Unmanned aerial vehicle dynamic networking method based on multi-machine cooperation

Abstract

The invention discloses an unmanned aerial vehicle dynamic networking method based on multi-vehicle cooperation, and relates to the technical field of unmanned aerial vehicle networking. Comprising the following steps: task data backup: transmitting a task needing to be released to a task storage module, and copying task data in the task storage module to obtain task data items; and dynamic signal connection: based on the interaction mode, the target unmanned aerial vehicle sends the task data item to the at least two idle unmanned aerial vehicles, and meanwhile, based on the task data demand of the demand unmanned aerial vehicle, the task data is sent to the demand unmanned aerial vehicle, and the task data is backed up, sent and stored. When a demand unmanned aerial vehicle or a task unmanned aerial vehicle breaks down in the process of receiving or sending a task, after a substitute unmanned aerial vehicle arrives, based on the signal range of the substitute unmanned aerial vehicle, an idle unmanned aerial vehicle receiving task data is used as a restoration point; and the task is restored from the task temporary storage module to the task temporary storage module of the substitute unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) collaboration technology, and in particular to a UAV dynamic networking method based on multi-machine collaboration. Background Art

[0002] Drone networking refers to connecting multiple drones together through wireless communication technology to form a network system for collaborative work and information sharing. This network can realize real-time communication, data transmission and task coordination between drones, thereby improving the efficiency and flexibility of drones in performing tasks. Drones can automatically discover and connect to neighboring drones to form a dynamic network topology, and drones can exchange information in real time, including location, status, sensor data, etc., in order to carry out collaborative operations. According to task requirements and environmental changes, the network can adjust the connection and data transmission path in real time to optimize resource utilization.

[0003] Patent publication number CN117354844A is a method for dynamic self-organizing networking of unmanned aerial vehicles. It uses the weighted sum of the distance between various types of nodes of the unmanned aerial vehicle, the number of node movement steps, and whether it is on the communication range boundary of other nodes as the reward mechanism of the DQN network. At the same time, through multiple distance calculations, it determines whether the difference between the distance and the communication radius reaches the threshold to achieve the purpose of collaborative communication of multiple intelligent unmanned aerial vehicles. It solves the communication problem under limited communication conditions and the problem of unstable communication links of highly dynamic unmanned aerial vehicle self-organizing networks. It can realize collaborative communication of unmanned aerial vehicles in special circumstances without ground stations and cloud central entities. At the same time, it can also optimize the movement decisions of unmanned aerial vehicles to ensure the stability of communication links and reliable transmission of data, so as to better cope with the challenges of unmanned aerial vehicle communication in various application scenarios and improve communication efficiency and reliability.

[0004] In the process of multiple drones working together, the above-mentioned and similar technical solutions will transmit data between drones, including the transmission of tasks. When the drone that is receiving the task transmission fails during the task transmission, the transmission of the task will be temporarily interrupted. When the substitute drone takes over the work of the target drone and the task is acquired, if the drone that transmits the task also fails, it will easily lead to the loss of the task. Summary of the invention

[0005] The purpose of the present invention is to provide a method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration, comprising:

[0007] Task data backup: The tasks to be published are transferred to the task storage module, and the task data is copied in the task storage module to obtain the task data items;

[0008] Dynamic signal connection: Based on the interactive mode, the target drone sends the mission data items to at least two idle drones. At the same time, based on the mission data requirements of the demand drone, the mission data is sent to the demand drone, and the mission data is backed up and sent for storage, providing a stronger protection effect;

[0009] Dynamic signal extension: Based on the extension method, when an idle drone obtains mission data, the mission data is extended, so that the mission data can be more fully backed up and protected, and the mission storage module of the drone is cleaned up through the cleaning method to ensure the space occupancy rate of the mission storage module;

[0010] Mission data recovery: When the demand drone fails, it will be replaced by the substitute demand drone. When the target drone also fails during the arrival of the substitute demand drone, it will be replaced by the substitute target drone. The idle drone will restore the acquired mission data to the replacement target drone through recovery. Based on the secondary backup method, the replacement target drone will back up and send the mission data again.

