Clustering networking communication method and system of multi-path image and data transmission and remote control links based on Wi-Fi Halow

Abstract

The invention discloses an optional cluster networking communication method and an optional cluster networking communication system for multi-path image transmission, data transmission and remote control links based on Wi-Fi Halow. The method supports parallel transmission of at least one path of image flow, is integrated with a data transmission link and a remote control link, realizes dynamic cluster networking through a Wi-Fi Halow protocol, and supports an optional topology of one machine with multiple controllers or one remote controller with multiple machines. The system comprises sky end equipment and ground end equipment, and a multi-path transmission layer and a cluster management layer are added by expanding a Wi-Fi Halow protocol stack so as to optimize bandwidth allocation and topology switching. The method is suitable for communication between the sky end and the ground end in the fields of model airplanes, aircrafts, unmanned aerial vehicles, robots and the like, and has the advantages of being high in bandwidth efficiency, flexible in networking and high in real-time performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless communication, and particularly relates to a selectable cluster networking communication method and system for multi-path image transmission, data transmission and remote control link based on IEEE 802.11ah (Wi-Fi Halow) protocol. BACKGROUND

[0002] Wi-Fi Halow protocol is widely used in Internet of Things and wireless communication due to its long-distance, low-power consumption and high connection density characteristics; however, the existing technology has significant limitations in image transmission and networking flexibility. For example, the common wireless monitoring system based on Wi-Fi Halow on the market (as described in CN115695876A) supports image transmission and ad hoc networking, but only uses one-way or simple two-way transmission mode, which cannot handle multi-path parallel image stream (>=1 path) and synchronous transmission of data transmission and remote control link, and the networking mode is fixed (such as star or point-to-point topology), lacking dynamic cluster management mechanism, resulting in low bandwidth utilization (usually less than 50%) and poor real-time performance. Another patent CN117979329A (Intelligent Mowing Machine Networking System Based on WiFi Halow Network) focuses on data control transmission, but does not integrate multi-path image transmission function, and the networking topology is statically configured, which cannot support dynamic switching of one machine with multiple controllers or one remote controller with multiple machines, limiting its application in complex scenarios such as unmanned aerial vehicle cluster or robot collaboration. These existing technologies expose the following technical problems: resource conflict is serious when multi-path image stream is transmitted in parallel, and bandwidth allocation efficiency is low; the networking topology is rigid and cannot be dynamically adjusted according to device status (such as signal strength, load); there is a lack of unified framework integrating data transmission, remote control link and multi-path image transmission. Therefore, there is an urgent need in the field for a communication method that supports multi-path parallel transmission and dynamic selectable cluster networking to solve the above technical bottlenecks. SUMMARY

[0003] The purpose of the present application is to solve the deficiencies of the existing technology, and to provide a selectable cluster networking communication method and system for multi-path image transmission, data transmission and remote control link based on Wi-Fi Halow, to support multi-path parallel image stream transmission, integrate data transmission and remote control link, and provide dynamic selectable cluster networking capability, improve bandwidth efficiency, enhance flexibility, and expand application range.

[0004] The core technical scheme of the present application includes the following parts:

[0005] Multi-stream image transmission: Based on the Wi-Fi Halow protocol, it supports the parallel transmission of at least one image stream. The system adopts compression algorithms (such as H.265 or H.264) and priority scheduling mechanisms to dynamically allocate resources according to bandwidth, ensuring synchronous transmission of multiple streams. The bandwidth requirement of each image stream is adjustable (e.g., 2Mbps / stream for 1080p video).

[0006] Data transmission and remote control link integration: Data transmission (such as sensor data) and remote control links (such as control commands) share the Wi-Fi Halow channel with image transmission, and are multiplexed through Time Division Multiple Access (TDMA) or Frequency Division Multiple Access (FDMA) to reduce collisions; the remote control link supports low-latency transmission (latency <50ms) to ensure real-time control;

[0007] The system supports dynamic cluster networking, with networking modes including: one machine with multiple controllers, where a single air-end device (such as a drone) can simultaneously receive commands from multiple ground-end controllers. Based on real-time status information (such as RSSI signal strength, battery level, or system load), the system automatically selects the master controller using predefined strategies (e.g., strongest RSSI priority or lowest latency priority), with a switching time of <50ms and no manual intervention required during the switching process; and one remote controller with multiple machines, where a single ground-end controller can control multiple air-end devices. The networking protocol is based on the self-organizing networking characteristics of Wi-Fi Halow, enabling dynamic device discovery, topology management, and load balancing. It supports dynamic device joining / leaving and optimizes command distribution through multicast mechanisms. By extending the Wi-Fi Halow protocol stack and integrating the concept of lightweight software-defined networking (SDN), the topology can be adjusted in real time according to network status, rather than the fixed configuration in existing technologies.

