Multi-unmanned-equipment low-delay control system and method based on ad hoc network system

Abstract

The invention provides a multi-unmanned-device low-delay control system and method based on an ad hoc network system, the system comprises a control device, a terminal device, a body area network, a radio station and a plurality of unmanned devices, the control device is used for providing control instructions of the unmanned devices and has two wireless communication capabilities of Bluetooth and WIFI; the terminal equipment is used for configuring communication connection of the control equipment, is in wired connection with the body area network through an internet access, is in Bluetooth connection with the control equipment, and configures the control equipment to be in communication connection with the body area network through WIFI; the body area network is used for analyzing the address information and the control instruction of the unmanned equipment into a defined message format, and sending a message to the radio station through the wired network; the radio station is used for enhancing communication signal strength and sending message data to the unmanned equipment through a wireless network; and the plurality of unmanned devices are used for receiving the message sent by the radio station, and the unmanned device matched with the address in the message executes a task corresponding to the control instruction. According to the invention, the control device and the terminal device are combined, and a plurality of unmanned devices can be controlled at the same time, so that the plurality of unmanned devices work cooperatively.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless communications and relates to a low-latency control system and method for multiple unmanned devices based on an ad hoc network system. Background Art

[0002] With the development of artificial intelligence, unmanned aerial vehicles (UAVs) are increasingly being used in scenarios such as entertainment photography and dangerous mission execution. These devices offer advantages such as expanding human capabilities and ensuring personnel safety, but they place high demands on the control methods of UAVs. Typical control methods include DJI FPV drones, which first send the control device's instructions to a terminal device (a headset) as a relay, which is then parsed and sent to the UAV; and Uniview Technologies' Go2 robot dog, which directly sends the control device's instructions to the robot dog to control its actions. However, these methods still present the following problems:

[0003] (1) It is impossible to use one control device to control multiple unmanned devices at the same time, and it is not suitable for task scenarios where multiple unmanned devices work together.

[0004] (2) When using one control device to control multiple unmanned devices, if the command is first sent to the terminal device and then sent to the unmanned device after parsing, the signal transmission link will be increased, increasing the delay. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the existing technology, to solve the problem that one control device cannot control multiple unmanned equipment at the same time, and to solve the problem that there are many signal transmission links and long delay when controlling multiple unmanned equipment. A low-latency control system and method for multiple unmanned equipment based on an ad hoc network system is proposed.

[0006] The technical solutions for achieving the purpose of the present invention are:

[0007] A low-latency control system for multiple unmanned devices based on an ad hoc network system includes a control device, a terminal device, a body area network, a radio station, and multiple unmanned devices, wherein:

[0008] The control device is used to provide control instructions for unmanned equipment and has two wireless communication capabilities: Bluetooth and WIFI;

[0009] The terminal device is used to configure the communication connection of the control device, connect to the body area network via a wired network port, connect to the control device via Bluetooth, and configure the control device to communicate with the body area network via WIFI;

[0010] The body area network is used to parse the address information and control instructions of the unmanned equipment into the message format defined by the communication protocol of this system, and send the message to the radio through the wired network;

[0011] The radio is used to enhance the communication signal strength and send message data to unmanned equipment via a wireless network;

[0012] The multiple unmanned devices are used to receive messages sent by the radio station, and the unmanned devices matching the addresses in the messages execute tasks corresponding to the control instructions.

[0013] Furthermore, the message format includes unmanned equipment type information and control instruction information.

[0014] Furthermore, the unmanned equipment type information is 4-bit data, which controls 16 unmanned equipment.

[0015] Furthermore, the control device is a handheld handle with buttons, joysticks, and trigger key inputs.

[0016] Furthermore, the control command information is 7-byte data, the 8 bits of the first byte store the button status information of the control device; the 2nd byte stores the ADC sampling data of the control device; the 3rd-4th bytes store the ADC sampling data of the x-axis and y-axis of the joystick of the control device respectively; the 5th-7th bytes store the ADC data of the three-axis somatosensory of the control device respectively.

[0017] Furthermore, the communication chip of the control device adopts an ESP32 dual-mode module.

[0018] A low-latency control method for multiple unmanned devices based on an ad hoc network system, comprising:

[0019] Step 1: The user connects the control device to the Bluetooth network through the terminal device: the control device enters Bluetooth broadcast mode and sends a broadcast packet; the terminal device discovers the control device through Bluetooth scanning and establishes a connection; the control device searches for a list of surrounding Wi-Fi SSIDs and uploads it to the terminal device; the user connects the terminal device to the body area network Wi-Fi; the control device closes the Bluetooth connection and connects to the body area network Wi-Fi;

[0020] Step 2: The terminal device's address management information and the control device's command information are sent to the body area network: The terminal device connects to the body area network via a wired network and sends the address information of the unmanned device that needs to be controlled to manage multiple unmanned devices. During this process, the control device sends the control command to the body area network via Wi-Fi.

