Communication method and system for mooring unmanned aerial vehicle and vehicle-mounted terminal, medium and equipment

Abstract

The invention relates to the technical field of unmanned aerial vehicle communication, and particularly provides a communication method and system for a mooring unmanned aerial vehicle and a vehicle-mounted end, a medium and equipment, and the method can comprise the steps: monitoring whether the current communication links of the vehicle-mounted end and an airborne end are normal in communication or not; under the condition that the communication of the current communication link is abnormal, the current communication link is switched to a next communication link in a plurality of communication links for communication, each communication link in the plurality of communication links is sorted according to the priority, the communication modes of the communication links are different, and the next communication link is switched to the next communication link in the plurality of communication links according to the priority. The priority of the current communication link is higher than that of the next communication link. According to some embodiments of the invention, normal communication between the vehicle-mounted end and the airborne end can be ensured through a plurality of links.

Description

Technical Field

[0001] The present application relates to the field of UAV communication technology, and more specifically, to a communication method, system, medium and device between a tethered UAV and a vehicle-mounted terminal. Background Art

[0002] Tethered drones, also known as tethered UAVs, use ground power transmitted through tethered cables as their power source. Currently, drones and ground-based vehicles that provide power use relatively simple wireless or wired communication methods. However, in actual operations, wireless communications are easily interfered with by other communication devices; wired communications require high connection reliability. Once disconnected, the drone cannot be controlled, posing a high safety hazard.

[0003] Therefore, how to provide a technical solution for tethered UAV and vehicle-mounted communication with higher reliability has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The purpose of some embodiments of the present application is to provide a communication method, system, medium and equipment between a tethered drone and a vehicle-mounted terminal. Through the technical solutions of the embodiments of the present application, the reliability of communication between the tethered drone and the vehicle-mounted terminal can be improved, and the flight safety of the tethered drone can be guaranteed.

[0005] In a first aspect, some embodiments of the present application provide a communication method between a tethered drone and a vehicle-mounted terminal, comprising: monitoring whether the current communication link between the vehicle-mounted terminal and the drone-mounted terminal is communicating normally; in the event of an abnormal communication in the current communication link, switching the current communication link to the next communication link among multiple communication links for communication, wherein each of the multiple communication links is sorted according to priority, each communication link has a different communication mode, and the current communication link has a higher priority than the next communication link.

[0006] Some embodiments of the present application determine whether the current communication link is communicating normally and whether to switch the current communication link to the next communication link at its priority level for communication. Some embodiments of the present application provide a communication system for a tethered drone and a vehicle-mounted terminal, which contains multiple communication links and can be switched in time based on actual conditions, thereby improving the reliability of communication between the vehicle-mounted terminal and the airborne terminal, ensuring the safety of the tethered drone flight, and reducing the potential safety hazards caused by the inability to control the drone.

[0007] In some embodiments, the multiple communication links include: a first link using optical fiber communication, a second link using wireless bridge communication, and a third link using radio station communication, wherein the multiple communication links are prioritized as follows: the first link, the second link, and the third link.

[0008] Some embodiments of the present application form multiple communication links through different communication methods, which can improve the reliability of communication between the vehicle-mounted end and the airborne end.

[0009] In some embodiments, monitoring whether the current communication link between the vehicle-mounted end and the airborne end is communicating normally includes: determining whether the current communication link is communicating normally by judging whether monitoring data under the current communication link is received, wherein the monitoring data is the heartbeat data of the airborne end or the communication data of the airborne serial port server.

[0010] Some embodiments of the present application confirm whether the current communication link is communicating normally through monitoring data, and can monitor in real time to detect abnormalities in a timely manner.

[0011] In some embodiments, the current communication link is the first link; wherein, determining whether the current communication link is communicating normally by judging whether the monitoring data under the current communication link is received includes: if the heartbeat data of the airborne end is not received within a first preset time period, confirming that the communication of the first link is abnormal; switching the current communication link to the next communication link among multiple communication links for communication includes: connecting the vehicle-mounted end with the wireless bridge, and switching to the second link for communication; sending a switching success prompt message to the ground monitoring station so that the ground monitoring station can display the second link.

