Multi-access data transmission system for warehousing unmanned aerial vehicle

Abstract

The invention discloses a multiple access data transmission system for a warehousing unmanned aerial vehicle, and relates to the technical field of warehousing unmanned aerial vehicle data transmission, which comprises a communication module, an identity authentication module, a data processing module, a multiple access module and a warehousing unmanned aerial vehicle module, wherein the communication module is used for establishing a two-way communication link for transmission of a data packet of the unmanned aerial vehicle. According to the multi-access data transmission system for the storage unmanned aerial vehicle, preprocessing can be performed on different types of data, normalization and de-noising processing can be performed on sensor data, color space conversion, cutting and de-noising processing can be performed on image data, and then different compression algorithms are adopted for compression, so that the bandwidth occupation is reduced, and the compression efficiency is improved. The data integrity transmission in a low-bandwidth environment is also ensured, and the data transmission efficiency and accuracy are improved; and the data decompression unit can accurately decompress the data packet to obtain required sensor data and image data, so that original data is provided for subsequent data processing and analysis.

Description

Technical Field

[0001] The present invention relates to the technical field of data transmission for warehouse drones, and in particular to a multiple access data transmission system for warehouse drones. Background Art

[0002] With the rapid development of the logistics industry, the efficiency and intelligence of warehouse management are becoming increasingly demanding. The application of drones in the warehousing field is becoming more and more widespread, and can achieve tasks such as rapid inventory counting and inventory monitoring. However, in the scenario where multiple warehouse drones are operating at the same time, data transmission faces many challenges. On the one hand, traditional data transmission systems are difficult to meet the communication needs of multiple drones when they are connected at the same time, and are prone to signal interference, communication congestion and other problems, resulting in low data transmission efficiency and affecting the real-time and accuracy of warehouse management. On the other hand, the identity authentication security issues of drones are also becoming increasingly prominent. Unauthorized drone access may bring security risks and threaten the safe and stable operation of the warehouse system. At the same time, data transmission also needs to consider the characteristics of different types of data, such as sensor data and image data, to ensure efficient and accurate data transmission under limited bandwidth. Summary of the invention

[0003] In order to solve the above technical problems, the present invention is implemented through the following technical solutions: a multi-access data transmission system for warehousing drones, including a communication module, an identity authentication module, a data processing module, a multi-access module and a warehousing drone module, wherein: The communication module is used to establish a two-way communication link for the transmission of the drone's data packets, ensuring smooth data communication between the storage drone and the transmission system; and to perform two-way transmission of data packets to ensure real-time communication between the drone and the transmission system; The identity authentication module is used to obtain the data packets of the drone and perform physical authentication on the data packets of the drone based on the double-layer identity authentication mechanism to ensure the legitimacy of the device identity, ensure the security of communication, and obtain the identification code; The data processing module is used to obtain the data packets of the drone and decompress them to obtain sensor data and image data, and is also used to compress the sensor data and image data to obtain sensor data packets and image data packets; The multi-access module is used to obtain the sensor data packets and image data packets of the drone, and dynamically allocate communication resources to ensure the communication quality when multiple drones are connected at the same time, and realize signal allocation and bandwidth optimization when multiple drones are connected at the same time; The warehouse drone module includes a drone equipped with sensors and a data communication module for performing tasks and for exchanging data with the transmission system through the data communication module.

[0004] Furthermore, the communication module includes: a protocol suite unit, which is used for bidirectional transmission of data packets based on a stable, low-latency bidirectional communication link established, and is suitable for data transmission requiring high real-time performance, wherein the protocol suite unit includes the Transmission Control Protocol and the User Datagram Protocol, namely the TCP protocol and the UDP protocol.

[0005] Further, the protocol suite unit establishes a bidirectional communication link including: TCP protocol bidirectional connection establishment: First, configure it through the ground control station software. In the software, find the network settings of the drone. Based on the user manual of the drone, enter the IP address and port number of the drone communication module and save the settings.

