A wireless communication control method and system for unmanned aerial vehicle

Abstract

The present application relates to the field of wireless communication technology, and provides a wireless communication control method and system for unmanned aerial vehicles. Wireless communication interaction points are generated by interactive signal tower positions and initial collaborative acquisition paths, and new communication adjustment tasks are generated according to interactive time intervals, interactive communication nodes, and real-time location interaction data, thereby controlling the unmanned aerial vehicle for wireless communication control, and correcting the initial collaborative acquisition path, executing wireless communication transmission of the unmanned aerial vehicle, and performing communication control of the unmanned aerial vehicle according to the wireless communication transmission data and the correction of the initial collaborative acquisition path. There is a technical problem in the prior art that when controlling multiple unmanned aerial vehicles to collect data in a target area, the requirements for data collection accuracy and data transmission timeliness cannot be met at the same time. The purpose is to ensure that data interaction between multiple unmanned aerial vehicles does not affect the effective data collection of the unmanned aerial vehicle in the target area, and to achieve the technical effect of ensuring the timeliness of unmanned aerial vehicle data transmission interaction and the accuracy and effectiveness of flight data collection.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a wireless communication control method and system for unmanned aerial vehicles. Background Art

[0002] With the continuous advancement of artificial intelligence, machine learning, sensor technology, and drone technology, an increasing number of application scenarios require the use of multiple drones to collect data from target areas. When multiple drones collect data simultaneously, interference and coordination issues between drones can lead to reduced data accuracy, impacting data availability and application effectiveness. Current technology cannot guarantee the timely transmission of data between multiple drones, potentially leading to transmission delays and data loss, which in turn impact application effectiveness and practicality.

[0003] In summary, the existing technology has a technical problem that when controlling multiple drones to collect data in a target area, it cannot simultaneously meet the requirements of data collection accuracy and data transmission timeliness. Summary of the Invention

[0004] Based on this, it is necessary to address the above technical problems and provide a wireless communication control method and system for drones that can ensure that data interaction between multiple drones does not affect the effective data collection of drones in the target area, thereby ensuring the timeliness of drone data transmission interaction and the accuracy and effectiveness of flight data collection.

[0005] A wireless communication control method for an unmanned aerial vehicle (UAV), comprising: interactively and collaboratively collecting information about an area, collecting attribute characteristics of the UAV, and generating an initial collaborative collection path; reading the location of an interactive signal tower, and generating a wireless communication interaction point based on the interactive signal tower location and the initial collaborative collection path; when the UAV performs regional information collection in the collaborative collection area, performing real-time location identification through a positioning unit of the UAV, and generating real-time location interaction data; performing data interaction planning through an interactive time interval, an interactive communication node, and the real-time location interaction data, and generating a new communication adjustment task, wherein the interactive time interval is a triggering interval of the wireless communication interaction point, and the interactive communication node is an interactive location node of the wireless communication interaction point; controlling the UAV to perform wireless communication control through the new communication adjustment task, and correcting the initial collaborative collection path; performing wireless communication transmission of the UAV, wherein the wireless communication transmission data includes collection data, real-time power data, and feedback control data; and performing communication control of the UAV based on the wireless communication transmission data and the correction of the initial collaborative collection path.

[0006] A wireless communication control system for an unmanned aerial vehicle (UAV), the system comprising: an attribute feature acquisition module for interactively and collaboratively acquiring information about an area, acquiring attribute features of the UAV, and generating an initial collaborative acquisition path; a location information analysis module for reading the locations of interactive signal towers and generating wireless communication interaction points based on the interactive signal tower locations and the initial collaborative acquisition path; an interaction data generation module for performing real-time location identification and generating real-time location interaction data using a positioning unit of the UAV when the UAV performs regional information acquisition in the collaborative acquisition area; a communication task generation module for performing data interaction planning based on an interaction time interval, an interaction communication node, and the real-time location interaction data, and generating a new communication adjustment task, wherein the interaction time interval is a triggering interval for the wireless communication interaction point, and the interaction communication node is an interaction location node for the wireless communication interaction point; an acquisition path correction module for controlling the UAV to perform wireless communication control using the new communication adjustment task and correcting the initial collaborative acquisition path; a communication transmission execution module for executing wireless communication transmission of the UAV, wherein the wireless communication transmission data includes acquisition data, real-time power data, and feedback control data; and a communication control execution module for performing communication control of the UAV based on the wireless communication transmission data and the correction of the initial collaborative acquisition path.