[0012] Some embodiments of the present application confirm that no heartbeat data is received within a first preset time period, connect the vehicle-mounted end and the wireless bridge to switch to the second link for communication, and inform the ground monitoring station, so as to ensure that the vehicle-mounted end and the airborne end can communicate normally, achieve effective control of the tethered drone, and improve communication reliability.

[0013] In some embodiments, the current communication link is the second link; wherein, by judging whether the monitoring data under the current communication link is received, it is determined whether the current communication link is communicating normally, including: if the communication data of the airborne serial port server is not received within the second preset time period, it is confirmed that the communication of the second link is abnormal; the current communication link is switched to the next communication link among multiple communication links for communication, including: connecting the flight controller with the radio station through the serial port, and switching to the third link for communication; sending a switching success prompt message to the ground monitoring station so that the ground monitoring station can display the third link.

[0014] Some embodiments of the present application confirm that no communication data is received within a second preset time period, connect the flight controller and the radio station to switch to a third link for communication, and inform the ground monitoring station to achieve effective control of the tethered drone and improve communication reliability.

[0015] In some embodiments, the method further includes: when using the third link communication, controlling the drone to land within a preset time period to facilitate maintenance.

[0016] Some embodiments of the present application control the drone to land and promptly repair the drone to avoid the potential safety hazard of the drone being uncontrollable.

[0017] In some embodiments, the vehicle-mounted optical terminal at the vehicle-mounted end and the airborne optical terminal at the airborne end are connected via multiple optical fibers; when the optical fiber communication of any one of the multiple optical fibers is disconnected, it automatically switches to other optical fibers except the one optical fiber.

[0018] Some embodiments of the present application connect multiple optical fibers when using optical fiber communication. When a certain optical fiber communication is disconnected, switching can be performed between the optical fibers to ensure the reliability of communication.

[0019] In some embodiments, one end of the wireless bridge is connected to the airborne optical terminal via a network cable; the other end of the wireless bridge is connected to the vehicle-mounted optical terminal via a first switch and a network cable.

[0020] Some embodiments of the present application connect the airborne terminal, the vehicle-mounted terminal and the wireless bridge to form a local area network, thereby providing a backup link to ensure normal communication between the tethered drone and the vehicle-mounted terminal and improving communication reliability.

[0021] In some embodiments, one end of the radio station is connected to the airborne optical terminal via a serial port and an airborne serial port server, and the airborne serial port server is connected to the flight controller via a second switch; the other end of the radio station is connected to the vehicle-mounted optical terminal via a vehicle-mounted serial port server.

[0022] Some embodiments of the present application connect the airborne terminal, the vehicle-mounted terminal and the radio station to form a local area network, thereby providing a backup link to ensure normal communication between the tethered drone and the vehicle-mounted terminal and improving communication reliability.

[0023] In a second aspect, some embodiments of the present application provide a communication system between a tethered drone and a vehicle-mounted terminal, comprising: a monitoring module for monitoring whether the current communication link between the vehicle-mounted terminal and the drone-mounted terminal is communicating normally; a link switching module for switching the current communication link to the next communication link among multiple communication links for communication when the current communication link has communication abnormalities, wherein each of the multiple communication links is sorted according to priority, each communication link has a different communication mode, and the current communication link has a higher priority than the next communication link.

[0024] In a third aspect, some embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the method described in any embodiment of the first aspect.

[0025] In a fourth aspect, some embodiments of the present application provide an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement a method as described in any embodiment of the first aspect when executing the program.

[0026] In a fifth aspect, some embodiments of the present application provide a computer program product, wherein the computer program product comprises a computer program, wherein the computer program, when executed by a processor, can implement the method described in any embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of some embodiments of the present application, the drawings required for use in some embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A communication system diagram of a tethered drone and a vehicle-mounted terminal provided for some embodiments of the present application;

[0029] Figure 2 One of the flow charts of the communication method between the tethered drone and the vehicle-mounted terminal provided in some embodiments of the present application;

[0030] Figure 3 A second flow chart of a communication method between a tethered drone and a vehicle-mounted terminal provided in some embodiments of the present application;

[0031] Figure 4 A block diagram of the communication system between a tethered drone and a vehicle-mounted terminal provided in some embodiments of the present application;

[0032] Figure 5 A schematic diagram of an electronic device is provided for some embodiments of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in some embodiments of the present application will be described below in conjunction with the drawings in some embodiments of the present application.