[0006] Then the UAV sends a synchronization sequence number message: SYN message to the ground control station. After the ground control station receives it, it generates a synchronization confirmation message: SYN-ACK message and sends it to the UAV. Then the UAV generates a confirmation message: ACK message based on the received SYN-ACK message as a response to complete the handshake. After repeating the above handshake action three times, the TCP connection is established. At this time, data begins to be transmitted between the two ends. After the communication is completed, the TCP connection is terminated through four handshake processes to ensure the release of resources on both sides. The use of the TCP protocol ensures the order, integrity and reliable transmission of data. Bidirectional connection establishment of UDP protocol: Configure the communication module for the drone and the ground control station, and then configure it through the ground control station software. In the software, find the network settings of the drone. Based on the user manual of the drone, enter the IP address and port number of the drone communication module. After saving the settings, perform a connection test to ensure that the communication between the drone and the ground control station is normal. Specify the IP address and port number to send and receive data. Since UDP does not establish a connection, data transmission can start immediately. At this time, the drone and the ground control station can directly start sending data packets. Among them, the data packet contains the drone serial number and model, digital certificate, identification code, and key data information.

[0007] Furthermore, the identity authentication module includes: A physical authentication unit, used to obtain a data packet, read a drone identification code therein based on the data packet, and perform preliminary authentication on the drone through the drone identification code; The digital certificate authentication unit is used to obtain the digital certificate of the drone and perform secondary authentication on the drone based on the digital certificate of the drone.

[0008] Furthermore, the physical authentication unit performs preliminary authentication on the drone using the drone's identification code: Based on the identification code assigned to the drone during the production process, where the identification code is a combination of numbers and letters, the key data information of the drone is associated with the corresponding time node, so as to build a certification database that stores relevant information about the drone; where the key data information includes the identification code, owner's ID card, model, production date, activation date, flight records and authorization status; Read the drone identification code in the data packet, and search the corresponding drone registration information and authorization status in the authentication database according to the identification code; If a record corresponding to the identification code is found in the database, and the authorization status in the record is authorized, the preliminary authentication is passed; at this time, the authentication database sends a confirmation signal to the drone, allowing it to continue operating or perform specific tasks.

[0009] If no corresponding record is found in the database, or the authorization status in the record is unauthorized, the initial authentication fails; the authentication system sends a rejection signal to the drone, prohibits the drone from taking off, and issues an alarm to the relevant departments.

[0010] Furthermore, the digital certificate authentication unit performs secondary authentication on the drone based on the drone's digital certificate: Collect and establish a trusted certificate authority library, which is used to update trusted certificate authorities in real time; The digital certificate authentication unit obtains the digital certificate in the data packet, and then verifies the digital signature of the digital certificate and compares it with the name on the owner's ID card recorded in the authentication database. If the digital signature is different from the name, the authentication fails. If the digital signature is the same as the name, the authentication succeeds, ensuring that the certificate has not been tampered with during transmission; After the digital signature and name authentication are successful, the trusted certificate authority on the digital certificate is read, and the trusted certificate authority on the digital certificate is matched with the certificate authority in the certificate authority library, the authenticity of the certificate authority is checked, and the validity of the digital certificate is verified. If the trusted certificate authority on the digital certificate does not match the certificate authority in the certificate authority library, the match fails and the secondary authentication fails; if the trusted certificate authority on the digital certificate matches the certificate authority in the certificate authority library, the match succeeds and the authentication is performed; Then, the time and date on the collected digital certificate are compared with the current real-time date to verify whether it is within the validity period; if it has expired, it is considered as authentication failure; if it has not expired, authentication continues; Finally, the subject information in the digital certificate is extracted and matched with the drone serial number and model in the data packet. If one of the drone serial number and model does not match, the authentication fails. If both the drone serial number and model match, the authentication succeeds. When the digital certificate passes all verifications, it is considered that the authentication is successful; at this time, the authentication unit generates an authentication success signal, and the transmission system allows the drone to continue data transmission based on the authentication success signal, and the communication module transmits the data packet to the data processing module through the identity authentication module.

[0011] When one of the links of the digital certificate fails to be verified, it is considered an authentication failure; the authentication unit generates an authentication failure signal, and the transmission system prohibits the drone from flying and issues a no-fly alarm based on the authentication failure signal.

[0012] Furthermore, the data processing module includes: A data decompression unit, used to obtain and decompress data packets; The data compression unit is used to obtain the sensor data and image data after the data packet is decompressed, and compress the sensor data and image data collected by the drone; so as to reduce bandwidth occupancy, ensure data integrity transmission in a low-bandwidth environment, and ensure data transmission efficiency and accuracy.

