A UAV operation method and system based on self-organizing network data link

Abstract

The present invention relates to the field of drone technology, and specifically to a drone operation method and system based on a self-organizing network data link. The method is to obtain the number of aircraft specified in the current networking mode. In a multi-control operation scenario, the aircraft that has not taken over the flight control after losing connection executes the lost connection logic; when the lost aircraft is connected to the remote control again, it is assumed that the remote control has the control of the device connected to the aircraft; after all nodes in the current networking mode have been paired, device access through designated unpaired nodes is not supported, and the remote control device replacement access of the first slot node is performed through the default remote control frequency matching method. A drone operation method and system based on a self-organizing network data link of the present invention improves the needs of various complex application scenarios of drones through drone collaborative networking, multi-channel transmission, multi-point control, relay networking and other means.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a UAV operation method and system based on a self-organizing network data link. Background Art

[0002] Drones often encounter difficulties in non-line-of-sight (NLOS) conditions, such as being unable to complete missions on their own or requiring remote control due to insufficient return range. Therefore, a method for operating drones based on ad hoc network data links is needed to address the complex application scenarios of drones. Summary of the Invention

[0003] In order to solve the dilemma that drones often encounter during their application, such as being unable to perform tasks under non-line-of-sight conditions, the problem of being unable to complete single-machine operation tasks, and the problem of insufficient return range of drones requiring remote takeover, the present invention provides a drone operation method and system based on a self-organizing network data link, which meets the needs of various complex application scenarios of drones through drone collaborative networking, multi-channel transmission, multi-point control, relay networking and other means.

[0004] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] In a first aspect, in one embodiment provided by the present invention, a method for operating a drone based on an ad hoc network data link is provided, the method comprising the following steps:

[0006] Connect to the aircraft through the remote controller that has been linked and brought online first, and gain full control of the aircraft.

[0007] After the remote controller that came online first specifies the location of the unpaired node, the remote controller that came online later starts pairing with the aircraft to gain control of the device;

[0008] Gets the number of aircraft specified in the current networking mode. In a multi-controller scenario, the aircraft that loses connection and whose flight control rights have not been taken over will execute the lost connection logic. When the lost aircraft reconnects to the remote controller, the remote controller assumes control of the devices connected to the aircraft by default.

[0009] After all nodes in the current networking mode are paired, you cannot connect a device by specifying an unpaired node. You cannot use the default remote control pairing method to replace the remote control device connected to the node in the first slot.

[0010] As a further solution of the present invention, the remote controller that comes online first and has been paired is connected to the aircraft and has the flight control and screen display control rights of the aircraft. The remote controller that comes online later starts pairing after the remote controller that comes online first specifies the unpaired node position.

[0011] As a further solution of the present invention, when the remote controller that comes online later has control rights over the device, the remote controller that comes online later has control rights over the aircraft, gimbal camera and screen display, and the remote controller that comes online later is used to control the device that has control rights.

[0012] As a further solution of the present invention, in the drone operation method based on the self-organizing network data link, the remote controller with flight control rights is used to initiate and cancel return operations. By clicking the remote controller with flight control rights to select the aircraft to be controlled, the flight control rights and screen display control rights of the aircraft are obtained; by long pressing the remote controller with flight control rights to select the aircraft to be controlled, the flight control rights are obtained.

[0013] As a further solution of the present invention, when obtaining the number of aircraft specified in the current networking mode, it includes aircraft in three states: online, offline, and unpaired; among them, the advanced networking icon in the flight control interface is not displayed in the default networking mode, but is displayed in the non-default networking mode, and one remote controller controls one aircraft.

[0014] As a further solution of the present invention, in a multi-control operation scenario, when one of the remote controllers loses connection with the aircraft, a message notification will be triggered, and the user will manually choose whether to take over flight control; when the online remote controller chooses to give up taking over flight control, the aircraft will execute the loss of connection logic; when the online remote controller does not make a selection within the specified time, the flight will be triggered to execute the loss of connection logic.

[0015] As a further solution of the present invention, when the aircraft is not performing an operation, it selects a paired node to remove the node. After the node is removed, the position of the node is adjusted to unpaired, and the corresponding device network connection status is reset. When re-pairing, a paired remote control is used to specify the position of the unpaired node, and the network can be accessed again after frequency pairing.

[0016] As a further solution of the present invention, the aircraft sets a networking mode when not performing an operation; when the number of devices in the set mode changes from more to fewer, and the corresponding types of nodes have been connected to the corresponding devices, the mode switching is completed by manually removing the redundant node devices; when the number of devices in the set mode changes from fewer to more, the total number of devices is limited to 2-5, and the devices include two types: aircraft and remote controllers.