[0034] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0035] In the relevant technology, the spectrum used by drones around the world is mainly concentrated in the C band (1.0-2.0GHz), L band (4.0-8.0GHz) and UHF (ultra-high frequency, 300-3000MHz) bands, and a small number of drones also use other bands. In order to meet the use requirements of unmanned aerial vehicles, some special bands are also set up to meet the application requirements of forest fire prevention, emergency rescue, scientific research experiments and environmental monitoring. The communication methods of tethered drones (or airborne terminals) and vehicle terminals (or ground terminals, vehicle terminals) are mainly divided into wired and wireless. In practical applications, tethered drones and vehicle terminals usually use a single communication method with low reliability. Moreover, if wireless communication is used, it is easy to be interfered by other communication equipment and interfere with other communication equipment in actual operations; if wired communication is used, the connection reliability requirements between the drone and the vehicle terminal are high. If the physical connection is disconnected, the communication is disconnected, resulting in the inability to control the drone and easily causing a series of safety hazards.

[0036] In view of this, some embodiments of the present application provide a communication method between a tethered drone and a vehicle-mounted terminal, in which a plurality of communication links sorted by priority are provided and each communication link has a different communication mode. In actual application, the current communication link of the vehicle-mounted terminal and the airborne terminal can be obtained, and by monitoring whether the monitoring data under the current communication link is received, it is confirmed whether to switch the current communication link to the next communication link of the next priority for communication. The embodiments of the present application can improve the reliability of communication between the vehicle-mounted terminal and the airborne terminal through redundant communication of multiple communication links, realize effective control of the airborne terminal, avoid safety problems caused by the inability to control, and have high practicality.

[0037] The following is combined with Figure 1 The overall composition structure of the communication system between the tethered drone and the vehicle-mounted terminal provided in some embodiments of the present application is exemplified.

[0038] like Figure 1As shown, some embodiments of the present application provide a communication system between a tethered UAV and a vehicle-mounted terminal, wherein the communication system between the tethered UAV and the vehicle-mounted terminal includes: a vehicle-mounted terminal 110 of a vehicle-mounted platform, and an airborne terminal 120 of an UAV platform. The vehicle-mounted platform also includes: a vehicle-mounted load control sublink 111, and an integrated instrument display and control system 112. The UAV platform also includes: an airborne load control sublink 121, a flight control sublink 122, and a command and control sublink 123.

[0039] The following is an example of Figure 1 The functions of each unit in it.

[0040] The airborne load control sub-link 111 forms a local area network with the airborne camera and other airborne loads through a network cable; the airborne load equipment includes one or more of the fuselage lighting, the working surface lighting, the optoelectronic composite cable throwing mechanism, the water hose throwing mechanism, the network camera, the water cannon gimbal, the throwing window breaker, and the throwing fire extinguishing bomb.

[0041] The flight control sub-link 122 is connected to the flight controller, high-voltage distribution box, low-voltage distribution box, onboard battery pack, and motor controller through the CAN bus to form a CAN network; the CAN bus then forms a local area network through a CAN server, an optical terminal, and other devices.

[0042] The command and control sublink 123 is connected to the serial port server (airborne end, or called airborne serial port server) and the radio station (airborne end) through the internal serial port automatic switch; the serial port server forms a local area network with the optical terminal through the network cable.

[0043] The integrated instrument display and control system 112 includes a ground monitoring station, a payload control station, a ground control station, and a serial port server (on-board terminal); the ground monitoring station parses and displays the information of the motor controller, on-board battery pack, low-voltage distribution box, and high-voltage distribution box in the local area network; the payload control station parses and controls the on-board camera, generator, mooring winch, and other on-board payload equipment in the local area network and displays them; the ground control station sends control commands and displays aircraft instrument information through a serial port server or a radio station.