[0007] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0008] Interactively and collaboratively collect information about the area and the attributes of the drone to generate an initial collaborative collection path;

[0009] Reading the interactive signal tower location, and generating a wireless communication interaction point based on the interactive signal tower location and the initial collaborative acquisition path;

[0010] When the drone performs regional information collection in the collaborative collection area, real-time position recognition is performed through the positioning unit of the drone to generate real-time position interaction data;

[0011] Performing data interaction planning based on the interaction time interval, the interaction communication node, and the real-time location interaction data to generate a new communication adjustment task, wherein the interaction time interval is the triggering interval of the wireless communication interaction point, and the interaction communication node is the interaction location node of the wireless communication interaction point;

[0012] Controlling the UAV to perform wireless communication control through the newly added communication adjustment task and correcting the initial collaborative acquisition path;

[0013] Execute wireless communication transmission of the UAV, where the wireless communication transmission data includes collected data, real-time power data and feedback control data;

[0014] The communication control of the UAV is performed based on the wireless communication transmission data and the corrected initial collaborative acquisition path.

[0015] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0016] Interactively and collaboratively collect information about the area and the attributes of the drone to generate an initial collaborative collection path;

[0017] Reading the interactive signal tower location, and generating a wireless communication interaction point based on the interactive signal tower location and the initial collaborative acquisition path;

[0018] When the drone performs regional information collection in the collaborative collection area, real-time position recognition is performed through the positioning unit of the drone to generate real-time position interaction data;

[0019] Performing data interaction planning based on the interaction time interval, the interaction communication node, and the real-time location interaction data to generate a new communication adjustment task, wherein the interaction time interval is the triggering interval of the wireless communication interaction point, and the interaction communication node is the interaction location node of the wireless communication interaction point;

[0020] Controlling the UAV to perform wireless communication control through the newly added communication adjustment task and correcting the initial collaborative acquisition path;

[0021] Execute wireless communication transmission of the UAV, where the wireless communication transmission data includes collected data, real-time power data and feedback control data;

[0022] The communication control of the UAV is performed based on the wireless communication transmission data and the corrected initial collaborative acquisition path.

[0023] The above-mentioned wireless communication control method and system for drones solves the technical problem in the existing technology that when controlling multiple drones to collect data in the target area, it is impossible to simultaneously meet the data collection accuracy requirements and data transmission timeliness requirements. It ensures that data interaction between multiple drones does not affect the effective data collection of drones in the target area, and achieves the technical effect of ensuring the timeliness of drone data transmission and interaction and the accuracy and effectiveness of flight data collection.

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 1 is a flow chart of a wireless communication control method for a UAV according to an embodiment;

[0026] Figure 2 A schematic diagram of a flow chart of generating feedback control data in a wireless communication control method for a drone according to one embodiment;

[0027] Figure 3 is a structural block diagram of a wireless communication control system for a drone in one embodiment;

[0028] Figure 4 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment.

[0029] Explanation of the accompanying drawings: attribute feature collection module 1, location information analysis module 2, interaction data generation module 3, communication task generation module 4, collection path correction module 5, communication transmission execution module 6, communication control execution module 7. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0031] like Figure 1 As shown, the present application provides a wireless communication control method for a drone, the method comprising:

[0032] S100: interactively and collaboratively collect information about the area and the attributes of the drone to generate an initial collaborative collection path;

[0033] In one embodiment, the method steps provided by the present application further include:

[0034] S110: Generate an automatic return battery power threshold of the drone based on the attribute characteristics;

[0035] S120: When the battery level of the drone meets the automatic return battery level threshold, the current location is recorded, and a return path is generated based on the current location plan;

[0036] S130: Control the drone to return via the return path.

[0037] In one embodiment, the method steps provided by the present application further include:

[0038] S121: Dynamically monitor the changes in the battery power of the drone;

[0039] S122: If the dynamic change value of the battery power in any window meets the preset change threshold, a stop acquisition instruction is generated;

[0040] S123: Control the corresponding drone to stop data collection through the stop collection instruction and execute the drone to return.

[0041] Specifically, in this embodiment, the collaborative collection area is any area within which data collection is to be conducted through collaborative interaction by multiple drones, such as farmland, mountains, or scenic spots. A data collection module or a data call module interacts with the collaborative collection area to obtain information about the collaborative collection area. This information includes the spatial extent of the collaborative collection area, including the spatial coordinates (longitude and latitude) of the collaborative collection area and the spatial coordinates (altitude) of the longitudinal data collection area. Multiple drones plan collection routes within the collaborative collection area to generate initial collaborative collection paths. These initial collaborative collection paths are pre-set flight routes for the multiple drones prior to flight. For example, these paths can be manually set based on regional information collection requirements.

[0042] The attribute features include the battery capacity information and power consumption per unit distance of the drone. In this embodiment, the take-off locations of multiple drones and the return landing locations after collecting data in the collaborative collection area are consistent and are all at the same location. The spatial coordinates of the take-off and landing points are obtained, and combined with the spatial range information of the collaborative collection area, the maximum spatial distance (km) between the take-off and landing points and the collaborative collection area is obtained.