[0021] Step 3: The body area network parses the address information and control instructions of the current unmanned device into corresponding messages according to the communication protocol customized in the system, and sends them to the unmanned device via the radio;

[0022] Step 4: The unmanned device that matches the address in the message executes the task corresponding to the control instruction; the unmanned device that does not match the address does not execute the corresponding task.

[0023] The low-latency control method for multiple unmanned devices proposed in this application uses a body area network to parse the address management information sent by the terminal device and the control instructions of the control device into corresponding messages according to the communication protocol customized within the system, and then sends them to multiple unmanned devices. Compared with the existing technology, it has the following advantages:

[0024] (1) By combining the control device and the terminal device, multiple unmanned devices can be controlled at the same time, enabling multiple unmanned devices to work together;

[0025] (2) When controlling multiple unmanned devices, the control instructions of the control devices are directly sent to the body area network. The signal transmission link of the control instructions does not pass through the terminal device, which reduces the signal transmission delay of the entire link. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a system diagram of the multi-unmanned equipment control method provided in the implementation of this application.

[0027] Figure 2 This is a diagram of the message format specified in the communication protocol defined in the implementation of this application. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0029] The following first introduces the embodiments of the present application with reference to the accompanying drawings.

[0030] This application provides a low-latency control method for multiple unmanned devices based on an ad hoc network system. By combining a control device with a terminal device, multiple unmanned devices can be controlled simultaneously, enabling them to work collaboratively. When controlling multiple unmanned devices, the control device's control instructions are sent directly to the body area network. The signal transmission link for the control instructions does not pass through the terminal device, reducing the signal transmission delay of the entire link.

[0031] The present application provides a low-latency control system for multiple unmanned equipment based on a self-organizing network system. The system includes a control device, a terminal device, a body area network, a radio station, and multiple unmanned equipment. The system diagram is shown in FIG. Figure 1 shown.

[0032] First, define a communication protocol. When two communication nodes in the system communicate, the message format must comply with the protocol. The message format specified by the protocol is as follows: Figure 2 .

[0033] Define information body 1 as 4-bit data, which is used to store the unmanned equipment type information. In this way, the system can control 16 unmanned equipment, that is, 0000 represents unmanned equipment 1, and so on, 1111 represents unmanned equipment 16.

[0034] Define information body 2 as 7 bytes of data, used to store control command information. The 8 bits of the first byte store the key status information of the control device. Assuming the control device has 8 keys, the status of key 1 is stored in the first bit, and so on. The status of key 8 is stored in the eighth bit. A bit value of 0 indicates that the key is not pressed, and a bit value of 1 indicates that the key is pressed. The second byte of data stores the ADC sampling data of the Hall effect controller of the control device. The third and fourth bytes of data respectively store the ADC sampling data of the Hall effect joystick x-axis and y-axis of the control device. The fifth to seventh bytes of data respectively store the ADC data of the three-axis somatosensory of the control device.

[0035] Other information bodies can be customized according to the actual needs of users.

[0036] The control device provides control commands and features key inputs such as buttons, joysticks, and triggers. A typical device is a handheld controller. This method requires the control device to have both Bluetooth and Wi-Fi wireless communication capabilities, and the device's communication chip can be an ESP32 dual-mode module. The terminal device performs Bluetooth network pairing for the control device and manages the address information of the unmanned device. A typical device is a head-mounted smart glasses. This method requires the terminal device to have both Bluetooth and Ethernet port communication capabilities. The body area network parses the unmanned device's address information and control commands into the message format defined by this system's communication protocol and sends these messages to the radio. A typical device is a body area network controller. This method requires the body area network to have both Wi-Fi wireless communication capabilities and Ethernet port communication (≥2 Ethernet ports). The radio enhances communication signal strength and transmits message data to the unmanned device. The unmanned device receives messages from the radio and performs tasks based on the address information and control commands contained in the messages.