[0011] The interaction methods include:

[0012] Step 1: Range determination, obtaining the signal range of the target drone, obtaining a signal range item, and obtaining an idle drone within the signal range item, setting it as a first signal transmission point, and obtaining a first signal transmission point set, wherein the first signal transmission point set includes at least one first signal transmission point;

[0013] Step 2: Determine the demand point, obtain the number information of the demanded drones within the signal range, set it as the second signal transmission point, and obtain the second signal transmission point set, the second signal transmission point set includes at least one second signal transmission point;

[0014] Step 3: Determine the replication, based on the number of the first signal transmission point set and the second signal transmission point set, replicate the same number of task data in the task storage module to obtain a task data set;

[0015] Step 4: Task sending: Based on the location information of the first signal transmission point set and the second signal transmission point set, the copied task data set is sent to the task storage modules of the first signal transmission point set and the second signal transmission point set.

[0016] Furthermore, the extension method includes:

[0017] S1: Determine the extended range, obtain the signal range of the idle drones, obtain the idle range item, and obtain the second batch of idle drones in the idle range item, set them as third signal transmission points, and obtain a third signal transmission point set, which includes at least one third signal transmission point;

[0018] S2: Determine the extension quantity. Based on the quantity of the third signal transmission point set, duplicate the same quantity of the task data in the task storage module to obtain an extended task data set. The extended task data set includes at least one extended task data item.

[0019] S3: Extended task sending: based on the location information of the third signal transmission point set, the copied extended task data set is sent to the task storage module of the third signal transmission point set, and steps S1-S3 are repeated.

[0020] Furthermore, the extension method also includes:

[0021] S4: Send elimination, obtain the task information in the second batch of idle drone task storage module, obtain the stored task items, and compare them with the extended task data items. When the stored task items are the same as the extended task data items, the third signal transmission point where the stored task items exist is set as the elimination point, and the same number of extended task data items as the elimination points is reduced in the extended task data set;

[0022] S5: Repeat elimination, repeat the steps of S4, reduce the number of replications of the task storage module to reduce space occupancy.

[0023] Furthermore, the cleaning method includes:

[0024] M1: First threshold setting, setting the first cleaning threshold, the first cleaning threshold is the number threshold, according to the order in which the task data is acquired, the task data that first reaches the first cleaning threshold is automatically cleaned;

[0025] M2: Setting the second threshold value, setting the second cleaning threshold value, the second cleaning threshold value is a time threshold value, and automatically cleaning the task data that reaches the second cleaning threshold value according to the time when the task data is stored in the task storage module.

[0026] Furthermore, the cleaning method also includes:

[0027] M3: Importance assignment. During the process of M1 and M2, when the mission data is obtained, the important mission data is assigned importance according to the additional information attached when the target UAV sends the mission data, and the important mission data set is obtained;

[0028] M4: Task cleaning: Based on the important task data set, a third cleaning threshold is set, where the third cleaning threshold is a number threshold, and important task data that reaches the third cleaning threshold is automatically cleaned.

[0029] Furthermore, the recovery method includes:

[0030] N1: Recovery point acquisition, obtain the signal range of the replacement target drone, obtain the replacement signal range item, and obtain the idle drones within the replacement signal range item, set it as the recovery point, and obtain the recovery point set;

[0031] N2: Recovery point selection: Based on the location information of the recovery point, the UAV closest to the replacement target UAV is selected as the target recovery point, and the mission data is restored and transmitted to the mission storage module of the replacement target UAV.

[0032] Furthermore, the recovery method also includes:

[0033] N3: Working status acquisition, obtaining the working status of the recovery point, setting the recovery point in the working state as an exclusion point, and obtaining the filtered recovery point;

[0034] N4: Recovery point screening, based on the location information of the screening recovery point, select the screening recovery point closest to the replacement target drone to restore and transmit the mission data.