[0044] like Figure 1 As shown, the vehicle-mounted terminal 110 and the airborne terminal 120 can communicate using multiple communication links to improve communication reliability.

[0045] In some embodiments of the present application, the plurality of communication links include: a first link using optical fiber communication, a second link using wireless bridge communication, and a third link using wireless station communication. The plurality of communication links are sorted by priority as follows: the first link, the second link, and the third link.

[0046] For example, the vehicle-mounted terminal 110 and the aircraft-mounted terminal 120 can communicate with each other through the main network (as a specific example of the first link), the first backup link (i.e. Figure 1 The backup 1 link in the example is used as a specific example of the second link) and the second backup link (i.e. Figure 1 The backup 2 link in the communication is used as a specific example of the third link).

[0047] In some embodiments of the present application, the vehicle-mounted optical terminal at the vehicle-mounted end and the airborne optical terminal at the airborne end are connected through multiple optical fibers; when the optical fiber communication of any one of the multiple optical fibers is disconnected, it automatically switches to other optical fibers except the one optical fiber.

[0048] For example, in some embodiments of the present application, the main network connects the vehicle-mounted end 110 and the airborne end 120 through an optical-electrical composite cable. The optical-electrical composite cable includes multiple optical fibers (for example, the number of optical fibers is not less than four), one part of which is used as the main function and one part as the backup. Taking four optical fibers as an example, the optical terminal includes 2 optical-electrical interfaces and 4 network cable interfaces, and the two optical fibers are connected to the optical terminals of the airborne end 120 and the vehicle-mounted end 110. The optical terminal has an automatic switching function, and when one optical fiber communication is disconnected, it automatically switches to another one (as a specific example of other optical fibers); the optical terminal has a switch function, and the optical terminals of the airborne end 120 and the vehicle-mounted end 110 (that is, the airborne optical terminal and the vehicle-mounted optical terminal) have a total of 8 network cable interfaces to form a local area network. In addition, the number of optical terminals in the main network can be set as needed. For example, there can be 4 optical terminals, namely 2 at the sky end (that is, the airborne end) and 2 at the ground end. The 4 optical terminals are connected by optical fibers and can be online at the same time to back up each other. The optoelectronic composite cable contains 4 optical fibers. As long as one or more optical fibers are communicating normally, the main network is normal.

[0049] It is understandable that the number of interfaces of the optical terminal can be adjusted based on the number of optical fibers, and the embodiments of the present application are not limited to this.

[0050] In some embodiments of the present application, one end of the wireless bridge is connected to the airborne optical terminal via a network cable; the other end of the wireless bridge is connected to the vehicle-mounted optical terminal via a first switch and a network cable.

[0051] For example, in some embodiments of the present application, the wireless bridge in the first backup link can be a 5.8G bridge, which forms a local area network by connecting the vehicle-mounted terminal 110 and the airborne terminal 120. The airborne 5.8G bridge is connected to the airborne optical terminal through a network cable, and the network automatic switch 130 is connected to the vehicle-mounted optical terminal and the vehicle-mounted 5.8G bridge through a network cable. The first backup link can replace the optical fiber network to form a local area network with the airborne terminal 120 and the vehicle-mounted terminal 110. When the main network is working normally, the network automatic switch 130 defaults that the vehicle-mounted 5.8G bridge is not connected to the vehicle-mounted optical terminal. It should be noted that the wireless bridge in the first backup link can be a 5.8G bridge, or it can be a 2.4G bridge, 5G, 6G mobile network and other bridges and mobile networks, which are not specifically limited in the embodiments of the present application.

[0052] It should be noted that there is no functional difference between the main network and the first backup link, only the bandwidth size is different, and the number of load devices that can be accommodated is different. The bandwidth of the first backup link is slightly lower than that of the main network.

[0053] In some embodiments of the present application, one end of the radio station is connected to the airborne optical terminal through a serial port and an airborne serial port server, and the airborne serial port server is connected to the flight controller through a second switch; the other end of the radio station is connected to the vehicle-mounted optical terminal through a vehicle-mounted serial port server.