[0043] Based on the unit distance power consumption information in the attribute characteristics of each drone, the minimum power consumption of each drone returning from the farthest spatial distance position to the take-off and landing point is calculated as the automatic return battery power threshold of each drone. The automatic return battery power threshold is the minimum power required for the drone to safely return to the take-off and landing point without a sudden drop accident even if a power shortage occurs during the data collection process in the collaborative collection area.

[0044] Multiple battery monitoring windows are set for multiple drones to accurately monitor the remaining battery level of each drone. This embodiment uses the battery level monitoring of any battery monitoring window (the first battery monitoring window) as an example to monitor the remaining battery level of the first drone based on the first battery monitoring window.

[0045] If the remaining battery level in the first battery level monitoring window is equal to the automatic return battery level threshold, the GPS positioning unit of the first UAV is called to record the current location of the first UAV, and a return path is generated based on the current location and the take-off and landing point locations. The return path is the shortest straight line from the current location of the first UAV to the take-off and landing point locations.

[0046] The dynamic change value of the battery power is the power consumption value of the drone per unit time, for example, 7% of the total power is consumed in 5 minutes. The preset change threshold is the standard for the drone battery to be in a normal discharge state, for example, the battery consumption in five minutes is less than or equal to 5%. If the dynamic change value of the battery power is higher than the preset change threshold, it is considered that the drone battery has a discharge fault, and there is a risk of the drone running out of power and falling at any time if it continues to perform the flight mission.

[0047] This embodiment sets up multiple battery power monitoring windows for multiple drones to accurately and dynamically monitor the battery power changes of each drone. This embodiment uses the dynamic monitoring of battery power changes in any battery power monitoring window (the first battery power monitoring window) as an example, and dynamically monitors the battery power changes of the first drone based on the first battery power monitoring window.

[0048] If the dynamic change value of the battery power in the first battery power monitoring window meets the preset change threshold, a stop collection instruction is generated, and the drone is controlled to stop data collection through the stop collection instruction. At the same time, the GPS positioning unit of the first drone is called to record the current location of the first drone, and a return path is generated based on the current location and the take-off and landing point location. The return path is the shortest straight line from the current location of the first drone to the take-off and landing point location, and the drone is controlled to return through the return path.

[0049] This embodiment achieves the technical effect of avoiding drone crash damage accidents caused by insufficient drone power or abnormal battery discharge by setting a battery power monitoring window to monitor the remaining power of each drone battery and the battery power change rate, thereby improving the safety of drone use during data collection in the interactive collection area.

[0050] S200: Reading the location of the interactive signal tower, and generating a wireless communication interaction point based on the location of the interactive signal tower and the initial collaborative collection path;

[0051] In one embodiment, the method steps provided by the present application further include:

[0052] S210: Performing interaction point analysis based on the wireless communication interaction point and the interaction signal tower location to determine a first interaction point, a second interaction point, ... an Nth interaction point, wherein the first interaction point is an interaction point that directly interacts with the interaction signal tower, and the Nth interaction point is a farthest interaction point with the interaction signal tower;

[0053] S220: Setting interaction constraints for the Nth interaction point, wherein the interaction constraints include that any execution of data interaction at the Nth interaction point requires the completion of data interactions at the remaining N-2 interaction points except the first interaction point;

[0054] S230: Perform interactive control of wireless communication through the interaction constraints.

[0055] Specifically, in this embodiment, the interactive signal tower is a communication device capable of communicating and transmitting information with drones. When using drones to collect data within the collaborative collection area, the interactive signal tower is required to communicate with the drones and enable operations such as drone control, scheduling, and monitoring. In this embodiment, to facilitate full-scale monitoring and control of the drones, the interactive signal tower is preferably located in the center of the collaborative collection area to effectively improve the drones' operating efficiency and safety.

[0056] This embodiment reads the location of the interactive signal tower, that is, the spatial coordinates (longitude, latitude) of the interactive signal tower. The initial collaborative collection path is multiple flight routes of multiple drones, and the multiple flight routes are N concentric rings centered on the interactive signal tower. The flight path of each drone is within a concentric circle area, so that multiple drones can fly simultaneously to collect data from the interactive collection area without omission.

[0057] The drone that collects data in the first concentric ring area closest to the interactive signal tower is the first drone. Similarly, the drone that collects data in the Nth concentric ring area farthest from the interactive signal tower is the Nth drone.

[0058] The first drone directly interacts with the interactive signal tower for information exchange, the second drone transmits information to the second drone by interacting with the first drone, and then the first drone interacts with the interactive signal tower to complete the information exchange between the second drone and the interactive signal tower. Similarly, the Nth drone needs to pass through the N-1th drone to the first drone to realize the information exchange between the Nth drone and the interactive signal tower. Accordingly, the path for the interactive signal tower to send information to each drone is consistent with the path for each drone to transmit information to the interactive signal tower.