[0013] Furthermore, the data decompression unit decompresses the data packet as follows: Determine a compression algorithm for a data packet, record it as a decompression algorithm, match the decompression algorithm with a decompression tool, record the decompression tool that matches the decompression algorithm as a pairing key, use the pairing key to decompress the data packet to obtain raw data, and load the decompressed raw data into a memory of a data decompression unit, wherein the raw data includes sensor data and image data.

[0014] Furthermore, the process of compressing the sensor data and the image data by the data compression unit is as follows: Normalization and denoising are performed based on sensor data, color space conversion, cropping and denoising are performed based on image data, sensor data and image data are divided into sensor blocks and image blocks of the same unit size, the sensor blocks are compressed by a dictionary coding algorithm, the image blocks are compressed by frequency domain transformation, and then the sensor blocks and image blocks are respectively encapsulated to obtain sensor data packages and image data packages.

[0015] Furthermore, the multiple access module is used to obtain the sensor data packets and image data packets of the drone, and dynamically allocate communication resources based on the sensor data packets and image data packets of the drone, and the process is as follows: Obtain the sensor data packets and image data packets of the drone, and connect the sensor data packets and image data packets into packet elements, and stamp the packet elements with a time stamp according to the time node when the drone's data packet completes the secondary authentication, then read the data volume of the packet element, and mark the corresponding value, which is recorded as the packet element value, and the packet element value corresponds to the communication demand of the drone; A resource transmission energy value library is constructed based on the historical transmission data of the UAV in the transmission system and the communication resources of the transmission system itself. The resource transmission energy value library divides the communication resources according to the communication resources corresponding to the historical packet values ​​of the historical transmission data, obtains communication resource time slices with different values, and divides the communication resource time slices into three resource magnitude intervals. The three resource magnitude intervals are [0-1], [1-2], and [2-3], which correspond to the priority, ordinary, and mediocre levels, respectively, for the three levels of sequential allocation of communication resources. Among them, those belonging to the priority level are allocated first, those belonging to the ordinary level are allocated after the priority level, and those belonging to the mediocre level are allocated after the ordinary level. Match the packet value with the communication resource time slice in the resource transmission energy value library, so that the packet is divided into the corresponding communication resource level; among them, when the packet corresponds to the priority level, the front time slot is obtained for priority communication to ensure the timeliness and reliability of communication; when the packet corresponds to the ordinary level, the middle time slot is obtained for second-order communication, delayed communication, and stable signal; when the packet corresponds to the mediocre level, the delayed time slot is obtained for delayed communication. Through these three different communication resource allocation levels, the corresponding communication conditions can be made, and adaptive allocation can be made according to different UAV communication needs, avoiding the waste of communication resources, and solving the information congestion and delay problems when multiple UAVs have communication needs at the same time, ensuring the smooth interaction of information between UAVs and data transmission systems; Through hierarchical allocation, signal interference between drones is avoided, ensuring that each drone can transmit data and execute tasks within its allocated time slice; at the same time, the multiple access module has the function of dynamic bandwidth adjustment, which can adjust bandwidth allocation according to the real-time needs of the drone mission.

[0016] The present invention provides a multi-access data transmission system for warehousing drones, which has the following beneficial effects: The multi-access data transmission system for warehousing drones improves communication efficiency and quality. The multi-access module uses TDMA technology to dynamically allocate communication resources. According to the communication needs of the drones and the characteristics of data packets, corresponding time slots are allocated to drones of different levels to avoid signal interference and communication congestion. This enables multiple drones to transmit data simultaneously without interfering with each other, greatly improving communication efficiency. The communication module establishes a stable, low-latency two-way communication link to ensure smooth data communication between the warehousing drone and the transmission system and realize real-time communication. Whether using the TCP protocol to ensure the order, integrity and reliable transmission of data, or the UDP protocol for fast data transmission, it can meet the communication needs of warehousing drones in different scenarios.

[0017] To enhance security, the identity authentication module establishes a double-layer identity authentication mechanism. The drone's identification code is initially authenticated by the physical authentication unit, and the drone's digital certificate is then authenticated again by the digital certificate authentication unit, ensuring the legitimacy of the device identity and the security of communications. This can effectively prevent unauthorized drones from accessing the system and protect the safe and stable operation of the warehousing system. The digital certificate authentication unit ensures the authenticity, validity and compatibility of the digital certificate with the drone through multiple verification steps, including digital signature comparison, certificate authority matching, validity period check and subject information matching, further improving the security of the system.