[0054] For example, in some embodiments of the present application, the frequency band of the radio station in the second backup link can be set based on the requirements of aircraft-related regulations and actual conditions. For example, the frequency band is 800MHz. In addition, the 800MHz radio station can also be replaced with a 2.4G radio station or other frequency band radio station. The embodiments of the present application are not specifically limited here. Specifically, the ground control station commands and controls and displays data to communicate with the flight controller through the vehicle-mounted terminal 110 and the airborne radio station. The automatic serial port switcher defaults to connecting the flight controller to the airborne serial port server.

[0055] It can be seen from the above that the priority order of the three communication links provided above is main network>first backup link>second backup link; the bandwidth size relationship of the three communication links is: main network>first backup link>second backup link.

[0056] It should be understood that although the above embodiment is described by taking three communication links as an example, in actual applications, the number of communication links (for example, 2, 5, etc.) can be set according to actual conditions. Figure 1 The links and ends within the system may be adjusted according to actual application scenarios, and the embodiments of the present application are not limited thereto.

[0057] The following is combined with Figure 2 Exemplary description of some embodiments of the present application provided by Figure 1 The system shown implements the communication between the tethered drone and the vehicle-mounted terminal. It is understandable that the communication method between the tethered drone and the vehicle-mounted terminal can be executed by the network automatic switch 130 or the serial port automatic switch, or by other switching control modules or controllers in the vehicle-mounted platform or the drone platform, and the embodiments of the present application are not specifically limited here.

[0058] Please see attached Figure 2 , Figure 2 A flow chart of a communication method between a tethered drone and a vehicle-mounted terminal is provided for some embodiments of the present application. The communication method between the tethered drone and the vehicle-mounted terminal may include:

[0059] S210, monitoring whether the current communication link between the vehicle-mounted terminal and the aircraft-mounted terminal is communicating normally.

[0060] For example, in some embodiments of the present application, first, when the vehicle-mounted terminal 110 and the airborne terminal 120 communicate using the current communication link, it is monitored whether the current communication link is communicating normally.

[0061] In some embodiments of the present application, S210 may include: determining whether the current communication link is communicating normally by judging whether monitoring data under the current communication link is received, wherein the monitoring data is the heartbeat data of the airborne end or the communication data of the airborne serial port server.

[0062] For example, in some embodiments of the present application, the network automatic switch 130 confirms whether the current communication link is normal by determining whether the heartbeat data sent by the onboard terminal 120 is received. The serial port automatic switch confirms whether the current communication link is normal by determining whether the communication data of the onboard serial port server is received. If the monitoring data can be received normally, the current link communication is normal.

[0063] S220, when the communication of the current communication link is abnormal, switching the current communication link to the next communication link among the multiple communication links for communication, wherein each communication link among the multiple communication links is sorted according to priority, each communication link has a different communication mode, and the priority of the current communication link is higher than that of the next communication link.

[0064] For example, in some embodiments of the present application, since there are priorities between multiple communication links, in actual situations, when it is confirmed that there is an abnormality in the current communication link, it is possible to switch to the next communication link at the next level to achieve normal communication between the vehicle-mounted terminal 110 and the airborne terminal 120.

[0065] The above process is explained below as an example.

[0066] In some embodiments of the present application, the current communication link is the first link; S210 may include: if the heartbeat data of the airborne terminal is not received within the first preset time period, confirming that the communication of the first link is abnormal. S220 may include: connecting the vehicle-mounted terminal with the wireless bridge, switching to the second link for communication; sending a switching success prompt message to the ground monitoring station so that the ground monitoring station can display the second link.

[0067] For example, in some embodiments of the present application, when the current communication link is the main network and the network automatic switch 130 cannot receive the heartbeat data of the airborne device (that is, the airborne terminal 120) through the optical fiber for more than 200ms (as a specific example of the first preset time period), it is confirmed that all optical fibers in the main network are abnormal. At this time, the network between the on-board 5.8G bridge and the on-board optical terminal is connected, and the communication is switched to the first backup link. The first backup link has all the communication functions of the main network. After the switch is successful, the information is sent to the ground monitoring station, and the ground monitoring station displays it as the backup 1 link (that is, the first backup link).