[0008] System architecture: It includes air-end devices (such as drones and robots) and ground-end devices (such as controllers and base stations), which are connected through a Wi-Fi Halow communication module; the air-end integrates an image acquisition module, a data processing unit, and a Wi-Fi Halow transmission module; the ground-end includes a control interface, a Wi-Fi Halow receiving module, and a network management unit.

[0009] Protocol Design: Extend the Wi-Fi Halow protocol stack by adding a multi-channel transport layer and a cluster management layer; the multi-channel transport layer handles stream synchronization and dynamic bandwidth allocation, and adopts a priority queue mechanism (e.g., remote control links have high priority); the cluster management layer dynamically adjusts the network topology based on state information (e.g., RSSI, battery level, load) and implements fault switching through a state machine (e.g., when the main controller's RSSI is below a threshold, it automatically switches to the backup controller).

[0010] The beneficial effects of this invention are as follows: Improved bandwidth utilization: Through multi-stream parallel transmission and dynamic scheduling, resource waste is reduced, and experimental verification shows a significant improvement in bandwidth allocation efficiency; Enhanced networking flexibility: Dynamic cluster networking supports real-time switching of multiple topologies, adapting to complex application scenarios (such as dynamic addition of devices in emergency communications); Reduced latency: Integrating data transmission and remote control links, and through dynamic topology optimization, image transmission latency is <100ms, and remote control link latency is <50ms; Expanded application scope: The dynamic cluster networking mechanism makes the system suitable for sky-end and ground-end collaboration in fields such as model aircraft, flying vehicles, drones, and robots, solving the problem of rigid networking in existing technologies. Attached Figure Description

[0011] Figure 1 This is a system architecture diagram, showing the overall architecture of the connection between the sky and the ground via the Wi-Fi Halow module.

[0012] Figure 2 It is a flowchart of multi-channel image transmission, showing the parallel stream processing from image acquisition to transmission.

[0013] Figure 3 This is a schematic diagram of an optional cluster network, illustrating scenarios with one machine and multiple controllers, and one remote control and multiple machines.

[0014] Figure 4 It is a protocol stack diagram, describing the layered structure of the Wi-Fi Halow protocol, which integrates the multiplexing transport layer and the cluster management layer.

[0015] Figure 5 This is a schematic diagram of an embodiment, illustrating multi-path image transmission and network switching in drone swarm and robot control applications. Detailed Implementation

[0016] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings and examples. These embodiments are intended to be illustrative and are not intended to limit the present invention. Those skilled in the art can make equivalent transformations or substitutions without creative effort.

[0017] The hardware component configuration, including both aerial and ground-based devices, is based on the Wi-Fi Halow communication protocol, as detailed below:

[0018] Processor Unit: Employs an ARM Cortex-A based processor chip (such as Rockchip RK3588), supporting multi-channel image acquisition (up to 4 MIPI CSI interface cameras) for capturing high-definition video streams; the processor is responsible for image data compression, encoding, and preliminary processing; it should be noted that the processor is not limited to RK3588, any equivalent architecture chip (such as other ARM Cortex-A series processors) can achieve the same function;

[0019] Wi-Fi Halow communication module: Uses a chip that supports the IEEE 802.11ah protocol (such as Newracom's NRC7394), connects to the processor via an Ethernet interface, and enables wireless transmission of images, data, and remote control signals; the Wi-Fi Halow module features long range (coverage up to 1000m), low power consumption, and high connection density; the communication module is not limited to the NRC7394, any component that conforms to the IEEE 802.11ah standard can be used;

[0020] Image sensor: The sky end integrates multiple cameras (such as visible light or infrared cameras), each camera is connected to the processor through the MIPI CSI interface, and supports resolutions of up to 1080p or higher;