[0018] Optimize data processing. The data processing module compresses and decompresses the sensor data and image data collected by the drone. During the data compression process, different types of data are pre-processed, such as normalization and denoising of sensor data, color space conversion, cropping and denoising of image data, and then compressed using different compression algorithms. This not only reduces bandwidth occupancy, but also ensures data integrity transmission in low-bandwidth environments, improving data transmission efficiency and accuracy; the data decompression unit can accurately decompress data packets and obtain the required sensor data and image data, providing raw data for subsequent data processing and analysis.

[0019] Strong adaptability, the multiple access module can adjust the bandwidth allocation according to the real-time needs of the UAV mission, and has the function of dynamic bandwidth adjustment; this enables the system to adapt to the changes in communication needs of different UAVs at different mission stages, improving the flexibility and adaptability of the system; the system adaptively allocates the communication needs of different types of UAVs, divides them into different communication resource levels according to the value of packet elements, allocates the front time slots to high-priority UAVs to ensure the timeliness and reliability of communication; allocates the middle time slots to ordinary-level UAVs, delaying communication but stabilizing the signal; allocates delayed time slots to mediocre-level UAVs to avoid wasting communication resources; this hierarchical allocation method can meet the communication needs of different UAVs, while avoiding information congestion and delay problems; improves communication efficiency and quality, enhances security, optimizes data processing, and has strong adaptability, providing strong support for the efficient operation of warehouse UAVs and the intelligentization of warehouse management. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The figure is a schematic diagram of the external structure of a multiple access data transmission system for a warehousing drone according to the present invention. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0022] like Figure 1 As shown, the present invention provides a technical solution: a multi-access data transmission system for a storage drone, comprising a communication module, an identity authentication module, a data processing module, a multi-access module and a storage drone module, wherein: The communication module is used to establish a two-way communication link for the transmission of the drone's data packets, ensuring smooth data communication between the storage drone and the transmission system; and to perform two-way transmission of data packets to ensure real-time communication between the drone and the transmission system; The identity authentication module is used to obtain the data packets of the drone and perform physical authentication on the data packets of the drone based on the double-layer identity authentication mechanism to ensure the legitimacy of the device identity, ensure the security of communication, and obtain the identification code; The data processing module is used to obtain the data packets of the drone and decompress them to obtain sensor data and image data, and is also used to compress the sensor data and image data to obtain sensor data packets and image data packets; The multi-access module is used to obtain the sensor data packets and image data packets of the drone, and dynamically allocate communication resources to ensure the communication quality when multiple drones are connected at the same time, and realize signal allocation and bandwidth optimization when multiple drones are connected at the same time; The warehouse drone module includes a drone equipped with sensors and a data communication module for performing tasks and for exchanging data with the transmission system through the data communication module.

[0023] The communication module includes: a protocol suite unit, which is based on a stable, low-latency two-way communication link established for bidirectional transmission of data packets, and is suitable for data transmission that requires high real-time performance. The protocol suite unit includes the Transmission Control Protocol and the User Datagram Protocol, namely the TCP protocol and the UDP protocol.

[0024] It needs to be further explained that, in the specific implementation process, the communication module ensures smooth data communication between the storage drone and the transmission system and realizes real-time communication; the identity authentication module ensures the legitimacy of the equipment identity and the security of communication; the data processing module compresses and decompresses the data to improve transmission efficiency and accuracy; the multi-access module dynamically allocates communication resources to ensure the communication quality when multiple drones are connected at the same time; the storage drone module performs tasks and interacts with the transmission system for data.

[0025] The protocol suite unit establishes a two-way communication link including: TCP protocol bidirectional connection establishment: First, configure it through the ground control station software. In the software, find the network settings of the drone. Based on the user manual of the drone, enter the IP address and port number of the drone communication module and save the settings.

