A method and system for fast access to large-scale swarm non-center same-frequency networking

Abstract

The present invention relates to a method and system for rapid access to a large-scale swarm of decentralized same-frequency networks, comprising the following steps: after the swarm is formed, a three-dimensional networking topology diagram of the swarm is generated; when a drone in the swarm in flight needs to be accessed, the swarm formation is controlled, and the drone to be accessed is moved to a set coordinate position; multiple drones are selected for network connection with the drone to be accessed; the backup connection positions of the selected drones are enabled, a networking module of the selected drone generates a network hotspot, and the drones are matched and screened through identification information; a network connection is established for the successfully matched and screened drones through a networking module; while supporting the decentralized networking of the drones in the swarm, the swarm can also be enabled to quickly access the drones in flight, and the distribution position identification and layout functions of the newly accessed drones are provided to ensure the control stability of a new swarm formed after the drones are accessed.

Description

Technical Field

[0001] The present invention relates to the field of drone networking technology, and more specifically, to a large-scale swarm centerless same-frequency networking rapid access method and system. Background Art

[0002] In recent years, with the continuous development and innovation of science and technology, drone technology is becoming more and more mature. The application of drones has gradually expanded from agriculture, transportation, rescue and other fields to combat fields and has profoundly affected the direction of war. With the continuous development and improvement of drone technology, the scale and number of drones are increasing, and forming large-scale swarms for group coordination has become an application trend;

[0003] At present, in large-scale bee colonies, there are two types of networking: centralized networking and decentralized networking. Although centralized networking has the advantages of good stability and the convenience of adding and reducing drones in the network at any time, as the number of bee colonies increases, centralized networking is limited by hardware conditions and cannot be applied. Decentralized networking usually requires the network to be set up in advance before use, which has poor flexibility and is not applicable to application scenarios where new drones need to be added to the bee colony in flight. A large-scale bee colony decentralized same-frequency networking rapid access method and system that can solve the above problems is needed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method for rapid access to a large-scale bee colony without a center and a frequency network in response to the above-mentioned defects of the prior art, and also to provide a system for rapid access to a large-scale bee colony without a center and a frequency network.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A large-scale swarm non-center same-frequency networking fast access method is constructed, which includes the following steps:

[0007] Step 1: A signal processing module, a networking module and a broadcasting module are configured for each UAV participating in the networking; the networking module and the broadcasting module are both connected to the signal processing module for communication;

[0008] Step 2: multiple connection locations are configured on the networking module for establishing network connections with the networking modules of multiple adjacent drones in the current swarm to form a decentralized swarm;

[0009] Step 3: After the swarm is formed, a three-dimensional network topology diagram of the swarm is generated; one or more connection positions are left vacant on the networking module as standby connection positions, and the standby connection positions are in a closed state;

[0010] Step 4: When a drone in the flying swarm needs to be connected, control the swarm formation and move the drone to be connected to the set coordinate position;

[0011] Step 5: Control the broadcast module of the drone to be connected to send a broadcast, which contains the identification information of the drone;

[0012] Step 6: The broadcast module of the drone in the swarm receives the broadcast and selects multiple drones to connect to the network based on the broadcast signal strength and the set network connection strategy;

[0013] Step 7: The signal processing module of the selected drone analyzes the broadcast signal to obtain the drone's identification information;

[0014] Step 8: Activate the backup connection location of the selected drone, the networking module of the selected drone generates a network hotspot, and matches and selects the drones through identification information;

[0015] Step 9: The successfully matched drones are connected to the network through the networking module to form a new swarm and generate a new networking topology map, which is then displayed to the outside world.

[0016] The large-scale swarm non-center same-frequency networking fast access method of the present invention, wherein, when a drone in the swarm in flight state needs to be accessed, the swarm formation is controlled, and the drone to be accessed is moved to the set coordinate position using the method:

[0017] After receiving the control command of a new drone, the ground control console calls the current network topology map, adjusts the formation of the drones in the swarm according to the network topology map, and keeps each drone in the swarm in a hovering state; controls the drone to be connected to move to within the set distance range from the swarm and enters the hovering state.