[0021] Data transmission and remote control interfaces: including sensors (such as GPS, IMU) and remote control input devices (such as joysticks), the data is packaged by the processor and shares the Wi-Fi Halow channel with the image stream;

[0022] Power Management: The device is powered by a lithium battery, and the Wi-Fi Halow module supports a low-power mode to extend battery life;

[0023] Network Expansion: Optional addition of a Wi-Fi Halow repeater router can extend coverage or support Mesh networking. The above hardware configuration is only one feasible implementation, and the present invention is not limited to a specific chip model or interface. For example, the processor can be replaced with other ARM architecture chips, and the Wi-Fi Halow module can use any component that conforms to the IEEE 802.11ah standard.

[0024] Software and protocol implementation: The software portion extends the Wi-Fi Halow protocol stack, adding a multiplexed transport layer and a cluster management layer to implement core functionalities. Specific implementations include:

[0025] Multi-channel image transmission: Image acquisition and compression: The aerial end reads data from multiple cameras through a processor. Each stream is independently encoded using a compression algorithm (such as H.265 or H.264). After compression, each image stream requires approximately 2Mbps of bandwidth (adjustable according to resolution, e.g., from 720p to 4K). Bandwidth allocation and scheduling: The processor dynamically manages the Wi-Fi Halow channel bandwidth. For example, the total bandwidth allocation is as follows: image transmission occupies 4Mbps (for 2 streams), data transmission occupies 200Kbps, and the remote control link occupies 300Kbps. The system uses a priority queue to ensure that the remote control link (high priority) latency is <50ms, and the image stream latency is controllable within 100ms. Data transmission process: The compressed image stream is sent to the Wi-Fi Halow module through the Ethernet interface. The module encapsulates the data into Wi-Fi Halow frames for wireless transmission. After receiving the data, the ground end decodes and displays the multiple streams.

[0026] Data transmission and remote control link integration: Data transmission: Sensor data (such as position and temperature) is packaged into data packets and multiplexed with the image stream using the Wi-Fi Halow channel. Time Division Multiple Access (TDMA) or Frequency Division Multiple Access (FDMA) is used to avoid collisions. The data transmission bandwidth allocation is 200Kbps for example. Remote control link: Control commands (such as flight instructions) are transmitted with high priority. The bandwidth allocation is 300Kbps for example to ensure real-time performance. Commands are sent through the Wi-Fi Halow module and executed immediately upon receipt by the air-to-ground terminal. This implementation uses dynamic allocation to ensure efficiency. The total bandwidth is based on the theoretical value of Wi-Fi Halow (the typical theoretical rate of Wi-Fi Halow on a 4MHz channel is 15Mbps).

[0027] Optional cluster networking: Based on the self-organizing networking characteristics of Wi-Fi Halow, dynamic device discovery and topology management are achieved. The air and ground ends periodically broadcast status information (such as signal strength RSSI, battery level, and load). Dynamic switching logic for one device with multiple controllers: A single air device (such as a drone) can connect to multiple ground controllers simultaneously. The master controller is selected based on a predefined strategy (such as strongest RSSI or lowest latency). When the master controller signal is weak, the system automatically switches to the backup controller, with a switching time of <50ms. Dynamic switching logic for one remote controller with multiple devices: A single ground controller can control multiple air devices. The controller sends commands via multicast, and the air devices respond and transmit data. The network supports dynamic joining / leaving. New devices can be automatically discovered and integrated via Wi-Fi Halow broadcast. Cluster management algorithms: Software-implemented topology management based on state machines, such as using lightweight SDN (Software-Defined Networking) concepts to optimize routing.

[0028] Specific performance parameters: transmission distance up to 1000m (depending on environmental conditions, such as no obstacles); image transmission latency <100ms, remote control link latency <50ms; supports up to 8191 nodes (the upper limit of the Wi-Fi Halow protocol), which can be adjusted according to the actual application scenario; the software implementation is not limited to a specific algorithm or code, and those skilled in the art can use equivalent methods, such as replacing the compression algorithm with AV1 or adjusting the networking protocol.

