supports real-time adjustment of the priority of a certain flight mission of a certain UAV in the flight mission sequence of that UAV according to the urgency of the mission (for example, if an emergency return to the warehouse instruction is received, the current mission will be suspended and return to the warehouse first); it also supports a fault-tolerant mechanism to automatically handle the overall task deadlock caused by abnormal mutations of the current UAV (for example, if the UAV executing the current task loses control, the fault-tolerant mechanism automatically assigns the current task of the out-of-control UAV to other controlled UAVs for execution), ensuring the effectiveness and continuity of the overall mission.

[0099] The present invention takes the command bus as the core, and realizes the efficient, flexible and reliable centralized control of the UAV control management system through the three execution subjects of multi-protocol adaptive communication transceiver module, data stream batch processing engine and command arrangement control engine. The command bus centrally performs the access communication of the UAV control management system, the data processing of the UAV control management information, and the arrangement and release control of the UAV high-concurrency control command through the comprehensive application of the above-mentioned communication method, data processing method and control method. This closed-loop control mechanism can adapt to dynamic changes, abnormal situations and real-time adjustment requirements, ensuring the effectiveness, efficiency and reliability of the high-concurrency control of UAVs.

[0100] The present invention adopts a high-concurrency management and control method and system for centrally controlling drones using a command bus, which can meet the requirements for high-concurrency, centralized and efficient management and control of drones across manufacturers and multiple systems. A command bus with a unified design is adopted, which can adapt to the communication protocols of the drone control and management systems of each manufacturer, centrally access the drone control and management system, and then centrally process the drone control management information, and then realize high-concurrency management and control of centralized drone control by arranging and issuing drone control commands. Each step in the above-mentioned high-concurrency management and control method for centrally controlling drones using a command bus produces a series of advantages through a specific mechanism. The following is a detailed description of each step and a description of the related advantages.

[0101] In step 1 of the present invention, multi-protocol adaptive communication and multi-stream bridging edge processing are used. Its technical features are providing multi-protocol adaptive communication to connect to the drone control and management system, providing cross-domain data transmission, and providing edge processing in a weak network environment; its technical advantages are reflected in the following aspects: 1) High efficiency: by automatically selecting the appropriate communication method, the need for manual configuration is reduced and the communication efficiency is improved; 2) Shielding risk: multi-stream bridging supports data transmission even in an unstable network environment, reducing the impact of network quality on high-concurrency control of drones; 3) Low latency and high reliability: real-time cross-domain transmission and reception ensures the rapidity and reliability of data transmission.

[0102] In step 2 of the present invention, the drone control management information is accessed through the data stream batch processing engine. Its technical characteristics are to provide real-time and offline data transmission, and to provide high-concurrency control instruction management and control of drones. Its technical advantages are reflected in the following aspects: 1) Fault tolerance: It can process high-concurrency data from drones, which increases the robustness of the system; 2) Flexibility: It supports real-time or offline data processing, making the system more flexible to cope with different usage scenarios.

[0103] Step 3 of the present invention verifies the accuracy, completeness, consistency and reliability of the collected UAV control management information, and its technical advantages are: 1) Data quality: ensuring that the data processed subsequently is accurate and reliable, providing high-quality data support for decision-making; 2) Reducing distortion: The monitoring and verification mechanism helps to identify and correct possible data distortion problems.

[0104] Step 4 of the present invention centrally performs the orchestration and dynamic adjustment control of high-concurrency control instructions of UAVs. Its technical features are real-time dynamic instruction adjustment, distributed deployment, priority management and fault-tolerant mechanism. Its technical advantages are as follows: 1) Dynamic response: it can dynamically adjust instructions according to real-time requirements and abnormal situations, thereby improving the adaptability of task execution; 2) High efficiency: it applies load balancing and other mechanisms to efficiently handle the orchestration of high-concurrency control instructions and improve the processing capability; 3) Task continuity: it supports fault-tolerant mechanism, automatically handles exceptions, and ensures the effectiveness and continuity of tasks.

[0105] Step 5 of the present invention centrally issues high-concurrency control instructions to drones via the instruction bus. Its technical features lie in the high-concurrency control instruction issuance and unified issuance mechanism. Its technical advantages are as follows: 1) High efficiency: It can effectively issue a large number of control instructions to meet the high-concurrency requirements of drone swarms; 2) Consistency: The centralized issuance mechanism ensures that all drones receive consistent instructions and maintain collaborative work.

[0106] In summary, the present invention adopts the command bus to centrally perform the entire process of high-concurrency control of drones, demonstrating a highly automated, scalable, robust and effective drone control management system. Through adaptive communication, efficient data processing, dynamic task scheduling and unified command release, it ensures accurate and reliable management and control of drone clusters under various conditions. While improving operational efficiency, it enhances the system's ability to cope with complex environments and emergencies, and has broad application prospects.

[0107] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A high-concurrency control method for centrally controlling drones using a command bus, characterized in that: include: The multi-protocol adaptive communication transceiver module automatically selects the appropriate communication method and centrally connects to the drone control and management system of each drone manufacturer via the command bus; The data stream batch processing engine collects the drone control management information from the multi-protocol adaptive communication transceiver module in real time or offline via the command bus; the drone control management information includes drone real-time data and drone offline data; The data stream batch processing engine verifies the collected UAV control management information, and transmits the verified UAV control management information to the command scheduling control engine via the command bus in real time or offline mode; The command scheduling control engine dynamically adjusts and schedules high-concurrency control commands for drones based on verified drone control management information and the immediate requirements of drone flight missions; The command orchestration control engine centrally issues high-concurrency control commands for drones via the command bus, and completes command execution through the drone control management system.

