Network connection unmanned aerial vehicle multi-airport jump flight state synchronization control method, electronic equipment and storage medium

Abstract

The invention belongs to the technical field of multi-airport jump flight of unmanned aerial vehicles, and particularly relates to a state synchronization control method for multi-airport jump flight of a networked unmanned aerial vehicle, electronic equipment and a storage medium. The method comprises the steps that a ground airport establishes connection with a master station through a network connection middleware program and completes registration; an airport control group is arranged by the main station; the networking middleware program of the ground airport continuously detects the unmanned aerial vehicle, when the unmanned aerial vehicle is detected, the unmanned aerial vehicle is automatically connected, and the ground airport issues an instruction to the unmanned aerial vehicle through the main station; according to the issued instruction, the ground airport updates the instruction state, and transmits information to the master station through the middleware; after receiving the return information, the master station searches for information of an airport control group where the master station is located, encapsulates state information into a message in a mavlink protocol format, and sends the message to other ground airports; and other ground airports analyze the message and update the latest state. According to the invention, multiple airports can have the control right of the unmanned aerial vehicle at any time, and the flexibility during jump flight operation is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of multi-airport hopping of unmanned aerial vehicles, and more specifically, relates to a state synchronization control method, electronic equipment and storage medium for multi-airport hopping of networked unmanned aerial vehicles. Background Art

[0002] Multi-airport hopping is a technology used to expand the range of drone missions and improve drone flight endurance. Specifically, it deploys multiple airports in different geographical locations, allowing drones to automatically take off and land and perform missions between these airports, thereby achieving long-distance and long-term operation capabilities. During the hopping process, drones rely on communication matching, real-time information transmission, system control and other technologies to achieve transfer from one airport to another, and are no longer limited by the distance of a single flight.

[0003] Although the currently used hopping technology can realize the long-distance operation of drones, there are still some aspects that need to be studied and improved, among which the control of drones between multiple airports is worthy of attention. At present, drones often achieve hopping by connecting to each airport, but due to the connection method, drones can only be controlled by the current airport during the process of hopping from one airport to another, which limits the control flexibility of drones; secondly, the flight connection process may be affected by environmental occlusion, which in turn affects the communication quality between drones and airports and the real-time synchronization of status.

[0004] Chinese patent document CN113467522B discloses a method and system for a drone passing through a drone airport. The method for a drone passing through a drone airport includes: obtaining drone status information; sending a drone airport information set request to an index server; receiving the drone airport information set sent by the index server; obtaining a connected drone airport site set containing the path weights between airports of any two sequentially connected drone airport access point coordinates according to the drone airport information set by weight calculation; calculating the best weighted sequentially connected path set; determining the achievable best weighted sequentially connected path set; and determining the flight path according to the weighted combination conditions.

[0005] In view of this, the present invention designs a state synchronization control method for multi-airport hopping of a networked UAV to solve the recognition problem of double video confirmation in one-key sequential control. Summary of the invention

[0006] The present invention aims to overcome at least one defect of the above-mentioned prior art and provide a state synchronization control method for multi-airport hopping of a networked UAV.

[0007] The present invention also discloses an electronic device loaded with a state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle.

[0008] The present invention also discloses a storage medium loaded with a state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle.

[0009] The detailed technical scheme of the present invention is as follows: A state synchronization control method for multi-airport hopping of a networked UAV, the method comprising the following steps: S1. The ground airport establishes a connection with the main station through the network middleware program and completes the registration. Each ground airport corresponds to a separate device ID; S2. The master station sets multiple ground airports that perform route tasks as an airport control group to manage and control the route tasks; S3, the network middleware program of the ground airport continuously detects the connection of the drone. When a drone is detected, it will automatically connect and send instructions to the drone through the main station from the ground airport; S4. According to the issued instructions, the ground airport updates the status information, including the mission execution status and return status, and transmits the status information to the main station through the network middleware program using the http transmission method; S5. After receiving the feedback information from the ground airport, the master station searches for the airport control group information through the device ID, encapsulates the obtained status information into a message in the MavLink protocol format, and sends the message to other ground airports in the airport control group; S6. According to the message sent by the master station, other ground airports parse and synchronously update the corresponding instruction status to the latest status; S7. When the UAV continues to perform the flight mission, execute S3-S5 until the entire route mission is completed.

[0010] Preferably, according to the present invention, the ground airport establishes a connection with the main station and completes registration through the networking middleware program, which means that the ground airport sets configuration file parameters, the networking middleware program reads the configuration parameters, establishes a connection with the main station and completes registration.

[0011] Preferably, according to the present invention, the networking middleware program of the ground airport continuously detects the connection of the drone, which means that the networking middleware program of the ground airport obtains the drone connection information by setting and reading the configuration file parameters, continuously detects the connection of the drone and initiates a connection application.

[0012] Preferably, according to the present invention, the networked middleware program includes: a configuration parameter reading unit, an airport equipment registration unit, a drone connection unit, and a drone status synchronization control unit.