[0017] In a second aspect, in another embodiment provided by the present invention, a drone operation system based on an ad hoc network data link is provided, comprising:

[0018] The frequency connection module is used to connect to the aircraft through the previously online and frequency-bound remote controller and gain full control of the aircraft;

[0019] A control right allocation module is used to start pairing the remote controller that comes online later with the aircraft to obtain the control right of the device after the remote controller that comes online first specifies the position of the unpaired node;

[0020] The network control module is used to obtain the number of aircraft specified in the current network mode. In a multi-controller operation scenario, the aircraft that has not taken over flight control after losing connection will execute the loss of connection logic. When the lost aircraft reconnects to the remote controller, the remote controller assumes control of the devices connected to the aircraft.

[0021] The device replacement module is used to replace the remote control device of the node in the first slot using the default remote control frequency pairing method after all nodes in the current networking mode are paired. Device access through a specified unpaired node is not supported.

[0022] As a further solution of the present invention, it also includes: a mode switching module, which is used to set the networking mode when the aircraft is not performing operations; when the number of devices in the set mode changes from more to fewer, and the corresponding types of nodes have been connected to the corresponding devices, the mode switching is completed by manually removing the redundant node devices.

[0023] On the third aspect, in another embodiment provided by the present invention, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the drone operation method based on the self-organizing network data link when loading and executing the computer program.

[0024] In a fourth aspect, in another embodiment provided by the present invention, a storage medium is provided, which stores a computer program, and when the computer program is loaded and executed by a processor, the steps of the drone operation method based on the self-organizing network data link are implemented.

[0025] The technical solution provided by the present invention has the following beneficial effects:

[0026] The drone operation method and system based on a self-organizing network data link provided by the present invention meet the needs of various complex drone application scenarios through drone collaborative networking, multi-channel transmission, multi-point control, relay networking and other means. The method obtains the number of aircraft specified in the current networking mode. In a multi-control operation scenario, the aircraft whose flight control rights have not been taken over after losing connection executes the loss of connection logic; when the lost aircraft reconnects to the remote control, it is assumed that the remote control has control rights of the device connected to the aircraft; after all nodes in the current networking mode have been paired, device access through the specified unpaired node is not supported. The remote control device of the first slot node is replaced and access is performed through the default remote control frequency pairing method. This can solve the dilemma of drones often encountering the inability to perform tasks under non-line-of-sight conditions during application, such as the problem of being unable to complete single-machine operation tasks and the problem of insufficient return range of the drone requiring remote control.

[0027] These and other aspects of the present invention will become more readily apparent in the following description of the embodiments. It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. In the drawings:

[0029] Figure 1 The present invention is a flowchart of a method for operating a UAV based on a self-organizing network data link according to an embodiment of the present invention.

[0030] Figure 2 The present invention is a schematic diagram of an application of two remote controllers controlling one aircraft in a method for operating a UAV based on a self-organizing network data link according to an embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of an application of relay-one-control-many in a drone operation method based on a self-organizing network data link according to an embodiment of the present invention.

[0032] Figure 4 This is a schematic diagram of a frame structure in a drone operation method based on a self-organizing network data link according to another embodiment of the present invention.

[0033] Figure 5 This is a flowchart of adaptive coding and modulation in a method for operating a UAV based on a self-organizing network data link in another embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the election of a temporary central node in a UAV operation method based on a self-organizing network data link according to another embodiment of the present invention.

[0035] Figure 7 This is a schematic diagram of transmission time slot allocation after full network synchronization in a drone operation method based on a self-organizing network data link in another embodiment of the present invention.

[0036] Figure 8 This is a schematic diagram of the reverse route formation process of the AODV route discovery process in a drone operation method based on an ad hoc network data link in another embodiment of the present invention.

[0037] Figure 9 This is a schematic diagram of the route formation process before the AODV route discovery process in a UAV operation method based on an ad hoc network data link according to another embodiment of the present invention.

[0038] Figure 10 This is a system block diagram of a drone operation based on a self-organizing network data link according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or may be executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit "first" and "second" to be different types.

[0041] The following will clearly and completely describe the technical solutions in the exemplary embodiments of the present invention in conjunction with the accompanying drawings of the exemplary embodiments of the present invention. Obviously, the exemplary embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] Currently, drone applications often encounter difficulties in non-line-of-sight (NLOS) conditions. These include single-machine missions being unable to complete, and insufficient return range requiring remote control. Therefore, a method for operating drones based on ad hoc network data links is needed to address the complex application scenarios of drones.

