A method for co-frequency networking in UAV cluster communication

Abstract

The present invention discloses a method for same-frequency networking in unmanned aerial vehicle (UAV) cluster communication, which relates to the technical field of UAV aerial photography. The method comprises the following steps: establishing an employee list and establishing same-frequency networking; establishing a connection between the UAV and the same-frequency networking, and obtaining an alternative UAV; monitoring the production operations of the employees through the UAV to determine whether their production operations are safe and compliant, and monitoring whether there are any illegal actions in the production operations of the employees; when the UAV detects that an employee has made an illegal action, a corresponding early warning signal is generated, and the early warning signal is submitted to an early warning module, which performs corresponding processing; if it is detected that the UAV cannot submit the early warning signal to the early warning module, the early warning signal is submitted to an alternative UAV through the same-frequency networking, and the early warning signal is submitted to the early warning module through the alternative UAV, which performs corresponding processing; the method avoids the problem that the UAV itself cannot transmit information by setting an alternative UAV.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) aerial photography, and in particular to a method for same-frequency networking in UAV cluster communication. Background Art

[0002] Same Frequency Network (SFN) is a networking method that achieves zero roaming and is considered by Gartner to be the fourth generation of WLAN technology. It virtualizes multiple physical APs in the network into a single, large "virtual AP." From the perspective of a wireless station (STA), this group of APs appears to be a single, large AP. As a result, STAs believe they are always associated with the same AP during mobility, eliminating the need for roaming and achieving zero roaming. The AC determines the physical AP to which a STA is actually associated based on factors such as signal strength and network load. STAs are unaware of the transition from one AP to another, and communications remain unaffected.

[0003] In the existing technology, when drones are used to monitor whether employees' production operations are standardized, monitoring warnings may not be transmitted in a timely manner due to problems with the drones' own configuration. To this end, a method for same-frequency networking in drone cluster communication is now provided. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for co-frequency networking in UAV cluster communication.

[0005] The purpose of the present invention can be achieved by the following technical solution: A method for co-frequency networking in UAV cluster communication, comprising the following steps:

[0006] Step S1: Create a list of employees and establish a same-frequency network;

[0007] Step S2: Establish a connection between the drone and the same-frequency network to obtain a candidate drone; use the drone to monitor the production operations of employees to determine whether their production operations are safe and compliant, and monitor whether there are any violations in the production operations of employees;

[0008] Step S3: When the drone detects an employee's illegal behavior, it generates a corresponding warning signal and submits the warning signal to the warning module, which then takes appropriate action;

[0009] Step S4: If it is detected that the UAV is unable to deliver the warning signal to the warning module, the warning signal is delivered to the alternative UAV through the same frequency networking, and the warning signal is delivered to the warning module through the alternative UAV, and the warning module makes corresponding processing.

[0010] Furthermore, the employee list includes employee serial number, name, gender, age and feature value; the employee serial number is composed of an encrypted combination of name, gender and age; and the feature value is used to store employee facial information.

[0011] Furthermore, the process of establishing a co-frequency network is as follows:

[0012] The production workshop is set up with different operating areas. The carrier frequency is divided according to the operating areas of the production workshop, and the carrier frequency range of each operating area is specified;

[0013] Set up multiple wireless access points;

[0014] The wireless access point is set with a BSSID and a key. Both the BSSID and the key are unique, and the key consists of a 64-bit hexadecimal number.

[0015] According to the locations of the wireless access nodes, the wireless access nodes in the same operating area are divided into the same carrier frequency, that is, the wireless access nodes are divided into a same-frequency group;

[0016] Wireless access points in the same frequency group use the same SSID.

[0017] Furthermore, the methods of establishing a connection between a drone and a co-frequency network include active establishment and passive establishment.