[0018] The large-scale swarm non-center same-frequency networking rapid access method of the present invention, wherein the broadcast module of the drone in the swarm receives the broadcast, and selects multiple drones for network connection with the drone to be accessed according to the broadcast signal strength and the set network connection strategy. The method is as follows:

[0019] After receiving the broadcast signal, the drones in the swarm use the positioning algorithm to locate the drone to be connected based on the broadcast signal strength of any three drones in the swarm that are not in different altitude planes, and obtain the location coordinate information of the drone to be connected;

[0020] According to the location information of the drones in the current swarm and the acquired location coordinate information of the drone to be connected, a set number of drones in the swarm adjacent to the drone to be connected are calculated and set as the selected drones.

[0021] The large-scale swarm non-center same-frequency networking rapid access method of the present invention, wherein the step six also includes a method:

[0022] Determine whether there is a spare connection position in the selected drone. If yes, do not take any action. Otherwise, replace it with another unselected drone that is adjacent to the drone to be connected.

[0023] The large-scale swarm centerless same-frequency networking rapid access method described in the present invention, wherein, if there are multiple drones to be connected, the multiple drones to be connected are sorted, and the multiple drones to be connected to the network are selected one by one according to the sorting.

[0024] The large-scale bee colony non-center same-frequency networking rapid access method of the present invention further comprises the steps of:

[0025] After receiving the control command that a drone is leaving, the ground control console calls the current network topology map, releases the network connection between the drone to be left and other drones, and establishes a new network connection between the drones that are disconnected from the network to generate a new network topology map.

[0026] The large-scale swarm centerless same-frequency networking rapid access method described in the present invention, wherein the networking module includes a routing unit, and the routing unit is used to provide multiple connection locations and network hotspots.

[0027] A large-scale bee swarm non-center same-frequency networking rapid access system is applied to the large-scale bee swarm non-center same-frequency networking rapid access method as described above, wherein the system comprises: a ground control console and multiple drones; each of the drones participating in the networking is configured with a signal processing module, a networking module and a broadcasting module; the networking module and the broadcasting module are both communicatively connected to the signal processing module; a plurality of connection positions are configured on the networking module for establishing a network connection with the networking modules of multiple adjacent drones in the current bee swarm to form a decentralized bee swarm;

[0028] The ground control console is used to control multiple drones and execute the following method: after the swarm is formed, a three-dimensional networking topology diagram of the swarm is generated; one or more connection positions are left on the networking module as spare connection positions, and the spare connection positions are in a closed state; when a drone in the swarm in flight needs to be connected, the swarm formation is controlled, and the drone to be connected is moved to the set coordinate position; the broadcast module of the drone to be connected is controlled to send a broadcast, and the broadcast contains the identification information of the drone; the broadcast module of the drone in the swarm receives the broadcast, and selects multiple drones for network connection with the drone to be connected according to the broadcast signal strength and the set network connection strategy; the signal processing module of the selected drone performs broadcast signal analysis to obtain the identification information of the drone; the spare connection position of the selected drone is enabled, the networking module of the selected drone generates a network hotspot, and the drone is matched and screened according to the identification information; the successfully matched and screened drones are connected to the network through the networking module to form a new swarm and generate a new networking topology diagram, and the networking topology diagram is displayed to the outside world.

[0029] The beneficial effects of the present invention are as follows: the application of the method and approach of the present application breaks the traditional swarm networking mode, while supporting the decentralized networking of drones in the swarm, it can also enable the swarm to quickly access the drones in flight, making the swarm networking control more flexible and improving adaptability; in addition, when the swarm is not connected to a new drone, the network of the swarm itself is also very stable and will not be disturbed by the external environment. At the same time, when a new drone is connected, it also comes with the distribution position identification and layout function of the newly connected drone, to ensure the control stability of the new swarm formed after the drone is connected. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work:

[0031] Figure 1 This is a flow chart of a large-scale swarm non-center same-frequency networking rapid access method according to a preferred embodiment of the present invention;

[0032] Figure 2 It is a principle block diagram of a large-scale swarm centerless same-frequency networking rapid access system of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be described clearly and completely in combination with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial 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 without creative work belong to the protection scope of the present invention.