[0043] In view of the fact that drones often encounter the dilemma of being unable to perform tasks under non-line-of-sight conditions during their application, and the problem of being unable to complete single-machine operation tasks, the drone operation method and system based on self-organizing network data link provided by the present invention meet the needs of various complex application scenarios of drones through drone collaborative networking, multi-channel transmission, multi-point control, relay networking and other means.

[0044] In some embodiments, the drone operation method based on the ad hoc network data link can be applied to the drone operation equipment based on the ad hoc network data link. The drone operation equipment based on the ad hoc network data link can be a PC, a portable computer, a mobile terminal, or other device with display and processing functions, but of course it is not limited to this.

[0045] Specifically, the embodiments of the present application are further described below with reference to the accompanying drawings.

[0046] Please refer to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the drone operation method based on the self-organizing network data link of the present application. In the embodiment of the present application, the drone operation method based on the self-organizing network data link includes the following steps S10-S40:

[0047] Step S10: Connect to the aircraft through the remote controller that has been online first and has full control over the aircraft.

[0048] Step S20: After the remote controller that came online first specifies the unpaired node position, the remote controller that came online later starts pairing with the aircraft to obtain control of the device.

[0049] Step S30: Obtain the number of aircraft specified in the current networking mode. In a multi-control operation scenario, the aircraft that has not taken over flight control after losing connection will execute the loss of connection logic; when the lost aircraft reconnects to the remote controller, it is assumed that the remote controller has control of the device connected to the aircraft.

[0050] Step S40: After all nodes in the current networking mode have been paired, device access through a specified unpaired node is not supported, and the remote control device of the first slot node is replaced and accessed through the default remote control frequency pairing method.

[0051] In the embodiment of the present application, the terminal device may be a device with display and processing functions, such as a PC, a portable computer, or a mobile terminal.

[0052] In an embodiment of the present application, when a drone is operating in a self-organizing network data link, the remote controller that comes online first and has been paired is connected to the aircraft and has the flight control and screen display control rights of the aircraft. The remote controller that comes online later starts pairing after the remote controller that comes online first specifies the unpaired node position.

[0053] When operating, ensure the first remote controller is linked and connected to the aircraft. The remote controller that comes online first will have control of all devices by default, including flight control and screen display control. If a remote controller that comes online later takes control of a device, it will have control of the aircraft, gimbal, camera, and screen display. The later remote controller can control the device it has control of.

[0054] That is, when operating a drone with an ad hoc data link, ensure that the first remote controller has been linked and connected to the aircraft. The remote controller that comes online first will have control of all devices (flight control, screen display control) by default. The remote controller that comes online later needs to specify the unpaired node position after the remote controller that comes online first starts pairing.

[0055] When the remote controller has control of a device (aircraft, gimbal, camera, screen display), you can use the joystick, dial, shortcut keys, UI icons, etc. to control the device in the same way as a single remote controller.

[0056] In an embodiment of the present application, in the drone operation method based on the self-organizing network data link, the remote controller with flight control rights is used to initiate and cancel return operations. The remote controller with flight control rights selects the aircraft to be controlled by single-clicking to obtain the flight control rights and screen display control rights of the aircraft; the remote controller with flight control rights selects the aircraft to be controlled by long pressing to obtain flight control rights.

[0057] In actual operation, users can click to select the aircraft they want to control to obtain flight control rights and screen display control rights for that aircraft. At the same time, they can long press to select the aircraft they want to control to obtain only flight control rights. Only the remote controller with flight control rights can initiate or cancel the return-to-home function.

[0058] In an embodiment of the present application, when obtaining the number of aircraft specified in the current networking mode, it includes aircraft in three states: online, offline, and unpaired; among them, the advanced networking icon in the flight control interface is not displayed in the default networking mode, but is displayed in the non-default networking mode, and one remote controller controls one aircraft.

[0059] When operating a drone with an ad hoc data link, the Advanced Networking icon in the Flight Control interface is not displayed in the default networking mode (i.e., one remote controller controls one aircraft). It is only displayed in non-default networking modes to obtain the number of aircraft specified in the current networking mode (including aircraft in the three states of online, offline, and unpaired).

[0060] In an embodiment of the present application, in a multi-control operation scenario, when one of the remote controllers loses connection with the aircraft, a message notification will be triggered, and the user will manually choose whether to take over flight control; when the online remote controller chooses to give up taking over flight control, the aircraft will execute the loss of connection logic; when the online remote controller does not make a selection within the specified time, the flight will be triggered to execute the loss of connection logic.

[0061] In a multi-controller scenario, if one of the remote controllers loses connection with the aircraft, a notification message will be triggered, allowing the user to manually choose whether to take over flight control. If the online remote controller chooses to relinquish flight control, the aircraft will execute the lost connection logic. If the online remote controller does not make a decision within the specified time, the flight will also execute the lost connection logic.