[0026] Then the UAV sends a synchronization sequence number message: SYN message to the ground control station. After the ground control station receives it, it generates a synchronization confirmation message: SYN-ACK message and sends it to the UAV. Then the UAV generates a confirmation message: ACK message based on the received SYN-ACK message as a response to complete the handshake. After repeating the above handshake action three times, the TCP connection is established. At this time, data begins to be transmitted between the two ends. After the communication is completed, the TCP connection is terminated through four handshake processes to ensure the release of resources on both sides. The use of the TCP protocol ensures the order, integrity and reliable transmission of data. Bidirectional connection establishment of UDP protocol: Configure the communication module for the drone and the ground control station, and then configure it through the ground control station software. In the software, find the network settings of the drone. Based on the user manual of the drone, enter the IP address and port number of the drone communication module. After saving the settings, perform a connection test to ensure that the communication between the drone and the ground control station is normal. Specify the IP address and port number to send and receive data. Since UDP does not establish a connection, data transmission can start immediately. At this time, the drone and the ground control station can directly start sending data packets. Among them, the data packet contains the drone serial number and model, digital certificate, identification code, and key data information.

[0027] It should be further explained that, in the specific implementation process, the communication module establishes a stable, low-latency two-way communication link, uses TCP and UDP protocols to achieve two-way transmission of data packets, and ensures real-time communication between the drone and the transmission system. At the same time, through a specific connection establishment process and configuration method, the order, integrity and reliable transmission of data are guaranteed, as well as fast data transmission without establishing a connection.

[0028] The identity authentication module includes: A physical authentication unit, used to obtain a data packet, read a drone identification code therein based on the data packet, and perform preliminary authentication on the drone through the drone identification code; The digital certificate authentication unit is used to obtain the digital certificate of the drone and perform secondary authentication on the drone based on the digital certificate of the drone.

[0029] The physical authentication unit performs preliminary authentication of the drone using its identification code: Based on the identification code assigned to the drone during the production process, where the identification code is a combination of numbers and letters, the key data information of the drone is associated with the corresponding time node, so as to build a certification database that stores relevant information about the drone; where the key data information includes the identification code, owner's ID card, model, production date, activation date, flight records and authorization status; Read the drone identification code in the data packet, and search the corresponding drone registration information and authorization status in the authentication database according to the identification code; If a record corresponding to the identification code is found in the database, and the authorization status in the record is authorized, the preliminary authentication is passed; at this time, the authentication database sends a confirmation signal to the drone, allowing it to continue operating or perform specific tasks.

[0030] If no corresponding record is found in the database, or the authorization status in the record is unauthorized, the initial authentication fails; the authentication system sends a rejection signal to the drone, prohibits the drone from taking off, and issues an alarm to the relevant departments.

[0031] It should be further explained that, during the specific implementation process, the physical authentication unit performs preliminary authentication on the drone through the identification code to ensure the legitimacy of the device identity.

[0032] The digital certificate authentication unit performs secondary authentication on the drone based on the drone’s digital certificate: Collect and establish a trusted certificate authority library, which is used to update trusted certificate authorities in real time; The digital certificate authentication unit obtains the digital certificate in the data packet, and then verifies the digital signature of the digital certificate and compares it with the name on the owner's ID card recorded in the authentication database. If the digital signature is different from the name, the authentication fails. If the digital signature is the same as the name, the authentication succeeds, ensuring that the certificate has not been tampered with during transmission; After the digital signature and name authentication are successful, the trusted certificate authority on the digital certificate is read, and the trusted certificate authority on the digital certificate is matched with the certificate authority in the certificate authority library, the authenticity of the certificate authority is checked, and the validity of the digital certificate is verified. If the trusted certificate authority on the digital certificate does not match the certificate authority in the certificate authority library, the match fails and the secondary authentication fails; if the trusted certificate authority on the digital certificate matches the certificate authority in the certificate authority library, the match succeeds and the authentication is performed; Then, the time and date on the collected digital certificate are compared with the current real-time date to verify whether it is within the validity period; if it has expired, it is considered as authentication failure; if it has not expired, authentication continues; Finally, the subject information in the digital certificate is extracted and matched with the drone serial number and model in the data packet. If one of the drone serial number and model does not match, the authentication fails. If both the drone serial number and model match, the authentication succeeds. When the digital certificate passes all verifications, it is considered that the authentication is successful; at this time, the authentication unit generates an authentication success signal, and the transmission system allows the drone to continue data transmission based on the authentication success signal, and the communication module transmits the data packet to the data processing module through the identity authentication module.

[0033] When one of the links of the digital certificate fails to be verified, it is considered an authentication failure; the authentication unit generates an authentication failure signal, and the transmission system prohibits the drone from flying and issues a no-fly alarm based on the authentication failure signal.