[0034] A large-scale swarm non-center same-frequency networking fast access method according to a preferred embodiment of the present invention is as follows: Figure 1 As shown, the following steps are included:

[0035] S01: A signal processing module, a networking module and a broadcasting module are configured for each UAV participating in the networking; the networking module and the broadcasting module are both communicatively connected with the signal processing module;

[0036] S02: multiple connection positions are configured on the networking module for establishing network connections with the networking modules of multiple adjacent drones in the current swarm to form a decentralized swarm;

[0037] S03: After the bee colony is formed, a three-dimensional network topology diagram of the bee colony is generated; one or more connection positions are left vacant on the networking module as standby connection positions, and the standby connection positions are in a closed state;

[0038] S04: When a drone in the flying swarm needs to be connected, control the swarm formation and move the drone to be connected to the set coordinate position;

[0039] S05: Control the broadcast module of the drone to be connected to send a broadcast, which includes the identification information of the drone;

[0040] S06: The broadcast module of the drone in the swarm receives the broadcast, and selects multiple drones for network connection with the drone to be connected according to the broadcast signal strength and the set network connection strategy;

[0041] S07: The signal processing module of the selected UAV performs broadcast signal analysis to obtain identification information of the UAV;

[0042] S08: Activate the backup connection position of the selected drone, the networking module of the selected drone generates a network hotspot, and matches and selects the drones through identification information;

[0043] S09: The successfully matched and screened drones are connected to the network through the networking module to form a new swarm and generate a new networking topology map, which is then displayed to the outside world;

[0044] The application of the method and approach of the present application breaks the traditional swarm networking mode, and while supporting the decentralized networking of drones in the swarm, it also allows the swarm to quickly access drones in flight, making the swarm networking control more flexible and improving adaptability; in addition, when the swarm is not connected to a new drone, the network itself is very stable and will not be affected by the external environment. At the same time, when a new drone is connected, it also comes with the distribution position identification and layout function of the newly connected drone, to ensure the control stability of the new swarm formed after the drone is connected.

[0045] It should be noted that in order to ensure the stability of the swarm network after access, the network of the connected drones and the network of the original swarm drones use the same frequency network.

[0046] Preferably, when a drone in a flying swarm needs to be connected, the swarm formation is controlled and the drone to be connected is moved to a set coordinate position using the following method:

[0047] After receiving the control command of a new drone, the ground control console calls the current network topology map, adjusts the formation of drones in the swarm according to the network topology map, and keeps each drone in the swarm in a hovering state; controls the drone to be connected to move to within the set distance range of the swarm and enters a hovering state;

[0048] Applying this setting method can ensure the stability of the network signal when the drone is connected, which is convenient for subsequent location positioning and drone selection operations.

[0049] Preferably, the broadcast module of the drone in the swarm receives the broadcast, and selects multiple drones for network connection with the drone to be connected according to the broadcast signal strength and the set network connection strategy, using the following method:

[0050] After receiving the broadcast signal, the drones in the swarm use the positioning algorithm to locate the drone to be connected based on the broadcast signal strength of any three drones in the swarm that are not in different altitude planes, and obtain the location coordinate information of the drone to be connected;

[0051] According to the location information of the drones in the current swarm and the acquired location coordinate information of the drone to be connected, a set number of drones in the swarm adjacent to the drone to be connected are calculated and set as the selected drones;

[0052] In the previous step, the location of the connected drone is only in an approximate range, and there is no need for precise hovering; in this step, broadcasting is used to send identification and broadcast signal strength is used for three-point positioning to determine the exact location of the drone, and then the network topology diagram is further combined to select the appropriate drone. This method concretizes the network architecture into a three-dimensional architecture (the shape can be customized), which can well take into account the stability of signal transmission, increase the stability of the network, and simplify the networking operation steps.