[0062] During flight operations, when a remote controller reconnects to the aircraft after a loss of connection, it defaults to control of all devices. All remote controllers can configure flight-related device operations, such as flight control, sensor settings, battery settings, and image transmission settings, but flight control privileges must be granted before these operations can be performed.

[0063] In an embodiment of the present application, when the aircraft is not performing an operation, it selects a paired node to remove the node. After the node is removed, the node position is adjusted to unpaired, and the corresponding device network connection status is reset. When re-pairing, a paired remote control is used to specify the unpaired node position, and the network can be accessed again after pairing.

[0064] Therefore, when not in use, you can remove a paired node by long-pressing it on the "Networking Mode Settings" page. Once a node is removed, its position will be adjusted to unpaired, and the device's network connection status will be reset. To re-pair, you'll need a paired remote controller to specify the unpaired node's position and perform frequency binding before reconnecting to the network.

[0065] When not running a job, you can set the networking mode on the "Networking Mode Settings" page. When the number of devices in the set mode changes from many to few, and the corresponding node types are already connected to the corresponding devices, you must manually remove the unnecessary node devices before completing the mode switch. When the number of devices in the set mode changes from few to many, the total number of devices is limited to 2-5, and the devices include both aircraft and remote controllers.

[0066] In the embodiment of the present application, the node type, node number, and node order in the networking mode do not support adjustment.

[0067] In an embodiment of the present application, the aircraft sets a networking mode when it is not performing an operation; when the number of devices in the set mode changes from many to few, and the corresponding types of nodes have been connected to the corresponding devices, the mode switching is completed by manually removing the redundant node devices; when the number of devices in the set mode changes from few to many, the total number of devices is limited to 2-5, and the devices include two types: aircraft and remote controllers.

[0068] When operating a drone in an ad hoc data link, if all nodes in the network mode are paired, device access through a specified unpaired node is not supported. However, the default remote controller binding method can be used to replace the remote controller device in the first slot. This is suitable for scenarios such as initial binding and when the remote controller is lost.

[0069] In an embodiment of the present application, when the drone operation method based on the self-organizing network data link is applied in a networking scenario, one application scenario is that two remote controllers control one aircraft.

[0070] See also Figure 2 As shown in the figure, the remote control logic for two remote controllers to control one aircraft is:

[0071] All remote controls have the same control permissions.

[0072] Among all remote control uplink commands, continuous commands such as joystick control commands and gimbal wheel control commands may cause conflicts. These commands are logically determined and executed by the relevant modules. For example, the flight control board implements a 5-frame determination mechanism for joystick commands. If the median value of 5 consecutive frames is the same, the median value will be executed. If both other values ​​and the median value exist in the 5 frames, the other values ​​will be executed. The same is true for wheel commands.

[0073] Non-continuous commands, such as key presses, are not changed.

[0074] The logic of two remote controllers controlling one aircraft is as follows:

[0075] The aircraft's image transmission adds data on whether the child node is online. The rest of the data is similar to the aircraft downlink data in point-to-point mode. Instead of sending a single message, the data is sent to all dev remote controllers.

[0076] The App logic for two remote controllers controlling one aircraft is as follows:

[0077] The App adds a window to inform users whether the child nodes are online. The rest of the information remains unchanged.

[0078] In an embodiment of the present application, when the drone operation method based on the self-organizing network data link is applied in a networking scenario, one of the application scenarios is to control multiple devices through a relay.

[0079] See also Figure 3 As shown, the relay's one-to-many app logic is:

[0080] The app's interactive interface allows you to choose between controlling the relay aircraft and the mission aircraft. Regardless of which aircraft you control, the app must display the other aircraft's location (synchronized on a map), signal quality, battery life, and other necessary data.

[0081] In one embodiment of the present application, taking Huawei M6 as an example, two video images are displayed on the screen in equal proportion. Using the wxjj solution, a small airplane window is created, and whoever is clicked controls who, and the red and green window borders indicate whether it is online.

[0082] The remote control logic of the relay for one-to-many control is as follows:

[0083] The control logic is mainly based on the app. The app selects which device to control, and the remote control controls which device uplink.

[0084] In the embodiment of the present invention, it also includes whether to operate in multiple modes, one of which is: all aircraft respond to the control instructions of a remote controller synchronously; another mode is to control a certain aircraft independently.

[0085] In the embodiment of the present invention, the logic of relaying one-to-many aircraft is as follows:

[0086] In addition to sending its own digital information and image data, the AP aircraft also forwards the digital information and image data of the mission aircraft to the remote controller.

[0087] In some embodiments of the present application, the application scenarios of the drone operation method based on the self-organizing network data link when applied in the networking scenario also include multi-relay multi-control, and the multi-relay multi-control scenario is compatible with the above two scenario modes.