[0034] A two-layer identity authentication mechanism is established through the identity authentication module, including physical authentication and digital certificate authentication. Physical authentication uses the drone's identification code to perform preliminary authentication to ensure the legitimacy of the device's identity; digital certificate authentication further performs secondary authentication on the drone, verifying the digital signature, certificate authority, validity period, and subject information of the digital certificate to ensure the security of communication.

[0035] The data processing module includes: A data decompression unit, used to obtain and decompress data packets; The data compression unit is used to obtain the sensor data and image data after the data packet is decompressed, and compress the sensor data and image data collected by the drone; so as to reduce bandwidth occupancy, ensure data integrity transmission in a low-bandwidth environment, and ensure data transmission efficiency and accuracy.

[0036] The data decompression unit decompresses the data packet as follows: Determine a compression algorithm for a data packet, record it as a decompression algorithm, match the decompression algorithm with a decompression tool, record the decompression tool that matches the decompression algorithm as a pairing key, use the pairing key to decompress the data packet to obtain raw data, and load the decompressed raw data into a memory of a data decompression unit, wherein the raw data includes sensor data and image data.

[0037] The data processing module compresses and decompresses the sensor data and image data collected by the drone to reduce bandwidth usage, ensure data integrity transmission in low-bandwidth environments, and improve data transmission efficiency and accuracy. Specifically, it normalizes and denoises the sensor data, converts the color space, crops and denoises the image data, and then compresses it using different compression algorithms, and decompresses it when necessary.

[0038] The process of compressing sensor data and image data by the data compression unit is as follows: Normalization and denoising are performed based on sensor data, color space conversion, cropping and denoising are performed based on image data, sensor data and image data are divided into sensor blocks and image blocks of the same unit size, the sensor blocks are compressed by a dictionary coding algorithm, the image blocks are compressed by frequency domain transformation, and then the sensor blocks and image blocks are respectively encapsulated to obtain sensor data packages and image data packages.

[0039] It should be further explained that, in the specific implementation process, the data decompression unit can decompress the data packet to obtain sensor data and image data, and provide raw data for subsequent processing; the data compression unit compresses the sensor data and image data to reduce bandwidth occupancy and ensure data integrity transmission in a low-bandwidth environment.

[0040] The multiple access module is used to obtain the sensor data packets and image data packets of the drone, and dynamically allocate communication resources based on the sensor data packets and image data packets of the drone. The process is as follows: Obtain the sensor data packets and image data packets of the drone, and connect the sensor data packets and image data packets into packet elements, and stamp the packet elements with a time stamp according to the time node when the drone's data packet completes the secondary authentication, then read the data volume of the packet element, and mark the corresponding value, which is recorded as the packet element value, and the packet element value corresponds to the communication demand of the drone; A resource transmission energy value library is constructed based on the historical transmission data of the UAV in the transmission system and the communication resources of the transmission system itself. The resource transmission energy value library divides the communication resources according to the communication resources corresponding to the historical packet values ​​of the historical transmission data, obtains communication resource time slices with different values, and divides the communication resource time slices into three resource magnitude intervals. The three resource magnitude intervals are [0-1], [1-2], and [2-3], which correspond to the priority, ordinary, and mediocre levels, respectively, for the three levels of sequential allocation of communication resources. Among them, those belonging to the priority level are allocated first, those belonging to the ordinary level are allocated after the priority level, and those belonging to the mediocre level are allocated after the ordinary level. Match the packet value with the communication resource time slice in the resource transmission energy value library, so that the packet is divided into the corresponding communication resource level; among them, when the packet corresponds to the priority level, the front time slot is obtained for priority communication to ensure the timeliness and reliability of communication; when the packet corresponds to the ordinary level, the middle time slot is obtained for second-order communication, delayed communication, and stable signal; when the packet corresponds to the mediocre level, the delayed time slot is obtained for delayed communication. Through these three different communication resource allocation levels, the corresponding communication conditions can be made, and adaptive allocation can be made according to different UAV communication needs, avoiding the waste of communication resources, and solving the information congestion and delay problems when multiple UAVs have communication needs at the same time, ensuring the smooth interaction of information between UAVs and data transmission systems; It should be further explained that, in the specific implementation process, communication resources are dynamically allocated, divided into different levels according to the communication needs of the drones and the characteristics of the data packets, and corresponding time slots are allocated to drones of different levels to avoid signal interference and communication congestion, and to ensure the communication quality when multiple drones are connected at the same time.