[0037] When the system starts working, the implementation process is as follows:

[0038] First, the user pairs the control device with the Bluetooth network through the terminal device: the user pairs the control device with the Bluetooth network through the terminal device: the control device enters the Bluetooth broadcast mode and sends a broadcast packet; the terminal device discovers the control device through Bluetooth scanning and establishes a connection; the control device searches for the surrounding Wi-Fi SSID list and uploads it to the terminal device; the user selects the body area network WIFI on the terminal device and enters the password; the control device closes the Bluetooth connection and connects to the body area network WIFI.

[0039] The terminal device's address management information and control device command information are sent to the body area network: The terminal device connects to the body area network via a wired network and sends the address information of the unmanned device currently being controlled to manage multiple unmanned equipment. For example, if unmanned device 1 is currently being controlled, the terminal device only needs to send the address information 0000 once, without repeating it until the controlled device needs to be changed. During this process, the control device sends the control command to the body area network via Wi-Fi.

[0040] The body area network parses the address information and control instructions of the current unmanned device into corresponding messages according to the communication protocol customized in the system. The address information of the unmanned device is stored in information body 1, and the control instructions are stored in information body 2. Then the message is sent to the unmanned device via the radio.

[0041] After receiving the message, the unmanned device extracts the address information in the message and compares it with its own address. The unmanned device that matches the address in the message executes the task corresponding to the control instruction; the unmanned device that does not match the address does not execute the corresponding task.

[0042] At this point, the coordinated control of multiple unmanned devices in the self-organizing network system has been achieved.

[0043] It should be noted that the above are only preferred embodiments of the present invention, but the design concept of the invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept also fall within the scope of protection of the present invention.

Claims

1. A low-latency control system for multiple unmanned devices based on an ad hoc network system, characterized in that: Including control equipment, terminal equipment, body area network, radio and multiple unmanned equipment, including: The control device is used to provide control instructions for unmanned equipment and has two wireless communication capabilities: Bluetooth and WIFI; The terminal device is used to configure the communication connection of the control device, connect to the body area network via a wired network port, connect to the control device via Bluetooth, and configure the control device to communicate with the body area network via WIFI; The body area network is used to parse the address information and control instructions of the unmanned equipment into a message format defined by the communication protocol, and send the message to the radio station through the wired network; The radio is used to enhance the communication signal strength and send message data to unmanned equipment via a wireless network; The multiple unmanned devices are used to receive messages sent by the radio station, and the unmanned devices matching the addresses in the messages execute tasks corresponding to the control instructions.

2. The low-latency control system for multiple unmanned devices based on an ad hoc network system according to claim 1 is characterized in that: The message format includes unmanned equipment type information and control instruction information.

3. The low-latency control system for multiple unmanned devices based on an ad hoc network system according to claim 2 is characterized in that: The unmanned equipment type information is 4-bit data, which controls 16 unmanned equipment.

4. The low-latency control system for multiple unmanned devices based on an ad hoc network system according to claim 2 is characterized in that: The control device is a handheld handle with buttons, joysticks, and trigger key inputs.

5. The low-latency control system for multiple unmanned devices based on an ad hoc network system according to claim 4 is characterized in that: The control command information is 7 bytes of data. The 8 bits of the first byte store the key status information of the control device; the second byte stores the ADC sampling data of the control device; the third and fourth bytes store the ADC sampling data of the x-axis and y-axis of the joystick of the control device respectively; the fifth to seventh bytes store the ADC data of the three-axis somatosensory of the control device respectively.

6. The low-latency control system for multiple unmanned devices based on an ad hoc network system according to claim 1 is characterized in that: The communication chip of the control device adopts the ESP32 dual-mode module.

7. A low-latency control method for multiple unmanned devices based on an ad hoc network system, characterized in that: include: Step 1: The user configures the Bluetooth network for the control device through the terminal device: the control device enters the Bluetooth broadcast mode and sends a broadcast packet; The terminal device discovers the control device through Bluetooth scanning and establishes a connection; the control device searches for the surrounding Wi-Fi SSID list and uploads it to the terminal device; the user connects to the body area network Wi-Fi on the terminal device; the control device closes the Bluetooth connection and connects to the body area network Wi-Fi; Step 2: The terminal device's address management information and the control device's command information are sent to the body area network: The terminal device connects to the body area network via a wired network and sends the address information of the unmanned device that needs to be controlled to manage multiple unmanned devices. During this process, the control device sends the control command to the body area network via Wi-Fi. Step 3: The body area network parses the address information and control instructions of the current unmanned device into corresponding messages according to the communication protocol customized in the system, and sends them to the unmanned device via the radio; Step 4: The unmanned device that matches the address in the message executes the task corresponding to the control instruction; the unmanned device that does not match the address does not execute the corresponding task.

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