[0059] The wireless communication interaction point is a spatial location where the first drone and the interactive signal tower can interact with each other, and a spatial location where the Kth drone and the K-1th drone can interact with each other, 1<K≤N, K is a positive integer.

[0060] An interaction constraint for the Nth interaction point is set, wherein the interaction constraint includes an information transmission distance threshold when any data interaction at the Nth interaction point requires the completion of sequential data interaction at the remaining N-2 interaction points excluding the first interaction point. Information transmission interaction can only be performed between drones or between drones and interaction signal towers if and only if the distance between two drones or between a drone and an interaction signal tower is less than or equal to the interaction constraint.

[0061] Interactive control of wireless communication is achieved through the interaction constraint. Specifically, a circle is drawn with the interaction signal tower location as the center and the interaction constraint as the radius. Based on the initial collaborative acquisition path, the first flight path of the first UAV within the first concentric ring area is obtained. The area within which the first flight path falls is obtained. Any point on the flight path within this area is a first interaction point. When the first UAV reaches the first interaction point, data is exchanged with the interaction signal tower. Using the interaction constraint as the spacing distance, a first parallel line is drawn along the first flight path in the direction of the second UAV. The area formed by the first flight path and the first parallel line is the second interaction area. Any point within the local flight path of the second UAV within the second concentric ring area that falls within the second interaction area is the second interaction point. When both the first and second UAVs are within the flight paths of the second interaction area, effective communication interaction can be achieved. The third through Nth interaction points are obtained using the same method as for obtaining the second interaction area and the second interaction point. The first interaction point to the Nth interaction point constitute the wireless communication interaction points, wherein the first interaction point is the interaction point that directly interacts with the interactive signal tower, the Nth interaction point is the farthest interaction point with the interactive signal tower, and the Nth interaction point interacts with the N-1th interaction point to the first interaction point one by one to achieve interaction with the interactive signal tower.

[0062] This embodiment combines the flight trajectory and effective communication distance of each drone in the specified flight area to obtain an information transmission area that ensures that multiple drones can effectively transmit information while following the initial collaborative collection path, achieving the technical effect of ensuring that multiple drones do not change their flight paths while effectively exchanging data.

[0063] S300: When the drone performs regional information collection in the collaborative collection area, real-time position recognition is performed through the positioning unit of the drone to generate real-time position interaction data;

[0064] Specifically, in this embodiment, the positioning unit is a spatial positioning module that integrates a GPS positioning module and a 5G communication module. By integrating the 5G communication module, the efficiency of drone positioning data transmission is improved. When a drone collects regional information within the collaborative collection area, the drone's positioning unit performs real-time location identification and generates real-time location interaction data. This real-time location interaction data is the drone's spatial location information within the collaborative collection area, consisting of longitude, latitude, and altitude data.

[0065] S400: Performing data interaction planning based on the interaction time interval, the interactive communication node, and the real-time location interaction data to generate a new communication adjustment task, wherein the interaction time interval is a triggering interval of the wireless communication interaction point, and the interactive communication node is an interaction location node of the wireless communication interaction point;

[0066] S500: Controlling the UAV to perform wireless communication control through the newly added communication adjustment task, and correcting the initial collaborative collection path;

[0067] It should be understood that in order to reduce the consumption of drone battery power by communication interaction, the communication node used by the drone for information interaction in this embodiment is not always in the on state, but is only triggered to turn on for a period of time when the drone reaches the wireless communication interaction point.

[0068] The interaction time interval is the trigger time interval of the wireless communication interaction point, and the interactive communication node is the interaction position node of the wireless communication interaction point. For example, when the first drone arrives at a second interaction point in the second interaction area at 10:15, the communication node is turned on for 45 seconds. The communication interaction node is the specific spatial position coordinates of a second interaction point of the first drone in the second interaction area.

[0069] The interactive communication node is a data transmission interaction location where a drone pauses its initial collaborative collection path and needs to go to transmit data such as battery power and collected images to an adjacent drone. The interactive time interval is a data transmission interaction time interval where a drone pauses its initial collaborative collection path and needs to go to transmit data such as battery power and collected images to an adjacent drone. The interactive time interval and the interactive communication node are pre-set before multiple drones perform a flight mission.