2. The high-concurrency control method for centrally controlling drones using a command bus according to claim 1 is characterized in that: The multi-protocol adaptive communication transceiver module automatically selects the appropriate communication mode and centrally connects to the drone control management system of each drone manufacturer via the command bus, specifically including: The multi-protocol adaptive communication transceiver module selects MQTT, DDS or customized protocol as the communication protocol according to the communication interface requirements of the drone control and management system of different drone manufacturers, and centralizes the access communication of the drone control and management system.

3. The high-concurrency control method for centrally controlling drones using a command bus according to claim 2 is characterized in that: The multi-protocol adaptive communication transceiver module also performs cross-domain transmission of communication messages of the drone control and management system through multi-stream bridging.

4. The high-concurrency control method for centrally controlling drones using a command bus according to claim 1 is characterized in that: The data stream batch processing engine collects drone control management information from the multi-protocol adaptive communication transceiver module via the command bus in real time or offline mode, specifically including: The data stream batch processing engine collects the real-time data of the drone from the drone control management system via the command bus, including the drone's current position, speed, acceleration, yaw angle, yaw angular velocity, current power, current mission status, and current load status; The data stream batch processing engine collects the drone offline data of the drone control management system in batches via the command bus, including the drone's sensor data, flight mode and flight mission.

5. The high-concurrency control method for centrally controlling drones using a command bus according to claim 4 is characterized in that: The data stream batch processing engine verifies the collected UAV control management information and transmits the verified UAV control management information to the command scheduling control engine via the command bus in real time or offline mode, including: The data stream batch processing engine verifies the accuracy, completeness, consistency and reliability of the collected UAV control management information; The verified real-time data of the UAV is transmitted to the command arrangement control engine in the form of real-time data stream processing via the command bus; The verified UAV offline data is transmitted to the command orchestration control engine in offline data batch processing via the command bus.

6. The high-concurrency control method for centrally controlling drones using a command bus according to claim 5 is characterized in that: The command scheduling control engine dynamically adjusts and schedules high-concurrency control commands for drones based on the verified drone control management information and the immediate requirements of drone flight missions, specifically including: Obtain the immediate requirements of the UAV flight mission, including the current flight environment condition parameter mutation information, the current UAV abnormal mutation information and the immediate adjustment requirements of the UAV flight mission; Data analysis is performed based on the verified UAV control management information and the immediate requirements of the UAV flight mission, and high-concurrency control instructions for the UAV are constructed according to the data analysis results.

7. The high-concurrency control method for centrally controlling drones using a command bus according to claim 6 is characterized in that: The data analysis based on the verified UAV control management information and the immediate requirements of the UAV flight mission specifically includes: Analyze the flight status of the drone based on the drone’s current position, speed, and acceleration data to monitor the drone’s flight status in real time; Perform flight attitude angle analysis based on yaw angle and yaw rate data to analyze flight attitude and stability for adjusting control strategies; Based on the current power data, combined with the flight mode and flight mission requirements, power optimization management is performed; Monitor the current mission status in real time to ensure that the drone executes according to the scheduled mission process; Evaluate the quality of task execution by analyzing sensor data and current load status.

8. The high-concurrency control method for centrally controlling drones using a command bus according to claim 7 is characterized in that: The construction of high-concurrency control instructions for drones based on data analysis results specifically includes: Immediately adjust the priority of each flight mission in the UAV flight mission sequence based on data analysis results; Automatically handle the overall task deadlock caused by abnormal mutation of the current drone based on the data analysis results, and assign the current flight task of the out-of-control drone to other controlled drones for execution; Redesign the control law of the affected UAVs and adjust the control law of the UAVs that will take over the mission; The UAV high-concurrency control instructions and release requirements to be released are generated according to the adjusted task priorities and control laws; the release requirements include timely release of each one and immediate release of batch high-concurrency.

9. The high-concurrency control method for centrally controlling drones using a command bus according to claim 8 is characterized in that: The command arrangement control engine centrally issues high-concurrency control commands for drones via the command bus, specifically including: The command orchestration control engine uniformly publishes the UAV high-concurrency control commands according to the publishing requirements, and publishes the UAV high-concurrency control commands to each UAV control management system via the command bus.

10. A high-concurrency control system for centrally controlling drones using a command bus, characterized in that: include: Multi-protocol adaptive communication transceiver module, data stream batch processing engine and instruction scheduling control engine; The multi-protocol adaptive communication transceiver module, the data stream batch processing engine, the instruction arrangement control engine and the drone control management system of each drone manufacturer communicate with each other via the instruction bus; The multi-protocol adaptive communication transceiver module is configured to automatically select a suitable communication method and centrally access the drone control management system of each drone manufacturer via the command bus; The data stream batch processing engine is configured to collect drone control management information from the multi-protocol adaptive communication transceiver module in real time or offline via the instruction bus; the drone control management information includes drone real-time data and drone offline data; The data stream batch processing engine is further configured to perform data verification on the collected UAV control management information, and transmit the verified UAV control management information to the instruction orchestration control engine via the instruction bus in real time or offline mode; The command scheduling control engine is configured to dynamically adjust and schedule high-concurrency control commands for the UAV based on the verified UAV control management information and the immediate requirements of the UAV flight mission; The instruction orchestration control engine is also configured to centrally issue high-concurrency control instructions for drones via an instruction bus, and complete instruction execution through the drone control management system.

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