[0053] Preferably, step six also includes a method:

[0054] Determine whether there is a backup connection position in the selected drone. If yes, do not take action. Otherwise, switch to another unselected drone that is adjacent to the drone to be connected. The number of drones connected to a single drone is limited to ensure the reliability of the network.

[0055] Preferably, if there are multiple drones to be connected, the multiple drones to be connected are sorted, and multiple drones to be connected to the network are selected one by one according to the sorting. The operation is performed one by one in a queue, so that the swarm can sequentially connect to multiple drones in a single access operation, thereby improving access efficiency.

[0056] Preferably, the method also includes the steps of: after the ground control console receives a control command for a drone to leave, calling the current network topology map, releasing the network connection between the drone to be left and other drones, and establishing a new network connection between the drones that have been disconnected from the network, thereby generating a new network topology map.

[0057] The purpose of adopting this setting is to support the separation of a certain number of drones from the swarm and further improve the flexibility of the swarm networking.

[0058] Preferably, the networking module includes a routing unit, which is used to provide multiple connection locations and network hotspots.

[0059] A large-scale bee colony non-center same-frequency networking fast access system is applied to the large-scale bee colony non-center same-frequency networking fast access method as mentioned above, such as Figure 2 As shown, the system includes: a ground control console 100 and multiple drones 101; each drone participating in the networking is equipped with a signal processing module, a networking module and a broadcasting module; the networking module and the broadcasting module are both communicatively connected with the signal processing module; a plurality of connection positions are configured on the networking module for establishing a network connection with the networking modules of multiple neighboring drones in the current swarm 102 to form a decentralized swarm;

[0060] The ground control console 100 is used to control multiple drones and execute the following method: after the swarm is formed, a three-dimensional networking topology diagram of the swarm is generated; one or more connection positions are left on the networking module as standby connection positions, and the standby connection positions are in a closed state; when a drone in the swarm in flight needs to be connected, the swarm formation is controlled, and the drone to be connected is moved to the set coordinate position; the broadcast module of the drone to be connected is controlled to send a broadcast, and the broadcast contains the identification information of the drone; the broadcast module of the drone in the swarm receives the broadcast, and selects multiple drones for network connection with the drone to be connected according to the broadcast signal strength and the set network connection strategy; the signal processing module of the selected drone performs broadcast signal analysis to obtain the identification information of the drone; the standby connection position of the selected drone is enabled, and the networking module of the selected drone generates a network hotspot, and matches and selects drones according to the identification information; the successfully matched and screened drones are connected to the network through the networking module to form a new swarm and generate a new networking topology diagram, and the networking topology diagram is displayed to the outside world;

[0061] The system applied in the present application breaks the traditional swarm networking mode, supports the decentralized networking of drones in the swarm, and allows the swarm to quickly access drones in flight, making the swarm networking control more flexible and improving adaptability; in addition, when the swarm is not connected to a new drone, the network itself is very stable and will not be affected by the external environment. At the same time, when a new drone is connected, it also comes with the distribution position identification and layout function of the newly connected drone, to ensure the control stability of the new swarm formed after the drone is connected.

[0062] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A large-scale swarm non-center same-frequency networking fast access method, characterized in that: The following steps are involved: Step 1: Configure a signal processing module, a networking module, and a broadcast module for each drone participating in the networking; The networking module and the broadcasting module are both communicatively connected with the signal processing module; Step 2: multiple connection locations are configured on the networking module for establishing network connections with the networking modules of multiple adjacent drones in the current swarm to form a decentralized swarm; Step 3: After the bee colony is formed, a three-dimensional network topology diagram of the bee colony is generated; One or more connection positions are vacant on the networking module, serving as standby connection positions, and the standby connection positions are in a closed state; Step 4: When a drone in the flying swarm needs to be connected, control the swarm formation and move the drone to be connected to the set coordinate position; Step 5: Control the broadcast module of the drone to be connected to send a broadcast, which contains the identification information of the drone; Step 6: The broadcast module of the drone in the swarm receives the broadcast and selects multiple drones to connect to the network based on the broadcast signal strength and the set network connection strategy; Step 7: The signal processing module of the selected drone analyzes the broadcast signal to obtain the drone's identification information; Step 8: Activate the backup connection location of the selected drone, the networking module of the selected drone generates a network hotspot, and matches and selects the drones through identification information; Step 9: The successfully matched drones are connected to the network through the networking module to form a new swarm and generate a new networking topology map, which is then displayed to the outside world.