[0013] Preferably, according to the present invention, the configuration parameter reading unit is used to read and manage the parameter information of the configuration file: the device registration and the UAV communication connection operation are performed by reading the parameter information of the configuration file in real time; Preferably, according to the present invention, the airport equipment registration unit is used to complete the equipment registration and management of the airport in the drone control main station: by reading the airport equipment ID in the configuration file, the airport equipment ID is transmitted to the control main station using http-based network technology and the main station completes the equipment registration, and completes the communication connection with the control main station before connecting to the drone; on the other hand, flight information interaction with the main station is realized based on websocket, and the current status information of the drone is transmitted.

[0014] Preferably, according to the present invention, the drone connection unit is used to complete the network connection with a drone equipped with a networking function: the unit realizes automatic connection after the drone is powered on. Specifically, after setting the communication address of the drone device through the configuration file, the parameter information of the loaded configuration file is read, and the communication connection service is started to make continuous connection applications to the address of the configuration information; when the drone is not turned on, the unit will continuously apply for connection to the communication address in the configuration file when running in the control server, and will re-initiate a new connection request when the connection times out until the drone is powered on, at which time the unit will re-initiate a connection request to the drone to automatically complete the establishment of the communication link.

[0015] Preferably, according to the present invention, the drone state synchronization control unit is used to complete the information synchronization of the drone flight state when the networked drone hops across multiple airports.

[0016] In another aspect of the present invention, there is also provided an electronic device, comprising: at least one processor; and A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described above.

[0017] In another aspect of the present invention, a machine-readable storage medium is provided, which stores executable instructions, and when the instructions are executed, the machine executes the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described above.

[0018] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention proposes a state synchronization control method for multi-airport hopping of a networked UAV, which realizes automatic connection between the UAV and the ground airport through networking. It not only improves the stability of communication, but also can complete the update of the airport command status in real time to ensure the real-time adjustment of the UAV flight control, and also enables the control of the UAV to be controlled at any time between multiple airports, thereby increasing the flexibility of the hopping operation.

[0019] (2) The present invention adopts the message transmission of the MAVLINK protocol, which increases the compatibility and scalability of information transmission between systems to a certain extent. Its customized message method can meet the transmission requirements of the information field at any time, enabling the drone to complete long-distance flight missions more intelligently and quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a technical flow chart of the state synchronization control method of multi-airport hopping of the networked UAV described in the present invention.

[0021] Figure 2 It is a diagram of the program structure of the Internet-connected middleware described in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0023] Embodiment 1, Ginseng Figure 1 This embodiment provides a state synchronization control method for multi-airport hopping of a networked UAV, the method comprising: S1. The ground airport establishes a connection with the main station through the network middleware program and completes the registration. Each ground airport corresponds to a separate device ID; S2. The master station sets multiple ground airports that perform route tasks as an airport control group to manage and control the route tasks; S3, the network middleware program of the ground airport continuously detects the connection of the drone. When a drone is detected, it will automatically connect and send instructions to the drone through the main station from the ground airport; S4. According to the issued command, the ground airport updates the command status, including the mission execution status and return status, and transmits the status information to the main station through the network middleware program using the http transmission method; S5. After receiving the feedback information from the ground airport, the master station will traverse the device ID to find the airport control group information where it is located, and encapsulate the obtained status information into a message in the MavLink protocol format, and send the message to other ground airports in the airport control group; S6. According to the message sent by the master station, other ground airports parse and synchronously update the corresponding instruction status to the latest status; S7. When the UAV continues to perform the flight mission, execute S3-S5 until the entire route mission is completed.

[0024] The ground airport establishes a connection with the main station and completes the registration through the networked middleware program, which means that the ground airport sets the configuration file parameters, and the networked middleware program reads the configuration parameters, establishes a connection with the main station and completes the registration. The main station registration is performed using the drone airport equipment ID to achieve orderly management of one-to-many situations under drone mission flight, improve the management efficiency during the operation process, and can complete flight control and mission management more efficiently, thereby greatly improving the effective operation rate of drone flight.

[0025] The networked middleware program of the ground airport continuously detects the connection of the drone, which means that the networked middleware program of the ground airport obtains the drone connection information by setting and reading the configuration file parameters, continuously detects the connection of the drone and initiates a connection application. The networked drone middleware program ensures a real-time and effective connection with the drone through continuous connection detection and request, increases the control of the real-time status of the drone by the main station operator, and thus improves the efficiency of the drone operation.

[0026] like Figure 2 As shown, the network middleware program includes: a configuration parameter reading unit, an airport equipment registration unit, a drone connection unit, and a drone status synchronization control unit; Configuration parameter reading unit, used for reading and managing parameter information of configuration files: device registration and drone communication connection operations are performed by reading parameter information of configuration files in real time; The airport equipment registration unit is used to complete the equipment registration and management of the airport in the drone control master station: by reading the airport equipment ID in the configuration file, the airport equipment ID is transmitted to the control master station using HTTP-based network technology and the master station completes the equipment registration, and completes the communication connection with the control master station before connecting to the drone, which is convenient for the subsequent drone flight control at the airport; on the other hand, flight information interaction with the master station is realized based on websocket, and the current drone status information is transmitted, including: drone remaining power, drone voltage, drone longitude and latitude, drone altitude, and drone flight time.