[0018] Furthermore, the process of actively establishing is:

[0019] Set the period T1;

[0020] Record the SSID of the wireless access point that the drone needs to connect to as the target ID;

[0021] The drone generates a detection signal based on the target ID and broadcasts the detection signal periodically according to the period T1;

[0022] When the wireless access point with the target SSID receives the detection signal, it replies with its own BSSID and supported transmission rate;

[0023] After receiving the BSSID and supported transmission rate from the wireless access node, the drone obtains the BSSID of the wireless access node to be connected based on the supported transmission rate and the signal strength when the wireless access node replies, marks the wireless access node to be connected as the target node, and marks the BSSID as the ID to be connected;

[0024] Obtain the key of the target node and generate an identity authentication signal, which is sent to the wireless access node whose BSSID is the ID to be connected. After the identity authentication is passed by the wireless access node, the drone generates an association request based on its own parameters. The parameters include the transmission rate supported by the drone and the access authentication type, where the access authentication types include PSK authentication, MAC authentication, and no authentication required.

[0025] Send an association request to the wireless access node, and the wireless access node determines whether the drone needs access authentication based on the association request. If the access authentication type in the association request is "no authentication required", the drone does not need access authentication and directly accesses the same frequency network for communication; if the access authentication type in the association request is "PSK authentication" or "MAC authentication", the drone is subjected to PSK authentication or MAC authentication. After the authentication is passed, the drone accesses the same frequency network for communication; if the authentication fails, a secondary warning signal is generated and submitted to the warning module;

[0026] If the wireless access node does not pass the received identity authentication signal, the drone identity authentication fails, and a first-level warning signal is generated. The first-level warning signal is sent to the warning module, and the warning module makes corresponding processing.

[0027] Furthermore, the passive establishment process is:

[0028] Set period T2;

[0029] The wireless access node generates broadcast information based on its own BSSID and SSID, and sends the broadcast information regularly according to the period T2;

[0030] After receiving the broadcast information, the drone filters out the wireless access node with the target ID and marks it as an accessible node. Then, based on the signal strength when the accessible node sends the broadcast information, it obtains the BSSID of the appropriate wireless access node, marks the wireless access node as the target node, and marks the BSSID as the ID to be connected.

[0031] Obtain the key of the target node, generate an identity authentication signal, and send the identity authentication signal to the target node. The target node authenticates the drone. If the identity authentication fails, a level one warning signal is generated and submitted to the warning module, which then processes the signal accordingly. If the identity authentication passes, the drone generates an association request based on its own parameters and sends the association request to the target node. The target node determines whether the drone needs access authentication based on the association request. If access authentication is not required, the drone directly accesses the same frequency network. If access authentication is required, access authentication is performed based on the association request. If the access authentication passes, the drone accesses the same frequency network. If the authentication fails, a level two warning signal is generated.

[0032] Furthermore, the process of obtaining alternative drones is as follows:

[0033] Get the wireless access points in the same frequency network and generate the corresponding node set Point;

[0034] Get the data transmission time between each wireless access node respectively and generate the time set T P ;

[0035] Get the MAC address of the drone connected to the same wireless access node and generate the corresponding address set MAC uav , where the drone can be directly referred to by its MAC address;

[0036] Get the data transmission time between each drone and the wireless access node respectively, and generate the time set T u ;

[0037] According to the time set T p and time set T u Generate time set T u-u , used to record the data transmission time between each drone;

[0038] Set the value X, according to the time set T u-u Sort the data transmission time between other drones and the current drone in ascending order, and obtain the first X drones as backup drones for the current drone; and then mark the backup drones as the first backup drone, the second backup drone, ..., the Xth backup drone in order according to the order of size;

[0039] Set the period T3, and set the time set T according to the period T3. u-u Update and set the time according to the new time u-u Get a new backup drone for your drone.

[0040] Furthermore, the process of monitoring whether there are any illegal actions in the production operations of employees is as follows:

[0041] The drone is equipped with a camera and an alarm device;

[0042] The camera is used to capture employees' production operation images, analyze the images captured by the camera in real time, and determine whether the employees have violated any regulations. If any violations are detected, the employee's employee number is obtained based on the employee's facial information, and a three-level warning signal is generated based on the employee's serial number. The warning signal is then submitted to the warning module, which then takes appropriate action.