2. The large-scale swarm non-center same-frequency networking fast access method according to claim 1 is characterized in that: When a drone in the flying swarm needs to be connected, the swarm formation is controlled and the drone to be connected is moved to the set coordinate position, including: After receiving the control command of a new drone, the ground control console calls the current network topology map, adjusts the formation of the drones in the swarm according to the network topology map, and keeps each drone in the swarm in a hovering state; controls the drone to be connected to move to within the set distance range from the swarm and enters the hovering state.

3. The large-scale swarm non-center same-frequency networking fast access method according to claim 2 is characterized in that: The broadcast module of the drone in the swarm receives the broadcast, and selects multiple drones for network connection with the drone to be connected according to the broadcast signal strength and the set network connection strategy, including: After receiving the broadcast signal, the drones in the swarm use the positioning algorithm to locate the drone to be connected based on the broadcast signal strength of any three drones in the swarm that are not in different altitude planes, and obtain the location coordinate information of the drone to be connected; According to the location information of the drones in the current swarm and the acquired location coordinate information of the drone to be connected, a set number of drones in the swarm adjacent to the drone to be connected are calculated and set as the selected drones.

4. The large-scale swarm non-center same-frequency networking fast access method according to claim 3 is characterized in that: The step six also includes: Determine whether there is a spare connection position in the selected drone. If so, do not take any action. Otherwise, replace it with another unselected drone that is adjacent to the drone to be connected.

5. The large-scale swarm non-center same-frequency networking fast access method according to claim 4 is characterized in that: If there are multiple drones to be connected, the multiple drones to be connected are sorted, and multiple drones to be connected to the network are selected one by one according to the sorting.

6. The large-scale swarm non-center same-frequency networking fast access method according to claim 1 is characterized in that: The method further comprises the steps of: After receiving the control command that a drone is leaving, the ground control console calls the current network topology map, releases the network connection between the drone to be left and other drones, and establishes a new network connection between the drones that are disconnected from the network to generate a new network topology map.

7. The large-scale swarm non-center same-frequency networking fast access method according to claim 1 is characterized in that: The networking module includes a routing unit, and the routing unit is used to provide multiple connection locations and network hotspots.

8. A large-scale bee colony non-center same-frequency networking fast access system, applied to the large-scale bee colony non-center same-frequency networking fast access method as claimed in any one of claims 1 to 7, characterized in that: The system comprises: a ground control console and a plurality of drones; each of the drones participating in the networking is equipped with a signal processing module, a networking module and a broadcasting module; the networking module and the broadcasting module are both communicatively connected with the signal processing module; a plurality of connection positions are configured on the networking module for establishing a network connection with the networking modules of a plurality of neighboring drones in the current swarm to form a decentralized swarm; The ground control console is used to control multiple drones and execute the following method: after the swarm is formed, a three-dimensional networking topology diagram of the swarm is generated; one or more connection positions are left on the networking module as spare connection positions, and the spare connection positions are in a closed state; when a drone in the swarm in flight needs to be connected, the swarm formation is controlled, and the drone to be connected is moved to the set coordinate position; the broadcast module of the drone to be connected is controlled to send a broadcast, and the broadcast contains the identification information of the drone; the broadcast module of the drone in the swarm receives the broadcast, and selects multiple drones for network connection with the drone to be connected according to the broadcast signal strength and the set network connection strategy; the signal processing module of the selected drone performs broadcast signal analysis to obtain the identification information of the drone; the spare connection position of the selected drone is enabled, the networking module of the selected drone generates a network hotspot, and the drone is matched and screened according to the identification information; the successfully matched and screened drones are connected to the network through the networking module to form a new swarm and generate a new networking topology diagram, and the networking topology diagram is displayed to the outside world.

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