[0070] When multiple drones are flying along the initial collaborative collection path and approaching the interaction time interval, two adjacent drones, such as a third drone and a fourth drone, obtain third and fourth real-time location interaction data based on their respective positioning units. The third drone, based on the third real-time location interaction data and the interaction communication node, pauses the original third flight trajectory in the initial collaborative collection path and generates a flight trajectory from the third real-time location interaction data to the interaction communication node. The fourth drone, based on the fourth real-time location interaction data and the interaction communication node, pauses the original fourth flight trajectory in the initial collaborative collection path and generates a flight trajectory from the fourth real-time location interaction data to the interaction communication node. The arrival times of the third and fourth drones at the interaction communication node fall within the interaction time interval. The newly added communication adjustment task is the flight speed and flight trajectory of the third and fourth drones upon arrival at the interaction communication node.

[0071] Controlling the UAVs to perform wireless communications through the newly added communication adjustment task includes arriving at the interactive communication node and turning on the communication node to perform data interactive transmission between adjacent UAVs. After completing the data interactive transmission, the adjacent UAVs turn off the communication node and return to the initial collaborative collection path along the original route, completing the correction of the initial collaborative collection path, ensuring that data interaction between multiple UAVs does not affect the effective data collection of the UAVs in the collaborative collection area, and achieving a technical effect of balancing the timeliness of UAV data transmission interaction and the accuracy and effectiveness of flight data collection.

[0072] S600: Execute wireless communication transmission of the UAV, wherein the wireless communication transmission data includes collected data, real-time power data, and feedback control data;

[0073] In one embodiment, Figure 2 As shown, the method steps provided by this application also include:

[0074] S610: Acquire an interaction node of the first drone through the wireless communication interaction point;

[0075] S620: Setting a power warning threshold for each interactive node of the first UAV based on the initial collaborative collection path and the number of the interactive nodes;

[0076] S630: When the real-time power data of any interactive node meets the power warning threshold, generating path feedback control data for the first UAV;

[0077] S640: Generate the feedback control data based on the path feedback control data.

[0078] In one embodiment, the method steps provided by the present application further include:

[0079] S621: Using the attribute features of the first UAV as basic constraint features;

[0080] S622: performing inter-node task segmentation on the initial collaborative acquisition path through the interactive node to obtain an inter-node task segmentation result;

[0081] S623: Set the power warning threshold according to the basic constraint characteristics and the task division result between the nodes.

[0082] Specifically, in this embodiment, from the second drone to the Nth drone, the drone far away from the interactive signal tower transmits wireless communication data to the adjacent drone close to the interactive signal tower, including the acquisition data obtained by image acquisition of the collaborative acquisition area, the drone's own real-time power data, and the feedback control data of the drone adjusting the initial collaborative acquisition path to enable the drone to return to the take-off and landing point.

[0083] The power warning threshold is the minimum power requirement for stopping the drone data collection task and returning to the take-off and landing point. This embodiment takes the power warning threshold of the first drone as an example.

[0084] The interaction node of the first drone, namely the first interaction point, is obtained through the wireless communication interaction point. The attribute characteristics of the first drone are the power consumption per unit distance of the first drone and the battery capacity of the power supply battery carried by the first drone. The attribute characteristics of the first drone are used as basic constraint characteristics.

[0085] In the initial collaborative collection path, the first flight path is the flight path of the first drone. The inter-node task involves the first drone pausing the first flight path, flying to the second interaction node to interact with the second drone, and then arriving at the first interaction point to interact with the interaction tower. The inter-node task consists of multiple groups of interaction time intervals and interaction communication nodes. Therefore, during the process of drones collecting data in the collaborative collection area based on the first flight path, the inter-node task divides the first flight path into multiple local collection paths. After completing each local collection path, the drone deviates from the initial collaborative collection path to the corresponding interaction communication node to interact with the second drone or interaction communication tower.

[0086] The initial collaborative data collection path is segmented between nodes using the interaction nodes to obtain an inter-node task segmentation result. The inter-node task segmentation result is a plurality of location points on the first UAV's first flight path. When the first UAV reaches the inter-node task segmentation result, it deviates from the first flight path and travels to the first interaction point or the second interaction point to exchange data with the interaction signal tower or the second UAV, and then returns to the first flight path.

[0087] Multiple flight trajectories are generated based on the inter-node task segmentation results and take-off and landing points, and the excess power consumption generated by executing the inter-node tasks is calculated based on the power consumption per unit distance of the drone in the basic constraint characteristics.

[0088] The distance from the farthest point to the take-off and landing point in the first flight trajectory is obtained, and combined with the power consumption per unit distance of the UAV in the basic constraint feature, the power consumption of the first UAV from the farthest point to the take-off and landing point is calculated, and the two power consumptions are added together as the power warning threshold.

[0089] When the real-time power data of any interactive node meets the power warning threshold, the first UAV flight trajectory and the path feedback control data corresponding to the first UAV flight trajectory are generated according to the spatial position of the interactive node and the spatial position of the take-off and landing point. The feedback control data is generated from the path feedback control data. The feedback control data is used to control the UAV to return when the power is insufficient, so as to avoid the UAV falling and being damaged due to insufficient power when executing the initial collaborative collection path.