[0043] At the same time, the drone is detected and processed:

[0044] Set time thresholds and warning thresholds;

[0045] The moment when the third-level warning signal is generated is marked as the starting moment, and the timing starts from the starting moment. When the timing time reaches the time threshold, if any employee with the same employee serial number is detected to have violated the rules, the third-level warning signal will be generated again, submitted to the warning module, and the counting will start. The current warning will be recorded as 1. If the count reaches the warning threshold, it is determined that the drone cannot transmit the warning signal to the warning module, and the drone will submit the warning signal to the first backup drone, which will submit the warning signal to the warning module, and the first backup drone will perform detection and processing on its own. If the first backup drone successfully submits the warning signal to the warning module, no subsequent processing is required. If the first backup drone cannot submit the warning signal to the warning module, the first backup drone will reply with a failure signal. After receiving the failure signal, the drone will submit the warning signal to the second backup drone, which will submit the warning signal to the warning module.

[0046] Repeat the above steps until the warning signal is delivered to the warning module;

[0047] If both the drone and the backup drone fail to deliver, the drone will sound an alarm through the alarm device.

[0048] Compared with the existing technology, the beneficial effect of the present invention is: this method sets up an alternative drone, so that when the drone monitors the production operation of employees, if it detects that the employees have violated the regulations and cannot transmit the early warning information, the early warning information can be transmitted to the alternative drone, and the early warning information can be transmitted through the alternative drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Flowchart of the present invention. DETAILED DESCRIPTION

[0050] like Figure 1 As shown, a method for co-frequency networking in UAV cluster communication includes the following steps:

[0051] Step S1: Create a list of employees and establish a same-frequency network;

[0052] Step S2: Establish a connection between the drone and the same-frequency network to obtain a candidate drone; use the drone to monitor the production operations of employees to determine whether their production operations are safe and compliant, and monitor whether there are any violations in the production operations of employees;

[0053] Step S3: When the drone detects an employee's illegal behavior, it generates a corresponding warning signal and submits the warning signal to the warning module, which then takes appropriate action;

[0054] Step S4: If it is detected that the UAV is unable to deliver the warning signal to the warning module, the warning signal is delivered to the backup UAV through the same frequency networking, and the backup UAV delivers the warning signal to the warning module, which then makes corresponding processing;

[0055] It should be further explained that, in the specific implementation process, the process of establishing the employee list is as follows:

[0056] The employee list includes employee serial number, name, gender, age and feature value; wherein the employee serial number is composed of an encrypted combination of name, gender and age to ensure the uniqueness of the employee serial number; the feature value is used to store the employee's facial information;

[0057] It should be further explained that, in the specific implementation process, the process of establishing a same-frequency network is as follows:

[0058] The production workshop is set up with different working areas, each of which is used for different types of work;

[0059] Divide the carrier frequency according to the operating area of the production workshop and specify the carrier frequency range of each operating area;

[0060] Set up multiple wireless access points;

[0061] The wireless access point is set with a BSSID and a key. Both the BSSID and the key are unique, and the key consists of a 64-bit hexadecimal number.

[0062] According to the locations of the wireless access nodes, the wireless access nodes in the same operating area are divided into the same carrier frequency, that is, the wireless access nodes are divided into a same-frequency group;

[0063] Wireless access points in the same frequency group use the same channel and transmit data through the channel; at the same time, wireless access points in the same frequency group use the same SSID;

[0064] It should be further explained that, in the specific implementation process, the process of establishing a connection between a drone and a co-frequency network is as follows:

[0065] The connection establishment includes active establishment and passive establishment;

[0066] The process of active establishment is as follows:

[0067] Set the period T1;

[0068] Record the SSID of the wireless access point that the drone needs to connect to as the target ID;

[0069] The drone generates a detection signal based on the target ID and broadcasts the detection signal periodically according to the period T1;

[0070] When the wireless access point with the target SSID receives the detection signal, it replies with its own BSSID and supported transmission rate;

[0071] After receiving the BSSID and supported transmission rate from the wireless access node, the drone obtains the BSSID of the wireless access node to be connected based on the supported transmission rate and the signal strength when the wireless access node replies, marks the wireless access node to be connected as the target node, and marks the BSSID as the ID to be connected;

[0072] Obtain the key of the target node and generate an identity authentication signal, which is sent to the wireless access node whose BSSID is the ID to be connected. After the identity authentication is passed by the wireless access node, the drone generates an association request based on its own parameters. The parameters include the transmission rate supported by the drone and the access authentication type, where the access authentication types include PSK authentication, MAC authentication, and no authentication required.