[0068] In some embodiments of the present application, the current communication link is the second link; S210 may include: if the communication data of the airborne serial port server is not received within the second preset period, confirming that the communication of the second link is abnormal. S220 may include: connecting the flight controller to the radio station through the serial port, switching to the third link for communication; sending a switching success prompt message to the ground monitoring station so that the ground monitoring station can display the third link.

[0069] For example, in some embodiments of the present application, when the current communication link is the backup 1 link and the serial port automatic switch cannot receive the communication data of the airborne serial port server for more than 500ms (as a specific example of the second preset period) (indicating that both the main network and the backup 1 link are disconnected), the flight controller serial port is connected to the radio station and switched to the backup 2 link. After the switch is successful, the information is sent to the ground monitoring station, and the ground monitoring station displays the backup 2 link.

[0070] It is understandable that the first preset time period and the second preset time period can be taken according to the actual application scenario, and the embodiments of the present application are not limited to the above embodiments. Moreover, in the above-mentioned process of switching the communication link, after the switching is successful, the network automatic switch 130 and the serial port automatic switch can send a command message of successful switching to the vehicle-mounted terminal 110 and the airborne terminal 120 to change the communication mode. After the switching is successful, the vehicle-mounted terminal 110 and the airborne terminal 120 can resend the data that failed to be sent due to communication anomalies before the switching. The data that failed to be sent can be transmitted together with the new data or transmitted separately to ensure the integrity of the data transmission to prevent loss. The sending time and method of the data that failed to be sent can be selected according to the actual situation, and the embodiments of the present application are not specifically limited here.

[0071] In some embodiments of the present application, the communication method between the tethered drone and the vehicle-mounted terminal further includes: when using the third link communication, controlling the drone to land within a preset time period to facilitate maintenance.

[0072] For example, in some embodiments of the present application, only the command and control communication of the aircraft (that is, the UAV) is retained under the backup 2 link, and the UAV must be landed and inspected as soon as possible. That is, the backup 2 link is to keep the aircraft still able to be commanded and controlled and execute the forced landing procedure when both the main network and the backup 1 link fail.

[0073] The following is combined with Figure 3 The specific process of communication between a tethered drone and a vehicle-mounted terminal provided by some embodiments of the present application is exemplified.

[0074] Please see attached Figure 3 , Figure 3 A flow chart of a communication method between a tethered drone and a vehicle-mounted terminal is provided for some embodiments of the present application.

[0075] The above process is explained below as an example.

[0076] S310, the vehicle-mounted terminal and the airborne terminal communicate using the main network.

[0077] S320, the network automatic switch determines whether the heartbeat data of the airborne end is received, and if so, continues to execute S320 according to the preset cycle, otherwise executes S330.

[0078] S330, switch the main network to the backup 1 link, and send link information to the ground monitoring station.

[0079] S340, the serial port automatic switch determines whether the communication data of the onboard serial port server is received, and if so, continues to execute S340 according to a preset cycle, otherwise executes S350.

[0080] S350, switch the backup link 1 to the backup link 2, and send link information to the ground monitoring station.

[0081] S360, control the drone to land within the preset time period.

[0082] It is understood that the specific implementation process of S310 to S360 can refer to the above Figure 1 and Figure 2 To avoid repetition, detailed description of the method embodiments provided is appropriately omitted here.

[0083] Some embodiments of the present application divide the communication modes into multiple types through the integrated backup of wired and wireless modes, thereby improving the reliability of communication. When the surrounding electromagnetic environment is complex and wireless communication is easily interfered with, resulting in communication interruption, the main network in the present application uses wired transmission, and dual optical fibers are backed up to each other, reducing the risk of communication interruption caused by a single optical fiber being easily contaminated by the plug or the optical fiber being worn out by the optoelectronic composite cable. At the same time, two wireless communication modes are retained, and even if two communication modes fail, there is still the communication capability to execute the aircraft forced landing command, which effectively combines the advantages of the two communication modes and forms a complementary relationship.