[0029] The following implementation scenarios are based on the above hardware and software configurations, but the parameters and scenarios can be adjusted to demonstrate the application of the present invention and are not limited in scope:

[0030] In this drone multi-channel image transmission cluster application scenario, one remote controller controls multiple drones, each transmitting two image streams (front and bottom cameras). The drones use an RK3588 processor to collect data from two MIPI CSI cameras, compressing the data to 2Mbps per stream. Data transmission (GPS and IMU data) uses 200Kbps, and the remote control link uses 300Kbps. Transmission is handled by an NRC7394 Wi-Fi Halow module. The ground controller receives and displays the multiple video streams. The networking mode is one remote controller, multiple drones. The controller dynamically manages the drone cluster, automatically adjusting transmission priority when a drone's signal is weak. The transmission distance is 800m, and the average image transmission latency is 80ms.

[0031] In a robot ground-based collaborative control scenario, one robot can be controlled by multiple controllers, such as multiple operators controlling a single robot via handheld devices. The robot's aerial end uses the same hardware configuration, transmitting one high-definition image stream (2Mbps), with data transmission (sensor data) and remote control links sharing a 500Kbps connection. The networking mode is one robot with multiple controllers, and the robot automatically selects the master controller based on RSSI, with a switching time of <50ms. The transmission distance is 500m, with image transmission latency <100ms and remote control link latency <50ms.

[0032] In emergency communication application scenarios for aircraft, one remote controller controls multiple aircraft, relaying multiple image streams for emergency monitoring; the aircraft transmits 3 image streams (total bandwidth 6Mbps) from the air end, integrating data transmission and remote control links, and extending coverage through a Wi-FiHalow relay router; the networking mode dynamically switches to adapt to environmental changes; image transmission latency is <100ms, and remote control link latency is <50ms.

[0033] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention. The hardware configuration is based on RK3588 and NRC7394 as examples, but any equivalent components can be used. The software protocol is centered on multi-channel transmission and dynamic cluster networking, and the implementation method is to demonstrate a feasible solution. Parameters and scenarios, such as bandwidth and latency, can be adjusted with technological development, and the application fields are not limited to model aircraft, drones, and robots.

Claims

1. A selectable trunking network communication method based on Wi-Fi Halow multi-channel image transmission, data transmission, and remote control links, characterized in that, include: It supports parallel transmission of at least one image stream and integrates with data transmission and remote control links, and achieves dynamic cluster networking through the Wi-FiHalow protocol; The dynamic cluster networking supports optional topologies of one machine with multiple controllers or one remote controller with multiple machines. By extending the Wi-Fi Halow protocol stack, multiplex transport layers and cluster management layers are added to optimize bandwidth allocation and topology switching.

2. The method according to claim 1, characterized in that, The multi-channel image transmission employs compression algorithms and a priority scheduling mechanism to dynamically allocate bandwidth resources and ensure synchronous transmission of multiple streams.

3. The method according to claim 1, characterized in that, The data transmission and remote control links share the Wi-Fi Halow channel with the image transmission, and are multiplexed using Time Division Multiple Access (TDMA) or Frequency Division Multiple Access (FDMA).

4. The method according to claim 1, characterized in that, The optional cluster networking dynamically adjusts the network topology based on device status information, which includes device serial number and signal strength (RSSI).

5. The method according to claim 1, characterized in that, The method is applicable to air-to-ground communication in the fields of model aircraft, flying vehicles, drones, or robots.

6. A system for implementing the method according to any one of claims 1-5, characterized in that, It includes aerial and ground-based equipment connected via a Wi-Fi Halow communication module; the aerial equipment includes an image acquisition module, a data processing unit, and a Wi-Fi Halow transmission module; the ground-based equipment includes a control interface, a Wi-Fi Halow receiving module, and a network management unit.

7. The system according to claim 6, characterized in that, The aforementioned air-end device includes at least a processor chip and a Wi-Fi Halow communication chip that supports the IEEE 802.11ah protocol.

8. The system according to claim 6, characterized in that, The system supports parallel transmission of multiple image streams, with adjustable bandwidth requirements for each stream and dynamic allocation of total bandwidth.

9. The system according to claim 6, characterized in that, The system supports dynamic device discovery and topology management, and enables optional cluster networking based on the self-organizing network features of Wi-Fi Halow.

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