[0041] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A multiple access data transmission system for warehousing drones, characterized in that: It includes communication module, identity authentication module, data processing module, multi-address access module and storage drone module, among which: The communication module is used to establish a two-way communication link for the transmission of data packets of the drone; The identity authentication module is used to obtain the data packet of the drone, and physically authenticate the data packet of the drone based on the double-layer identity authentication mechanism, and obtain the identification code; The data processing module is used to obtain the data packets of the drone and decompress them to obtain sensor data and image data, and is also used to compress the sensor data and image data to obtain sensor data packets and image data packets; The multiple access module is used to obtain the sensor data packets and image data packets of the drone and dynamically allocate communication resources; The warehouse drone module includes a drone equipped with sensors and a data communication module for performing tasks and for exchanging data with the transmission system through the data communication module.

2. A multiple access data transmission system for warehousing drones according to claim 1, characterized in that: The communication module includes: a protocol suite unit, which is used for bidirectional transmission of data packets based on the established bidirectional communication link, wherein the protocol suite unit includes the Transmission Control Protocol and the User Datagram Protocol, namely, the TCP protocol and the UDP protocol.

3. A multiple access data transmission system for warehousing drones according to claim 2, characterized in that: The protocol suite unit establishes a bidirectional communication link including: TCP protocol bidirectional connection establishment: First, configure it through the ground control station software. In the software, find the network settings of the drone. Based on the user manual of the drone, enter the IP address and port number of the drone communication module and save the settings. Then the drone sends a synchronization sequence number message: SYN message to the ground control station. After the ground control station receives it, it generates a synchronization confirmation message: SYN-ACK message and sends it to the drone. Then the drone generates a confirmation message: ACK message based on the received SYN-ACK message as a response to complete the handshake. After repeating the above handshake action three times, the TCP connection is established. At this time, data begins to be transmitted between the two ends. After the communication is completed, the TCP connection is terminated through four handshake processes. Bidirectional connection establishment of UDP protocol: Configure the communication module for the drone and the ground control station, and then configure it through the ground control station software. In the software, find the network settings of the drone. Based on the user manual of the drone, enter the IP address and port number of the drone communication module, save the settings, and specify the IP address and port number for data sending and receiving. At this point, the drone and the ground control station can directly start sending data packets; Among them, the data packet contains the drone serial number and model, digital certificate, identification code, and key data information.

4. A multiple access data transmission system for warehousing drones according to claim 3, characterized in that: The identity authentication module comprises: A physical authentication unit, used to obtain a data packet, read a drone identification code therein based on the data packet, and perform preliminary authentication on the drone through the drone identification code; The digital certificate authentication unit is used to obtain the digital certificate of the drone and perform secondary authentication on the drone based on the digital certificate of the drone.

5. A multiple access data transmission system for warehousing drones according to claim 4, characterized in that: The physical authentication unit performs preliminary authentication of the drone using the drone's identification code: Based on the identification code assigned to the drone during the production process, the key data information of the drone is associated with the corresponding time node to build a certification database that stores relevant information about the drone; the key data information includes the identification code, owner's ID card, model, production date, activation date, flight records and authorization status; Read the drone identification code in the data packet, and search the corresponding drone registration information and authorization status in the authentication database according to the identification code; If a record corresponding to the identification code is found in the database, and the authorization status in the record is authorized, the preliminary authentication is passed; at this time, the authentication database sends a confirmation signal to the drone, allowing it to continue operating; If no corresponding record is found in the database, or the authorization status in the record is unauthorized, the initial authentication fails; the authentication system sends a rejection signal to the drone, prohibits the drone from taking off, and issues an alarm to the relevant departments.