[0073] Send an association request to the wireless access node, and the wireless access node determines whether the drone needs access authentication based on the association request. If the access authentication type in the association request is "no authentication required", the drone does not need access authentication and directly accesses the same frequency network for communication; if the access authentication type in the association request is "PSK authentication" or "MAC authentication", the drone is subjected to PSK authentication or MAC authentication. After the authentication is passed, the drone accesses the same frequency network for communication; if the authentication fails, a secondary warning signal is generated and submitted to the warning module;

[0074] If the wireless access node does not pass the received identity authentication signal, the drone identity authentication fails, and a first-level warning signal is generated, which is sent to the warning module, and the warning module makes corresponding processing;

[0075] The identity authentication process is as follows:

[0076] After receiving the identity authentication signal, the target node generates ciphertext A, encrypts ciphertext A with the key, obtains ciphertext B after encryption, and sends ciphertext B to the drone. The drone decrypts ciphertext B according to the key obtained from the target node, obtains ciphertext C after decryption, and sends ciphertext C to the target node. If ciphertext C is consistent with ciphertext A, the identity authentication is passed. If ciphertext C is different from ciphertext A, the identity authentication is failed.

[0077] The process of passive establishment is as follows:

[0078] Set period T2;

[0079] The wireless access node generates broadcast information based on its own BSSID and SSID, and sends the broadcast information regularly according to the period T2;

[0080] After receiving the broadcast information, the drone filters out the wireless access node with the target ID and marks it as an accessible node. Then, based on the signal strength when the accessible node sends the broadcast information, it obtains the BSSID of the appropriate wireless access node, marks the wireless access node as the target node, and marks the BSSID as the ID to be connected.

[0081] Obtain the key of the target node, generate an identity authentication signal, and send the identity authentication signal to the target node. The target node authenticates the drone. If the identity authentication fails, a level one warning signal is generated and submitted to the warning module, which then processes the signal accordingly. If the identity authentication passes, the drone generates an association request based on its own parameters and sends the association request to the target node. The target node determines whether the drone needs access authentication based on the association request. If access authentication is not required, the drone directly accesses the same frequency network. If access authentication is required, the drone is authenticated based on the association request. If the access authentication passes, the drone accesses the same frequency network. If authentication fails, a level two warning signal is generated.

[0082] It should be further explained that, in the specific implementation process, the process of obtaining alternative drones is as follows:

[0083] Get the wireless access points in the same frequency network and generate the corresponding node set Point = {point1, point2, ..., point n}, where n is a positive integer;

[0084] Get the data transmission time between each wireless access node separately and generate a time set Where m and n are both positive integers. That means point m and point nData transmission time between

[0085] Get the MAC address of the drone connected to the same wireless access node and generate the corresponding address set MAC uav ={uav1,uav2,…,uav n}, where n is a positive integer and the drone can be directly referred to by its MAC address, i.e. uav i Can directly refer to MAC address as uav i drones;

[0086] Get the data transmission time between each drone and the wireless access node respectively, and generate the time set T u ={t1, t2, ..., t n}, where n is a positive integer, t n That means uav n Data transmission time between the wireless access point and the wireless access point;

[0087] According to the time set T p and time set T u Generate time collection Used to record the data transmission time between each drone, where m, n, i and j are all positive integers. That means point m Connected UAV i and point n Connected UAV j Data transmission time between

[0088] Set the value X, according to the time set T u-u Sort the data transmission time between other drones and the current drone in ascending order, and obtain the first X drones as backup drones for the current drone; and then mark the backup drones as the first backup drone, the second backup drone, ..., the Xth backup drone in order according to the order of size;

[0089] Set the value X=3, according to the time set T u-u Get the point n connected drone uav i Related data transmission time, e.g. Sort the relevant data transmission time from small to large, obtain the first X data transmission time in sequence, and obtain the UAV according to the subscript in the data transmission time. i The backup drone, if the first three data transmission times are Then point nConnected uav3, uav7 and uav 11 Tag uav i The backup drones are uav3 and uav7 respectively. 11 It is the third backup drone;

[0090] Set the period T3, and set the time set T according to the period T3. u-u Update and set the time according to the new time u-u Get a new drone as a backup for your drone;

[0091] It should be further explained that, in the specific implementation process, the process of monitoring whether there are any illegal actions in employees' production operations is as follows:

[0092] The drone is equipped with a camera and an alarm device;

[0093] The camera is used to capture employees' production operation images, analyze the images captured by the camera in real time, and determine whether the employees have violated any regulations. If any violations are detected, the employee's employee number is obtained based on the employee's facial information, and a three-level warning signal is generated based on the employee's serial number. The warning signal is then submitted to the warning module, which then takes appropriate action.