[0088] In addition, when the drone operation method based on the self-organizing network data link of the present invention improves the needs of various complex application scenarios of drones through drone collaborative networking, multi-channel transmission, multi-point control, relay networking and other means, it also includes the design of self-organizing network data, and the design of the self-organizing network data includes air interface resource scheduling and routing protocol.

[0089] The present invention adopts TDMA multiple access mode, and each node uses different transmission time slots to transmit, so as to avoid mutual interference. Figure 4 As shown in Figure 1, the frame structure only determines the length of a frame and the number of 1ms time slots contained in each frame. The idle time slot (GAP) is used for wireless signal air interface transmission and TDD RF transceiver circuit switching.

[0090] The number of transmit slots, transmit slot positions, idle slot positions, and the ratio of idle slots to transmit slots for each node are dynamically scheduled and adjusted based on node traffic, network topology, and relay conditions.

[0091] Wireless links are unstable. As nodes move, the surrounding wireless environment changes, and the signal-to-noise ratio (SNR) and interference at the receiver fluctuate constantly. Therefore, the MAC layer needs to monitor the quality of the wireless link to select the appropriate coding rate and modulation order. Table 1 lists the coding modulation orders (MCS) supported by the physical layer. Higher MCS orders require higher received SNRs. To ensure scheduling stability, the MAC layer does not use all MCS levels during scheduling.

[0092] Table 1 Coded Modulation Order (MCS)

[0093]

[0094] like Figure 5 The following diagram shows the structure of adaptive coding modulation (ACM). The data link module first measures the ambient noise floor during idle time slots; then, during receive time slots, it measures the RSSI (received power) of the received signal. This calculation derives the receive signal-to-noise ratio (SNR) and ultimately selects the appropriate MCS level. The results of adaptive coding modulation need to be passed to the scheduling module. Different MCS levels mean that a time slot carries different numbers of source bits. That is, for the same data packet, a lower MCS level requires more transmit time slots to transmit. Therefore, the scheduler determines the final number and location of transmit time slots based on the MCS level and the statistics of the traffic to be transmitted.

[0095] The premise for TDMA system to ensure high spectrum utilization is to maintain synchronization of the entire network. Although external synchronization using GPS clock is simple and reliable, it is dependent on GPS signals. This system will be more robust if it uses self-synchronization. Although there is no central node in the ad hoc network, a temporary central node can be set up for scheduling convenience to provide a unique clock reference for the entire network. This temporary central node must not be pre-set, but temporarily elected, and when the node leaves the network, the temporary central node needs to be regenerated. A simple implementation method is to use the node with the smallest ID number as the temporary central node, such as Figure 6 The temporary central node performs network timing so that the frame boundaries and subframe boundaries of all nodes are aligned, such as Figure 7 .

[0096] See also Figure 8As shown in the figure, each node first calculates the size of its own transmit stream, including high-level services on its network or serial port, as well as services requiring relaying. It then calculates the bearer stream size for each timeslot based on the link's MCS level. Dividing the two numbers yields the number of transmit timeslots required by the node. Finally, nodes determine transmit slot positions through distributed competition. If a transmit slot conflict is detected, the node randomly backs off and searches for a free timeslot again.

[0097] In the present application, the routing protocol of the UAV operation method based on the ad hoc network data link is different from the routing of the wired network. It adopts the routing of the wireless ad hoc network, which can be active routing, on-demand routing or hybrid routing.

[0098] In this application, the active routing protocol needs to constantly maintain and update the topology information of the entire network so that when data needs to be transmitted, the optimal route can be obtained immediately.

[0099] Routing does not require maintaining network-wide information. When data needs to be sent, routing requests are typically sent via flooding to find the optimal or locally optimal route. The unmanned swarm data link module uses hybrid routing.

[0100] Hybrid routing combines the characteristics of active routing and on-demand routing, running active routing within a small range and on-demand routing outside of that range. Active routing is used when the network topology updates slowly and the routing update time is greater than 1 second. On-demand routing is used when the routing update time needs to be very short.

[0101] Table 2 Hybrid routing usage

[0102] Small range Large range Routing update time >= 1s Active Routing On-demand routing Routing update time <= 1s On-demand routing On-demand routing

[0103] Active routing uses an optimized version of the DSDV routing protocol. DSDV, or Destination Sequence Distance Vector, is a typical active routing protocol. It uses the shortest path principle. Each node maintains a routing table containing routing information to the destination node. This table is updated periodically based on broadcast messages from each node to adapt to changes in the network topology.

[0104] Table 3 is a typical routing table definition of the DSDV protocol: "Sequence number" is used to distinguish the newness of the received routing information; "Update time" is used to delete routes that have not been updated for a long time.