6. A multiple access data transmission system for warehousing drones according to claim 5, characterized in that: The digital certificate authentication unit performs secondary authentication on the drone based on the drone’s digital certificate: Collect and establish a trusted certificate authority library, which is used to update trusted certificate authorities in real time; The digital certificate authentication unit obtains the digital certificate in the data packet, and then verifies the digital signature of the digital certificate and compares it with the name on the owner's ID card recorded in the authentication database. If the digital signature is different from the name, the authentication fails. If the digital signature is the same as the name, the authentication succeeds. After the digital signature and name authentication are successful, the trusted certificate authority on the digital certificate is read, and the trusted certificate authority on the digital certificate is matched with the certificate authority in the certificate authority library, the authenticity of the certificate authority is checked, and the validity of the digital certificate is verified. If the trusted certificate authority on the digital certificate does not match the certificate authority in the certificate authority library, the match fails and the secondary authentication fails; if the trusted certificate authority on the digital certificate matches the certificate authority in the certificate authority library, the match succeeds and the authentication is performed; Then, the time and date on the collected digital certificate is compared with the current real-time date to verify whether it is within the validity period; If it has expired, it is considered as authentication failure. If it has not expired, authentication will continue; Finally, the subject information in the digital certificate is extracted and matched with the drone serial number and model in the data packet. If one of the drone serial number and model does not match, the authentication fails. If both the drone serial number and model match, the authentication succeeds. When the digital certificate passes all verifications, it is considered that the authentication is successful; at this time, the authentication unit generates an authentication success signal, and the transmission system allows the drone to continue data transmission based on the authentication success signal, and the communication module transmits the data packet to the data processing module through the identity authentication module; When one of the links of the digital certificate fails to be verified, it is considered an authentication failure; the authentication unit generates an authentication failure signal, and the transmission system prohibits the drone from flying and issues a no-fly alarm based on the authentication failure signal.

7. A multiple access data transmission system for warehousing drones according to claim 6, characterized in that: The data processing module comprises: A data decompression unit, used to obtain and decompress data packets; The data compression unit is used to obtain the sensor data and image data after the data packet is decompressed, and compress the sensor data and image data collected by the drone.

8. A multiple access data transmission system for warehousing drones according to claim 7, characterized in that: The data decompression unit decompresses the data packet as follows: Determine a compression algorithm for a data packet, record it as a decompression algorithm, match the decompression algorithm with a decompression tool, record the decompression tool that matches the decompression algorithm as a pairing key, use the pairing key to decompress the data packet to obtain raw data, and load the decompressed raw data into a memory of a data decompression unit, wherein the raw data includes sensor data and image data.

9. A multiple access data transmission system for warehousing drones according to claim 8, characterized in that: The process of compressing the sensor data and the image data by the data compression unit is as follows: Normalization and denoising are performed based on sensor data, color space conversion, cropping and denoising are performed based on image data, sensor data and image data are divided into sensor blocks and image blocks of the same unit size, the sensor blocks are compressed by a dictionary coding algorithm, the image blocks are compressed by frequency domain transformation, and then the sensor blocks and image blocks are respectively encapsulated to obtain sensor data packages and image data packages.

10. A multiple access data transmission system for warehousing drones according to claim 9, characterized in that: The multiple access module is used to obtain the sensor data packets and image data packets of the drone, and dynamically allocate communication resources based on the sensor data packets and image data packets of the drone. The process is as follows: Obtain the sensor data packets and image data packets of the drone, and connect the sensor data packets and image data packets into packet elements, and stamp the packet elements with a time stamp according to the time node when the drone's data packet completes the secondary authentication, then read the data volume of the packet element, and mark the corresponding value, which is recorded as the packet element value, and the packet element value corresponds to the communication demand of the drone; A resource transmission energy value library is constructed based on the historical transmission data of the UAV in the transmission system and the communication resources of the transmission system itself. The resource transmission energy value library divides the communication resources according to the communication resources corresponding to the historical packet values ​​of the historical transmission data, obtains communication resource time slices with different values, and divides the communication resource time slices into three resource magnitude intervals. The three resource magnitude intervals are [0-1], [1-2], and [2-3], which correspond to the priority, ordinary, and mediocre levels, respectively, for the three levels of sequential allocation of communication resources. Among them, those belonging to the priority level are allocated first, those belonging to the ordinary level are allocated after the priority level, and those belonging to the mediocre level are allocated after the ordinary level. The packet value is matched with the communication resource time slice in the resource transmission energy value library, so that the packet is divided into the corresponding communication resource level; when the packet corresponds to the priority level, the front time slot is obtained for priority communication; when the packet corresponds to the ordinary level, the middle time slot is obtained for second-order communication, delayed communication, and stable signal; when the packet corresponds to the mediocre level, the delayed time slot is obtained for delayed communication.

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