[0084] Moreover, optical fiber data transmission has the characteristics of high speed, large capacity, low loss and strong anti-interference ability. Optical fiber transmission is not affected by electromagnetic interference, so it can effectively avoid radio wave interference. In order to ensure the reliability of data transmission, optical fiber redundancy design is adopted, that is, multiple optical fibers are used to transmit data in parallel. When one of the optical fibers fails, the other optical fibers can take over immediately to ensure that data transmission is not interrupted. Although optical fiber transmission itself has high security, data encryption technology, such as AES, RSA and other encryption algorithms, can still be used to encrypt the transmitted data to improve data security. Due to the physical connection of the cable, the wired data link is usually more stable than the wireless data link and is less affected by external interference. Cables can provide higher data transmission rates and are suitable for application scenarios that require real-time transmission of large amounts of data. Through the cable, the tethered drone can obtain continuous power supply from the ground station, avoiding battery life limitations and extending the operation time of the drone. Wired connections can reduce potential security risks, such as communication interruptions caused by hacker attacks or radio interference.

[0085] Please refer to Figure 4 , Figure 4 The block diagram of the tethered drone and the vehicle-mounted communication system provided by some embodiments of the present application is shown. It should be understood that the tethered drone and the vehicle-mounted communication system corresponds to the above method embodiment and can execute the various steps involved in the above method embodiment. The specific functions of the tethered drone and the vehicle-mounted communication system can be found in the above description. To avoid repetition, the detailed description is appropriately omitted here.

[0086] Figure 4 The communication system between the tethered UAV and the vehicle-mounted end includes at least one software function module that can be stored in the memory in the form of software or firmware or solidified in the communication system between the tethered UAV and the vehicle-mounted end, and the communication system between the tethered UAV and the vehicle-mounted end includes: a monitoring module 410, used to monitor whether the current communication link between the vehicle-mounted end and the airborne end is communicating normally; a link switching module 420, used to switch the current communication link to the next communication link among multiple communication links for communication when the communication of the current communication link is abnormal, wherein each communication link among the multiple communication links is sorted according to priority, and the communication mode of each communication link is different, and the priority of the current communication link is higher than that of the next communication link.

[0087] In some embodiments of the present application, the monitoring module 410 is used to determine whether the current communication link is communicating normally by judging whether the monitoring data under the current communication link is received, wherein the monitoring data is the heartbeat data of the airborne end or the communication data of the airborne serial port server.

[0088] In some embodiments of the present application, the current communication link is the first link; the monitoring module 410 is used to confirm that the communication of the first link is abnormal if the heartbeat data of the airborne end is not received within a first preset time period; the link switching module 420 is used to connect the vehicle-mounted end with the wireless bridge and switch to the second link for communication; and send a switching success prompt message to the ground monitoring station so that the ground monitoring station can display the second link.

[0089] In some embodiments of the present application, the current communication link is the second link; the monitoring module 410 is used to confirm that the communication of the second link is abnormal if the communication data of the airborne serial port server is not received within the second preset time period; the link switching module 420 is used to connect the flight controller to the radio station through the serial port and switch to the third link for communication; and send a switching success prompt message to the ground monitoring station so that the ground monitoring station can display the third link.

[0090] In some embodiments of the present application, the link switching module 420 is used to control the UAV to land within a preset time period when the third link communication is adopted to facilitate maintenance.

[0091] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned method, and will not be elaborated here.

[0092] Some embodiments of the present application further provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the operations of the method corresponding to any of the above methods provided in the above embodiments.

[0093] Some embodiments of the present application further provide a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can implement the operations corresponding to any of the above methods provided in the above embodiments.

[0094] like Figure 5 As shown, some embodiments of the present application provide an electronic device 500, which includes: a memory 510, a processor 520, and a computer program stored in the memory 510 and executable on the processor 520, wherein the processor 520 can implement a method as described in any of the above embodiments when reading the program from the memory 510 through a bus 530 and executing the program.

[0095] Processor 520 can process digital signals and can include various computing structures, such as complex instruction set computer structure, reduced instruction set computer structure, or a structure that implements a combination of multiple instruction sets. In some examples, processor 520 can be a microprocessor.