[0105] Table 3DSDV routing protocol

[0106] Destination Address Next hop address Hop Count Serial number Update Time A A 0 0 0 B A 1 2 2 C B 2 4 6

[0107] There are two ways to update the DSDV routing table: (1) time-driven update: when the received routing information is newer than the locally maintained information (with a larger sequence number), the route is updated; (2) event-driven update: when the sequence numbers are the same, the route with fewer hops is used instead of the route with more hops.

[0108] The DSDV protocol is suitable for scenarios where the network scale is small and the network topology does not change rapidly. However, the typical DSDV protocol has the following disadvantages:

[0109] a) Routing updates are periodic and are triggered only by each DSDV broadcast. Therefore, in some scenarios, service interruptions may occur due to untimely routing updates.

[0110] b) Selecting a route based on the minimum number of hops without considering the specific link quality;

[0111] c) The time jitter of receiving routing information is not taken into account. That is, the poor route is received first, and the better route is received later, which will cause routing oscillation. To address the above shortcomings, the DSDV protocol needs to be optimized.

[0112] See also Figure 8 and Figure 9 As shown in the figure, on-demand routing uses an optimized version of the AODV routing protocol. The Ad Hoc On-demand Distance Vector (AODV) protocol inherits the characteristics of the DSDV protocol and is an improved distance / vector routing protocol. It is also an on-demand routing protocol. It uses the destination sequence number technology in DSDV to avoid invalid paths. However, unlike DSDV, it does not use the periodic route update method used in DSDV. Instead, it creates routes based on demand and maintains a maximum number of broadcasts. AODV mainly includes two processes: route discovery and route maintenance.

[0113] AODV and DSDV are similar in how they update routes: nodes only retain the next hop information and the number of hops passed, so the amount of data transmitted over the air interface is smaller than that of the DSR protocol. Similarly, AODV has similar shortcomings to DSDV.

[0114] The drone operation method and system based on a self-organizing network data link provided by the present invention meet the needs of various complex drone application scenarios through drone collaborative networking, multi-channel transmission, multi-point control, relay networking and other means. The method obtains the number of aircraft specified in the current networking mode. In a multi-control operation scenario, the aircraft whose flight control rights have not been taken over after losing connection executes the loss of connection logic; when the lost aircraft reconnects to the remote control, it is assumed that the remote control has control rights of the device connected to the aircraft; after all nodes in the current networking mode have been paired, device access through the specified unpaired node is not supported. The remote control device of the first slot node is replaced and access is performed through the default remote control frequency pairing method. This can solve the dilemma of drones often encountering the inability to perform tasks under non-line-of-sight conditions during application, such as the problem of being unable to complete single-machine operation tasks and the problem of insufficient return range of the drone requiring remote control.

[0115] It should be understood that, although the above is described in a certain order, these steps are not necessarily performed in sequence according to the above order. Unless there is clear explanation in this article, the execution of these steps does not have strict order restriction, and these steps can be performed in other orders. Moreover, a part of the steps of the present embodiment may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be performed in turn or alternately with at least a portion of the steps or stages in other steps or other steps.

[0116] See also Figure 10 As shown, one embodiment of the present invention provides a drone operation system based on an ad hoc network data link, the system comprising:

[0117] The frequency connection module 100 is used to connect to the aircraft through the previously online and frequency-bound remote controller and has full control rights over the aircraft;

[0118] The control right allocation module 200 is used to start pairing the remote controller that comes online later with the aircraft after the remote controller that comes online earlier specifies the position of the unpaired node to obtain the control right of the device;

[0119] The network control module 300 is used to obtain the number of aircraft specified in the current network mode. In a multi-controller operation scenario, the aircraft that has not taken over flight control after losing connection will execute the loss of connection logic. When the lost aircraft reconnects to the remote controller, the remote controller is assumed to have control of the connected devices.

[0120] Device replacement module 400, used to replace the remote control device access of the first slot node through the default remote control frequency pairing method after all nodes in the current networking mode are paired and device access through a specified unpaired node is not supported;

[0121] The mode switching module 500 is used to set the networking mode when the aircraft is not performing operations; when the number of devices in the set mode changes from more to fewer, and the corresponding types of nodes have been connected to the corresponding devices, the mode switching is completed by manually removing the redundant node devices.

[0122] In an embodiment of the present application, the remote controller that comes online first and has been paired is connected to the aircraft and has the flight control and screen display control rights of the aircraft. The remote controller that comes online later starts pairing after the remote controller that comes online first specifies the unpaired node position.