[0094] At the same time, the drone is detected and processed:

[0095] Set the time threshold ta and warning threshold tx;

[0096] The moment when the third-level warning signal is generated is marked as the starting moment, and the timing starts from the starting moment. When the timing time reaches the time threshold ta, if any employee with the same employee serial number is detected to have violated the rules, the third-level warning signal will be generated again, submitted to the warning module, and the counting will start. The current warning will be recorded as 1. If the count reaches the warning threshold tx, it is determined that the drone cannot transmit the warning signal to the warning module, and the drone will submit the warning signal to the first backup drone, which will submit the warning signal to the warning module, and the first backup drone will perform detection and processing on its own. If the first backup drone successfully submits the warning signal to the warning module, no subsequent processing is required. If the first backup drone cannot submit the warning signal to the warning module, the first backup drone will reply with a failure signal. After receiving the failure signal, the drone will submit the warning signal to the second backup drone, which will submit the warning signal to the warning module.

[0097] Repeat the above steps until the warning signal is delivered to the warning module;

[0098] If both the drone and the backup drone fail to deliver, the drone will sound an alarm through the alarm device;

[0099] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for co-frequency networking in UAV cluster communication, characterized in that: The following steps are involved: Step S1: Create a list of employees and establish a same-frequency network; Step S2: Establish a connection between the drone and the same-frequency network to obtain a candidate drone; use the drone to monitor the production operations of employees to determine whether their production operations are safe and compliant, and monitor whether there are any violations in the production operations of employees; Step S3: When the drone detects an employee's illegal behavior, it generates a corresponding warning signal and submits the warning signal to the warning module, which then takes appropriate action; Step S4: If it is detected that the UAV is unable to deliver the warning signal to the warning module, the warning signal is delivered to the backup UAV through the same frequency networking, and the backup UAV delivers the warning signal to the warning module, which then makes corresponding processing; The process of obtaining alternative drones is as follows: Get the wireless access points in the same frequency network and generate the corresponding node set Point; Get the data transmission time between each wireless access node separately and generate a time set ; Get the MAC addresses of the drones connected to the same wireless access point and generate the corresponding address set ,Among them, the drone can be directly referred to by its MAC address; Get the data transmission time between each drone and the wireless access node respectively and generate a time set ; According to time collection and time collection Generate time collection , used to record the data transmission time between each drone; Set the value X, according to the time set Sort the data transmission time between other drones and the current drone in ascending order, and obtain the first X drones as backup drones for the current drone; and then mark the backup drones as the first backup drone, the second backup drone, ..., the Xth backup drone in order according to the order of size; Set cycle , according to the cycle Time Collection Update and set according to the new time Get a new backup drone for your drone.

2. The method for co-frequency networking in UAV cluster communication according to claim 1 is characterized in that: The employee list includes employee serial number, name, gender, age and feature value; the employee serial number is composed of an encrypted combination of name, gender and age; the feature value is used to store the employee's facial information.

3. The method for co-frequency networking in UAV cluster communication according to claim 2 is characterized in that: The process of establishing a same-frequency network is as follows: The production workshop is set up with different operating areas. The carrier frequency is divided according to the operating areas of the production workshop, and the carrier frequency range of each operating area is specified; Set up multiple wireless access points; The wireless access point is set with a BSSID and a key. Both the BSSID and the key are unique, and the key consists of a 64-bit hexadecimal number. According to the locations of the wireless access nodes, the wireless access nodes in the same operating area are divided into the same carrier frequency, that is, the wireless access nodes are divided into a same-frequency group; Wireless access points in the same frequency group use the same SSID.

4. The method for co-frequency networking in UAV cluster communication according to claim 3 is characterized in that: There are two ways to establish a connection between a drone and a co-frequency network: active establishment and passive establishment.