[0027] The drone connection unit is used to complete the network connection with a drone equipped with a network connection function: the unit can complete the automatic connection of the drone after it is powered on, including 4G and 5G connections. Specifically, after setting the communication address of the drone device through the configuration file, the parameter information of the loaded configuration file is read, and the communication connection service is started to make continuous connection applications to the address of the configuration information; when the drone is not turned on, the unit will continuously apply for connection to the communication address in the configuration file when running in the control server. When the connection times out, a new connection request will be re-initiated until the drone is powered on. At this time, the unit will re-initiate a connection request to the drone to automatically complete the establishment of the communication link.

[0028] The drone status synchronization control unit is used to complete the information synchronization of the drone flight status when the networked drone hops across multiple airports.

[0029] Embodiment 2, This embodiment also provides an electronic device, including: at least one processor; and A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described above.

[0030] In this embodiment, the electronic device may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile computing devices, smart phones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable computing devices, consumer electronic devices, and the like.

[0031] Embodiment 3, This embodiment also provides a machine-readable storage medium storing executable instructions, which, when executed, enable the machine to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described above.

[0032] Specifically, a system or device equipped with a readable storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer or processor of the system or device can read and execute instructions stored in the readable storage medium.

[0033] In this case, the program code itself read from the machine-readable medium can realize the function of any one of the above embodiments, and thus the machine-readable code and the machine-readable storage medium storing the machine-readable code constitute part of this specification.

[0034] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code may be downloaded from a server computer or a cloud via a communication network.

[0035] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A state synchronization control method for multi-airport hopping of a networked UAV, characterized in that: The method comprises the following steps: S1. The ground airport establishes a connection with the main station through the network middleware program and completes the registration. Each ground airport corresponds to a separate device ID; S2. The master station sets multiple ground airports that perform route tasks as an airport control group to manage and control the route tasks; S3. The network middleware program of the ground airport continuously detects the connection of the drone. When a drone is detected, it will automatically connect and send instructions to the drone through the main station from the ground airport. S4. According to the issued instructions, the ground airport updates the status information, including the mission execution status and return status, and transmits the status information to the main station through the network middleware program using the http transmission method; S5. After receiving the feedback information from the ground airport, the master station searches for the airport control group information through the device ID, encapsulates the obtained status information into a message in the MavLink protocol format, and sends the message to other ground airports in the airport control group; S6. According to the message sent by the master station, other ground airports parse and synchronously update the corresponding instruction status to the latest status; S7. When the UAV continues to perform the flight mission, execute S3-S5 until the entire route mission is completed.

2. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 1 is characterized in that: The ground airport establishes a connection with the main station and completes registration through the networked middleware program, which means that the ground airport sets configuration file parameters, and the networked middleware program reads the configuration parameters, establishes a connection with the main station and completes registration.

3. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 1 is characterized in that: The networked middleware program of the ground airport continuously detects the connection of the drone, which means that the networked middleware program of the ground airport obtains the drone connection information by setting and reading the configuration file parameters, continuously detects the connection of the drone and initiates a connection application.

4. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 1 is characterized in that: The networked middleware program includes: a configuration parameter reading unit, an airport equipment registration unit, a drone connection unit, and a drone status synchronization control unit.

5. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 4 is characterized in that: The configuration parameter reading unit is used to read and manage the parameter information of the configuration file: the device registration and the UAV communication connection operations are performed by reading the parameter information of the configuration file in real time.

6. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 5 is characterized in that: The airport equipment registration unit is used to complete the equipment registration and management of the airport in the drone control main station: by reading the airport equipment ID in the configuration file, the airport equipment ID is transmitted to the control main station using HTTP-based network technology and the main station completes the equipment registration, and completes the communication connection with the control main station before connecting to the drone; on the other hand, flight information interaction with the main station is realized based on websocket, and the current status information of the drone is transmitted.

7. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 6 is characterized in that: The drone connection unit is used to complete the network connection with a drone equipped with a network connection function: the unit realizes automatic connection after the drone is powered on. Specifically, after setting the communication address of the drone device through the configuration file, the parameter information of the loaded configuration file is read, and the communication connection service is started to continuously apply for connection to the address of the configuration information; when the drone is not turned on, the unit will continuously apply for connection to the communication address in the configuration file when running in the control server. When the connection times out, a new connection request will be re-initiated until the drone is completely powered on. At this time, the unit will re-initiate a connection request to the drone to automatically complete the establishment of the communication link.

8. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 7 is characterized in that: The drone status synchronization control unit is used to complete the information synchronization of the drone flight status during multi-airport hopping of the networked drone.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described in any one of claims 1 to 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores executable instructions, which, when executed, enable the machine to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described in any one of claims 1 to 8.

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