[0123] In an embodiment of the present application, when the remote controller that comes online later has control over the device, the remote controller that comes online later has control over the aircraft, gimbal camera, and screen display, and the remote controller that comes online later is used to control the device that has control rights.

[0124] In an embodiment of the present application, in the drone operation method based on the self-organizing network data link, the remote controller with flight control rights is used to initiate and cancel return operations. The remote controller with flight control rights selects the aircraft to be controlled by single-clicking to obtain the flight control rights and screen display control rights of the aircraft; the remote controller with flight control rights selects the aircraft to be controlled by long pressing to obtain flight control rights.

[0125] In an embodiment of the present application, when obtaining the number of aircraft specified in the current networking mode, it includes aircraft in three states: online, offline, and unpaired; among them, the advanced networking icon in the flight control interface is not displayed in the default networking mode, but is displayed in the non-default networking mode, and one remote controller controls one aircraft.

[0126] In an embodiment of the present application, in a multi-control operation scenario, when one of the remote controllers loses connection with the aircraft, a message notification will be triggered, and the user will manually choose whether to take over flight control; when the online remote controller chooses to give up taking over flight control, the aircraft will execute the loss of connection logic; when the online remote controller does not make a selection within the specified time, the flight will be triggered to execute the loss of connection logic.

[0127] In an embodiment of the present application, when the aircraft is not performing an operation, it selects a paired node to remove the node. After the node is removed, the node position is adjusted to unpaired, and the corresponding device network connection status is reset. When re-pairing, a paired remote control is used to specify the unpaired node position, and the network can be accessed again after pairing.

[0128] In an embodiment of the present application, the aircraft sets a networking mode when it is not performing an operation; when the number of devices in the set mode changes from many to few, and the corresponding types of nodes have been connected to the corresponding devices, the mode switching is completed by manually removing the redundant node devices; when the number of devices in the set mode changes from few to many, the total number of devices is limited to 2-5, and the devices include two types: aircraft and remote controllers.

[0129] It should be noted that the drone operation system based on the self-organizing network data link is executed according to a drone operation method based on the self-organizing network data link as in the aforementioned embodiment. Therefore, the composition of the drone operation method based on the self-organizing network data link will not be introduced in detail in this embodiment.

[0130] In one embodiment, a computer device is further provided in an embodiment of the present invention, comprising at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the drone operation method based on the ad hoc network data link. When the processor executes the instructions, the steps in the above-mentioned method embodiments are implemented:

[0131] Connect to the aircraft through the remote controller that has been linked and brought online first, and gain full control of the aircraft.

[0132] After the remote controller that came online first specifies the location of the unpaired node, the remote controller that came online later starts pairing with the aircraft to gain control of the device;

[0133] Gets the number of aircraft specified in the current networking mode. In a multi-controller scenario, the aircraft that loses connection and whose flight control rights have not been taken over will execute the lost connection logic. When the lost aircraft reconnects to the remote controller, the remote controller assumes control of the devices connected to the aircraft by default.

[0134] After all nodes in the current networking mode are paired, you cannot connect a device by specifying an unpaired node. You cannot use the default remote control pairing method to replace the remote control device connected to the node in the first slot.

[0135] In one embodiment of the present invention, a storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented:

[0136] Connect to the aircraft through the remote controller that has been linked and brought online first, and gain full control of the aircraft.

[0137] After the remote controller that came online first specifies the location of the unpaired node, the remote controller that came online later starts pairing with the aircraft to gain control of the device;

[0138] Gets the number of aircraft specified in the current networking mode. In a multi-controller scenario, the aircraft that loses connection and whose flight control rights have not been taken over will execute the lost connection logic. When the lost aircraft reconnects to the remote controller, the remote controller assumes control of the devices connected to the aircraft by default.

[0139] After all nodes in the current networking mode are paired, you cannot connect a device by specifying an unpaired node. You cannot use the default remote control pairing method to replace the remote control device connected to the node in the first slot.

[0140] Those skilled in the art will appreciate that all or part of the processes in the above-described embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above-described methods. Any reference to memory, storage, database, or other media used in the embodiments provided herein may include at least one of non-volatile and volatile memory.

[0141] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0142] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0143] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments in which tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0144] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0145] The drone operation method and system based on a self-organizing network data link provided by the present invention meet the needs of various complex drone application scenarios through drone collaborative networking, multi-channel transmission, multi-point control, relay networking and other means. The method obtains the number of aircraft specified in the current networking mode. In a multi-control operation scenario, the aircraft whose flight control rights have not been taken over after losing connection executes the loss of connection logic; when the lost aircraft reconnects to the remote control, it is assumed that the remote control has control rights of the device connected to the aircraft; after all nodes in the current networking mode have been paired, device access through the specified unpaired node is not supported. The remote control device of the first slot node is replaced and access is performed through the default remote control frequency pairing method. This can solve the dilemma of drones often encountering the inability to perform tasks under non-line-of-sight conditions during application, such as the problem of being unable to complete single-machine operation tasks and the problem of insufficient return range of the drone requiring remote control.