[0090] S700: Control the communication of the UAV based on the wireless communication transmission data and the correction of the initial collaborative acquisition path.

[0091] Specifically, in this embodiment, after the adjacent drones complete wireless communication interaction at the interaction node (wireless communication interaction point), they fly back from the interaction point to the initial collaborative collection path to complete the correction of the collection path and obtain the corrected initial collaborative collection path.

[0092] The collected data, real-time power data and feedback control data of the first to Nth UAVs are finally all transmitted to the interactive signal tower. When the real-time power data of the first to Nth UAVs obtained by the interactive signal tower does not meet the power warning threshold, the interactive signal tower adopts the same method as receiving the data sent by the UAV to send the UAV return instruction in reverse to prevent the UAV with insufficient power from continuing to perform the interactive cooperation area data collection task, thereby realizing the UAV flight control according to the wireless communication transmission data, and the UAV that meets the power warning threshold is controlled based on the correction of the initial collaborative collection path.

[0093] This embodiment reasonably sets the data interaction nodes between drones and balances the data collection needs and information interaction needs when dispatching multiple drones to collect regional data, thereby ensuring that the data interaction between multiple drones does not affect the effective data collection of the drones in the collaborative collection area, achieving the technical effect of ensuring the timeliness of drone data transmission and interaction and the accuracy and effectiveness of flight data collection.

[0094] In one embodiment, the method steps provided by the present application further include:

[0095] S710: When any UAV performs a return trip during the interactive collaborative information collection, the wireless communication interaction point of the UAV at the corresponding location is cancelled;

[0096] S720: Replan the collaborative collection path of the associated drones based on the cancelled wireless communication interaction point.

[0097] Specifically, in this embodiment, during the interactive collaborative information collection period, any drone performing a return trip indicates that the drone's power is insufficient to support continued collaborative collection area data collection based on the initial collaborative collection path, and thus the wireless communication interaction point of the drone at the corresponding position is canceled to avoid adjacent drones deviating from the initial collaborative collection path and arriving at the interaction node but being unable to interact with data, resulting in a waste of drone power resources.

[0098] The collaborative data collection paths of the associated drones are replanned based on the canceled wireless communication interaction points. For example, among the first, second, and third drones, if the second drone is performing a return trip, the second flight trajectory of the second drone in the second concentric ring area where data is collected is split and merged into the first flight trajectory of the first concentric ring area and the third flight trajectory of the third concentric ring area, respectively. The interaction nodes between the first and third drones are optimized and adjusted using the method in step S300. This achieves the technical effect of enabling effective data collection in the collaborative interaction area even when a drone is missing.

[0099] In one embodiment, Figure 3 As shown, a wireless communication control system for a UAV is provided, comprising: an attribute feature acquisition module 1, a position information analysis module 2, an interaction data generation module 3, a communication task generation module 4, an acquisition path correction module 5, a communication transmission execution module 6, and a communication control execution module 7, wherein:

[0100] Attribute feature collection module 1 is used to interactively and collaboratively collect information about the area and the attributes of the drone to generate an initial collaborative collection path;

[0101] Position information analysis module 2, used to read the interactive signal tower location, and generate a wireless communication interaction point based on the interactive signal tower location and the initial collaborative collection path;

[0102] Interaction data generation module 3, configured to perform real-time position recognition through the positioning unit of the drone when the drone performs regional information collection in the collaborative collection area, and generate real-time position interaction data;

[0103] The communication task generation module 4 is configured to perform data interaction planning based on the interaction time interval, the interaction communication node, and the real-time location interaction data, and generate a new communication adjustment task, wherein the interaction time interval is the triggering interval of the wireless communication interaction point, and the interaction communication node is the interaction location node of the wireless communication interaction point;

[0104] The acquisition path correction module 5 is used to control the UAV to perform wireless communication control through the newly added communication adjustment task and correct the initial collaborative acquisition path;

[0105] Communication transmission execution module 6, used to execute wireless communication transmission of the UAV, wherein the wireless communication transmission data includes collected data, real-time power data and feedback control data;

[0106] The communication control execution module 7 is used to perform communication control of the UAV according to the wireless communication transmission data and correct the initial collaborative acquisition path.

[0107] In one embodiment, the system further comprises:

[0108] an interaction node obtaining unit, configured to obtain the interaction node of the first UAV through the wireless communication interaction point;

[0109] a warning threshold obtaining unit, configured to set a power warning threshold of each interactive node of the first UAV based on the initial collaborative acquisition path and the number of the interactive nodes;

[0110] a control data obtaining unit, configured to generate path feedback control data for the first UAV when the real-time power data of any interactive node meets the power warning threshold;

[0111] A feedback control generating unit is configured to generate the feedback control data based on the path feedback control data.