[0096] The memory 510 may be used to store instructions executed by the processor 520 or data related to the execution of instructions. These instructions and / or data may include codes for implementing some or all functions of one or more modules described in the embodiments of the present application. The processor 520 of the disclosed embodiment may be used to execute instructions in the memory 510 to implement the method shown above. The memory 510 includes a dynamic random access memory, a static random access memory, a flash memory, an optical memory, or other memory known to those skilled in the art.

[0097] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0098] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0099] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A communication method between a tethered drone and a vehicle-mounted terminal, characterized in that: include: Monitor whether the current communication link between the vehicle-mounted terminal and the aircraft-mounted terminal is normal; In the event of communication abnormality in the current communication link, the current communication link is switched to the next communication link among multiple communication links for communication, wherein each communication link among the multiple communication links is sorted according to priority, each communication link has a different communication mode, and the priority of the current communication link is higher than that of the next communication link.

2. The method according to claim 1, characterized in that The monitoring of whether the current communication link between the vehicle-mounted terminal and the aircraft-mounted terminal is communicating normally includes: By judging whether the monitoring data under the current communication link is received, it is determined whether the current communication link is communicating normally, wherein the monitoring data is the heartbeat data of the airborne end or the communication data of the airborne end serial port server.

3. The method according to claim 2, characterized in that The multiple communication links include: a first link using optical fiber communication, a second link using wireless bridge communication, and a third link using radio station communication, wherein the multiple communication links are sorted by priority as follows: the first link, the second link, and the third link.

4. The method according to claim 3, characterized in that The current communication link is the first link; wherein determining whether the current communication link is communicating normally by judging whether the monitoring data under the current communication link is received includes: If the heartbeat data of the airborne terminal is not received within the first preset time period, confirming that the first link communication is abnormal; The switching the current communication link to the next communication link among the multiple communication links for communication includes: Connecting the vehicle-mounted terminal to the wireless bridge and switching to the second link for communication; Sending a switching success prompt message to a ground monitoring station so that the ground monitoring station can display the second link.

5. The method according to claim 3, characterized in that The current communication link is the second link; wherein determining whether the current communication link is communicating normally by judging whether the monitoring data under the current communication link is received includes: If no communication data from the onboard serial device server is received within the second preset period, it is determined that the second link communication is abnormal; The switching the current communication link to the next communication link among the multiple communication links for communication includes: Connecting the flight controller to the radio station via the serial port, and switching to the third link for communication; Sending a switching success prompt message to a ground monitoring station so that the ground monitoring station can display the third link.

6. The method according to any one of claims 3 to 5, characterized in that The method further comprises: When the third link communication is adopted, the UAV is controlled to land within a preset time period to facilitate maintenance.

7. The method according to any one of claims 3 to 5, characterized in that The vehicle-mounted optical terminal at the vehicle-mounted end and the airborne optical terminal at the airborne end are connected via multiple optical fibers; when any one of the multiple optical fibers is disconnected, it automatically switches to other optical fibers except the one optical fiber.

8. The method according to claim 7, characterized in that One end of the wireless bridge is connected to the airborne optical terminal through a network cable; the other end of the wireless bridge is connected to the vehicle-mounted optical terminal through a first switch and a network cable.

9. The method according to claim 7, characterized in that One end of the radio station is connected to the airborne optical terminal through a serial port and an airborne serial port server, and the airborne serial port server is connected to the flight controller through a second switch; the other end of the radio station is connected to the vehicle-mounted optical terminal through a vehicle-mounted serial port server.

10. A communication system between a tethered drone and a vehicle-mounted terminal, characterized in that: include: A monitoring module is used to monitor whether the current communication link between the vehicle-mounted terminal and the aircraft-mounted terminal is communicating normally; A link switching module is used to switch the current communication link to the next communication link among multiple communication links for communication when the communication of the current communication link is abnormal, wherein each communication link among the multiple communication links is sorted according to priority, each communication link has a different communication mode, and the priority of the current communication link is higher than that of the next communication link.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program executes the method according to any one of claims 1 to 9 when executed by a processor.

12. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program executes the method according to any one of claims 1 to 9 when being run by the processor.

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