[0146] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for operating a drone based on a self-organizing network data link, characterized in that: The method comprises the following steps: Connect to the aircraft through the remote controller that has been linked to the aircraft and have full control over the aircraft; After the remote controller that came online first specifies the unpaired node position, the remote controller that came online later starts pairing with the aircraft to have control over the device; Get the number of aircraft specified in the current networking mode. In a multi-control operation scenario, the aircraft that has not been taken over after losing connection will execute the lost connection logic; when the lost aircraft is connected to the remote controller again, the remote controller will assume control of the device connected to the aircraft. After all nodes in the current networking mode have been paired, it is not supported to access devices by specifying unpaired nodes. The remote control device of the first slot node can be replaced and accessed by default remote control frequency binding method. In the UAV operation method based on the self-organizing network data link, the remote controller with flight control rights is used to initiate and cancel the return operation. The remote controller with flight control rights selects the aircraft to be controlled by single-clicking to obtain the flight control rights and screen display control rights of the aircraft; the remote controller with flight control rights selects the aircraft to be controlled by long pressing to obtain the flight control rights; When obtaining the number of aircraft specified in the current networking mode, it includes aircraft in three states: online, offline, and unpaired. Among them, the advanced networking icon in the flight control interface is not displayed in the default networking mode, but is displayed in the non-default networking mode. One remote controller controls one aircraft. In a multi-control operation scenario, when one of the remote controllers loses connection with the aircraft, a message notification will be triggered, and the user will manually choose whether to take over flight control. When the online remote controller chooses to give up taking over flight control, the aircraft will execute the loss of connection logic. When the online remote controller does not make a choice within the specified time, the flight will be triggered to execute the loss of connection logic.

2. The method for operating a drone based on a self-organizing network data link according to claim 1, characterized in that: The first remote controller that has been paired to the aircraft will have the flight control and screen display control of the aircraft. The remote controller that comes online later will start pairing after the first remote controller specifies the unpaired node position.

3. The unmanned aerial vehicle operation method based on ad hoc network data link according to claim 1 or 2, characterized in that: When the later remote controller has control over the device, it has control over the aircraft, gimbal, camera, and screen display. The later remote controller is used to control the device it has control over.

4. The method for operating a drone based on a self-organizing network data link according to claim 1, characterized in that: When the aircraft is not performing an operation, the paired node is selected for node removal. After the node is removed, the node position is adjusted to unpaired, and the corresponding device network connection status is reset. When re-pairing, the unpaired node position is specified through a paired remote control, and the network can be accessed again after frequency pairing.

5. The method for operating a drone based on a self-organizing network data link according to claim 4, characterized in that: When the aircraft is not performing an operation, the networking mode is set; when the number of devices in the set mode changes from more to less, and the corresponding types of nodes have been connected to the corresponding devices, the mode switching is completed by manually removing the redundant node devices; when the number of devices in the set mode changes from less to more, the total number of devices is limited to 2-5, and the devices include two types: aircraft and remote controllers.

6. A drone operation system based on a self-organizing network data link, characterized in that: The unmanned aerial vehicle operation system based on the self-organizing network data link is used to execute the unmanned aerial vehicle operation method based on the self-organizing network data link according to any one of claims 1 to 5, and the unmanned aerial vehicle operation system based on the self-organizing network data link comprises: The frequency connection module is used to connect to the aircraft through the first online and frequency-bound remote controller and have full control over the aircraft; A control right allocation module, used for starting pairing of the later-online remote controller with the aircraft to obtain the control right of the device after the remote controller that came online first specifies the position of the unpaired node; The network control module is used to obtain the number of aircraft specified in the current network mode. In the multi-control operation scenario, the aircraft that has not taken over the flight control after the loss of connection executes the loss of connection logic; when the lost aircraft is connected to the remote controller again, it is assumed that the remote controller has the control of the device connected to the aircraft; and The device replacement module is used to replace the remote control device of the first slot node through the default remote control frequency binding method after all nodes in the current networking mode have been paired. Device access through the specified unpaired node is not supported.

7. The unmanned aerial vehicle operation system based on ad hoc network data link as claimed in claim 6, characterized in that: Also includes: The mode switching module is used to set the networking mode when the aircraft is not performing operations; When the number of devices in the set mode changes from more to less, and the corresponding types of nodes have been connected to the corresponding devices, the mode switching is completed by manually removing the redundant node devices.

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