[0112] In one embodiment, the system further comprises:

[0113] a constraint feature setting unit, configured to use the attribute features of the first UAV as basic constraint features;

[0114] A task segmentation execution unit, configured to perform inter-node task segmentation on the initial collaborative acquisition path through the interactive node to obtain an inter-node task segmentation result;

[0115] The power warning setting unit is used to set the power warning threshold according to the basic constraint characteristics and the task division result between the nodes.

[0116] In one embodiment, the system further comprises:

[0117] an interaction analysis execution unit, configured to perform interaction point analysis based on the wireless communication interaction point and the interaction signal tower location, and determine a first interaction point, a second interaction point, ..., an Nth interaction point, wherein the first interaction point is an interaction point that directly interacts with the interaction signal tower, and the Nth interaction point is a farthest interaction point with the interaction signal tower;

[0118] An interaction constraint setting unit, configured to set an interaction constraint for the Nth interaction point, wherein the interaction constraint includes that, before any data interaction at the Nth interaction point is performed, data interactions at the remaining N-2 interaction points excluding the first interaction point must be completed in sequence;

[0119] An interactive control execution unit is configured to perform interactive control of wireless communication through the interactive constraints.

[0120] In one embodiment, the system further comprises:

[0121] A battery threshold generating unit, configured to generate a battery threshold for automatic return trip of the UAV based on the attribute characteristics;

[0122] A return path generating unit, configured to record the current position of the drone when the battery level of the drone meets the automatic return battery level threshold, and generate a return path based on the current position plan;

[0123] The return control execution unit is used to control the return of the UAV through the return path.

[0124] In one embodiment, the system further comprises:

[0125] The power change monitoring unit is used to dynamically monitor the changes in the battery power of the drone;

[0126] A stop instruction generating unit, configured to generate a stop acquisition instruction if the dynamic change value of the battery power in any window meets a preset change threshold;

[0127] The return control execution unit is used to control the corresponding drone to stop data collection through the above-mentioned stop collection instruction and execute the drone to return.

[0128] In one embodiment, the system further comprises:

[0129] The interaction point cancellation unit is used to cancel the wireless communication interaction point of the UAV at the corresponding position when any UAV performs a return trip during the interactive collaborative information collection;

[0130] The path planning execution unit is used to re-plan the collaborative collection path of the associated drones based on the cancelled wireless communication interaction points.

[0131] For specific embodiments of a wireless communication control system for a drone, please refer to the embodiment of a wireless communication control method for a drone described above and will not be repeated here. Each module in the aforementioned wireless communication control system for a drone can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the aforementioned modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so that the processor can call and execute the corresponding operations of each of the aforementioned modules.

[0132] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store news data and data such as time decay factors. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a wireless communication control method for a drone is implemented.

[0133] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0134] In one embodiment, a computer-readable storage medium is provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented: interactively and collaboratively collecting information of an area, collecting attribute characteristics of a drone, and generating an initial collaborative collection path; reading the location of an interactive signal tower, and generating a wireless communication interaction point based on the interactive signal tower location and the initial collaborative collection path; when a drone performs regional information collection of the collaborative collection area, performing real-time location identification through a positioning unit of the drone, and generating real-time location interaction data; performing data interaction planning through an interaction time interval, an interactive communication node, and the real-time location interaction data, and generating a new communication adjustment task, wherein the interaction time interval is a triggering interval of the wireless communication interaction point, and the interactive communication node is an interactive location node of the wireless communication interaction point; controlling the drone to perform wireless communication control through the new communication adjustment task, and correcting the initial collaborative collection path; performing wireless communication transmission of the drone, wherein the wireless communication transmission data includes collection data, real-time power data, and feedback control data; and performing communication control of the drone based on the wireless communication transmission data and the correction of the initial collaborative collection path.