5. The method for co-frequency networking in UAV cluster communication according to claim 4 is characterized in that: The process of active establishment is as follows: Setting the cycle ; Record the SSID of the wireless access point that the drone needs to connect to as the target ID; The drone generates a detection signal based on the target ID and , broadcast detection signals regularly; When the wireless access point with the target SSID receives the detection signal, it replies with its own BSSID and supported transmission rate; After receiving the BSSID and supported transmission rate from the wireless access node, the drone obtains the BSSID of the wireless access node to be connected based on the supported transmission rate and the signal strength when the wireless access node replies, marks the wireless access node to be connected as the target node, and marks the BSSID as the ID to be connected; Obtain the key of the target node and generate an identity authentication signal, which is sent to the wireless access node whose BSSID is the ID to be connected. After the identity authentication is passed by the wireless access node, the drone generates an association request based on its own parameters. The parameters include the transmission rate supported by the drone and the access authentication type, where the access authentication types include PSK authentication, MAC authentication, and no authentication required. Send an association request to the wireless access node, which determines whether the drone needs access authentication based on the association request. If the access authentication type in the association request is "no authentication required", the drone does not need access authentication and directly accesses the same-frequency network for communication; if the access authentication type in the association request is "PSK authentication" or "MAC authentication", the drone is subjected to PSK authentication or MAC authentication. After the authentication is passed, the drone accesses the same-frequency network for communication; if the access authentication fails, a secondary warning signal is generated and submitted to the warning module; If the wireless access node does not pass the received identity authentication signal, the drone identity authentication fails, and a first-level warning signal is generated. The first-level warning signal is sent to the warning module, and the warning module makes corresponding processing.

6. The method for co-frequency networking in UAV cluster communication according to claim 5, characterized in that: The process of passive establishment is as follows: Setting the cycle ; The wireless access node generates broadcast information based on its own BSSID and SSID, and Send broadcast messages regularly; After receiving the broadcast information, the drone filters out the wireless access node with the target ID and marks it as an accessible node. Then, based on the signal strength when the accessible node sends the broadcast information, it obtains the BSSID of the appropriate wireless access node, marks the wireless access node as the target node, and marks the BSSID as the ID to be connected. Obtain the key of the target node, generate an identity authentication signal, and send the identity authentication signal to the target node. The target node authenticates the drone. If the identity authentication fails, a level 1 warning signal is generated and submitted to the warning module, which then takes appropriate action. If the identity authentication is passed, the drone generates an association request based on its own parameters and sends the association request to the target node. The target node determines whether the drone needs access authentication based on the association request. If access authentication is not required, the drone directly accesses the same frequency network. If access authentication is required, it will be performed according to the association request. If the access authentication is passed, the drone will be connected to the same frequency network. If the access authentication fails, a secondary warning signal will be generated.

7. The method for co-frequency networking in UAV cluster communication according to claim 6, characterized in that: The process of monitoring whether there are any violations in employees' production operations is as follows: The drone is equipped with a camera and an alarm device; The camera is used to capture employees' production operation images, analyze the images captured by the camera in real time, and determine whether the employees have violated any regulations. If any violations are detected, the employee's employee number is obtained based on the employee's facial information, and a three-level warning signal is generated based on the employee's serial number. The warning signal is then submitted to the warning module, which then takes appropriate action. At the same time, the drone is detected and processed: Set time thresholds and warning thresholds; The moment when the third-level warning signal is generated is marked as the starting moment, and the timing starts from the starting moment. When the timing time reaches the time threshold, if an employee with the same employee serial number is detected to have violated the rules, the third-level warning signal will be generated again, submitted to the warning module, and the counting will start. This warning will be recorded as 1. If the count reaches the warning threshold, it is determined that the drone cannot transmit the warning signal to the warning module, and the drone will submit the warning signal to the first backup drone, which will submit the warning signal to the warning module, and the first backup drone will perform detection and processing on its own. If the first backup drone successfully submits the warning signal to the warning module, no subsequent processing is required. If the first backup drone cannot submit the warning signal to the warning module, the first backup drone will reply with a failure signal. After receiving the failure signal, the drone will submit the warning signal to the second backup drone, which will submit the warning signal to the warning module. Repeat the above steps until the warning signal is delivered to the warning module; If both the drone and the backup drone fail to deliver, the drone will sound an alarm through the alarm device.

Images