[0135] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A wireless communication control method for an unmanned aerial vehicle, characterized in that: The method comprises: Interactively and collaboratively collect information about the area and the attributes of the drone to generate an initial collaborative collection path; Reading the interactive signal tower location, and generating a wireless communication interaction point based on the interactive signal tower location and the initial collaborative acquisition path; When the drone performs regional information collection in the collaborative collection area, real-time position recognition is performed through the positioning unit of the drone to generate real-time position interaction data; Performing data interaction planning based on the interaction time interval, the interaction communication node, and the real-time location interaction data to generate a new communication adjustment task, wherein the interaction time interval is the triggering interval of the wireless communication interaction point, and the interaction communication node is the interaction location node of the wireless communication interaction point; The wireless communication control of the UAV is performed by adjusting the task of controlling the UAV through the newly added communication, and the initial collaborative acquisition path is corrected, including: The initial collaborative collection path is multiple flight routes of multiple drones, and the multiple flight routes are N concentric rings centered on the interactive signal tower. The flight path of each drone is within a concentric circle area. The drone that collects data in the first concentric circle area closest to the interactive signal tower is the first drone. Similarly, the drone that collects data in the Nth concentric circle area farthest from the interactive signal tower is the Nth drone. The first drone directly exchanges information with the interactive signal tower. The Nth drone reaches the first drone via the N-1th drone, realizing information transmission between the Nth drone and the interactive signal tower. The wireless communication interaction point is where the drone pauses its initial collaborative collection path and needs to transmit the drone's battery level, image collection data, and feedback control data for returning to the take-off and landing point to the interaction signal tower or the interaction location of the adjacent drone. The newly added communication adjustment task controls the drone to arrive at the interactive communication node and activates the communication node to perform data interactive transmission between two adjacent drones. After the data interactive transmission is completed, the two adjacent drones deactivate the communication node and return to the initial collaborative collection path along the original route, thereby completing the correction of the initial collaborative collection path. The newly added communication adjustment task is the flight speed and flight trajectory of two adjacent drones reaching the interactive communication node; Execute wireless communication transmission of the UAV, where the wireless communication transmission data includes collected data, real-time power data and feedback control data; The communication control of the UAV is performed based on the wireless communication transmission data and the corrected initial collaborative acquisition path.

2. The method according to claim 1, wherein The method further comprises: Acquire the interaction node of the first drone through the wireless communication interaction point; Setting a power warning threshold of each interactive node of the first UAV based on the initial collaborative collection path and the number of the interactive nodes; When the real-time power data of any interactive node meets the power warning threshold, path feedback control data of the first UAV is generated; The feedback control data is generated based on the path feedback control data.

3. The method according to claim 2, wherein The method further comprises: Using the attribute features of the first UAV as basic constraint features; Performing inter-node task segmentation on the initial collaborative acquisition path through the interactive node to obtain an inter-node task segmentation result; The power warning threshold is set according to the basic constraint characteristics and the task division result between the nodes.

4. The method according to claim 1, wherein The method further comprises: performing interaction point analysis based on the wireless communication interaction point and the interaction signal tower location to determine a first interaction point, a second interaction point, ... an Nth interaction point, wherein the first interaction point is an interaction point that directly interacts with the interaction signal tower, and the Nth interaction point is a farthest interaction point with the interaction signal tower; Setting interaction constraints for the Nth interaction point, wherein the interaction constraints include that any execution of data interaction at the Nth interaction point requires the completion of data interactions at the remaining N-2 interaction points except the first interaction point; Interaction control of wireless communication is performed through the interaction constraints.

5. The method according to claim 1, wherein The method further comprises: Generate an automatic return battery power threshold for the drone based on the attribute characteristics; When the battery level of the drone meets the automatic return battery level threshold, the current location is recorded and a return path is generated based on the current location plan; The UAV is controlled to return via the return path.

6. The method according to claim 5, wherein The method further comprises: Dynamically monitor changes in the battery power of drones; If the dynamic change value of the battery power in any window meets the preset change threshold, a stop acquisition instruction is generated; The corresponding drone is controlled by the stop collection instruction to stop data collection and execute the drone to return.

7. The method according to claim 1, wherein The method further comprises: During the interactive collaborative information collection process, if any UAV returns, the wireless communication interaction point of the UAV at the corresponding location will be cancelled. The collaborative collection path of the associated UAVs is replanned based on the cancelled wireless communication interaction points.

8. A wireless communication control system for an unmanned aerial vehicle, characterized in that: The system is used to perform the method according to any one of claims 1 to 7, and the system includes: The attribute feature collection module is used to interactively and collaboratively collect information about the area and the attributes of the drone to generate an initial collaborative collection path; A location information analysis module, configured to read the location of an interactive signal tower and generate a wireless communication interaction point based on the location of the interactive signal tower and the initial collaborative collection path; An interactive data generation module, configured to perform real-time position recognition through a positioning unit of the drone when the drone performs regional information collection in the collaborative collection area, and generate real-time position interactive data; a communication task generation module, configured to perform data interaction planning based on an interaction time interval, an interaction communication node, and the real-time location interaction data, and generate a new communication adjustment task, wherein the interaction time interval is a triggering interval of the wireless communication interaction point, and the interaction communication node is an interaction location node of the wireless communication interaction point; an acquisition path correction module, configured to control the UAV to perform wireless communication control through the newly added communication adjustment task and to correct the initial collaborative acquisition path; A communication transmission execution module is used to execute wireless communication transmission of the UAV, wherein the wireless communication transmission data includes collected data, real-time power data and feedback control data; The communication control execution module is used to perform communication control of the UAV according to the wireless communication transmission data and correct the initial collaborative acquisition path.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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