[0035] Furthermore, the secondary backup method includes: data comparison, obtaining the task data information in the idle drone task storage module within the replacement signal range item, and comparing it with the restored task data; when the task data information in the idle drone task storage module is the same as the restored task data, the task data is copied in the task storage module of the replacement target drone, and the number of copies is based on the required drones and the number of replacement required drones within the replacement signal range item, and the task data is sent; when the task data information in the idle drone task storage module is different from the restored task data, the task data is copied in the task storage module of the replacement target drone, and the number of copies is based on the required drones, the replacement required drones and the number of idle drones within the replacement signal range item, and the task data is sent.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration sets a temporary task storage module, transmits the tasks to be released to the task storage module, copies the tasks in the task storage module, searches for idle drones within the signal range of the target drone during the process of transmitting the tasks to the temporary task storage module of the required drone, and sends the backed-up task data to the temporary task storage module of the idle drone at the same time; when the required drone or the task drone fails during the process of receiving or sending the tasks, after the replacement drone arrives, the idle drone that has received the task data is used as a restore point based on the signal range of the replacement drone, and the task is restored from the temporary task storage module to the temporary task storage module of the replacement drone; the task data is sent to the task in the temporary task storage module of the replacement drone, effectively preventing the loss of task data and improving the protection effect of the task data.

[0038] At the same time, when the temporary storage module of the idle drone receives the backup mission data, it also searches for the second batch of idle drones and repeats the copying and sending of the mission data, thereby forming a regional storage backup effect for the mission data, which has a better protection and recovery effect on the mission data. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the relationship among task data backup, dynamic signal connection, dynamic signal extension and task data recovery of the present invention;

[0040] Figure 2 It is a schematic diagram of the interactive mode flow of the present invention;

[0041] Figure 3 A schematic diagram of the relationship between the first signal transmission point and the second signal transmission point of the present invention;

[0042] Figure 4 This is a schematic diagram of the position relationship of the second batch of idle drones of the present invention;

[0043] Figure 5 It is a schematic diagram of the task data sending relationship of the present invention;

[0044] Figure 6 It is a schematic diagram of the relationship between sending and restoring task data of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The process of automatic networking of drones involves multiple technologies and mechanisms, mainly including self-organizing networks, neighbor discovery, data transmission protocols and dynamic routing. Through self-organizing network technology, humans and machines can automatically establish and maintain network connections without central control, and drones can dynamically adjust network topology according to their own positions and the status of neighboring drones. When drones work together and back up tasks, when the transmission of backup task data and temporary storage objects also fail, or when large-scale drone failures occur, it is still easy to cause the loss of mission data. At this time, even if a substitute drone takes over the position of the damaged drone, in the absence of a ground station, the substitute drone will still be unable to obtain mission data. The technical solution provided in the present application sets a task temporary storage module when the task drone publishes a task, and transmits the task to be published to the task storage module, and copies the task in the task storage module. At least two backups. In the process of transmitting the task to the task temporary storage module of the required drone, an idle drone is searched within the signal range of the target drone, and the backed-up task data is sent to the task temporary storage module of the idle drone at the same time. When the required drone or the task drone fails in the process of receiving or sending the task, after the replacement drone arrives, based on the signal range of the replacement drone, the idle drone that has received the task data is used as the restore point, and the task is restored from the task temporary storage module to the task temporary storage module of the replacement drone. The task data is sent to the task temporary storage module of the replacement drone, thereby achieving multiple protection effects for the task data. When the task temporary storage module of the idle drone receives the backup task data, it also searches for the second batch of idle drones, and repeats the copying and sending of the task data, thereby forming a regional storage backup effect for the task data, and having a better protection and recovery effect on the task data.

[0047] like Figure 1-Figure 3As shown, the present invention provides a technical solution: a method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration, including: task data backup: transmitting the tasks to be released to the task storage module, and copying the task data in the task storage module to obtain task data items; dynamic signal connection: based on the interactive mode, the target unmanned aerial vehicle sends the task data items to at least two idle unmanned aerial vehicles, and at the same time, based on the task data requirements of the required unmanned aerial vehicle, sends the task data to the required unmanned aerial vehicle, backs up and sends the task data for storage, and provides a stronger protection effect; dynamic signal extension: based on the extension mode, when the idle unmanned aerial vehicle obtains the task data, the task data is extended, so that the task data can be more completely backed up and protected, and the task storage module of the unmanned aerial vehicle is cleaned up by the cleaning mode to ensure the space occupancy rate of the task storage module; task data recovery: when the required unmanned aerial vehicle fails, it is replaced by the substitute required unmanned aerial vehicle, and when the target unmanned aerial vehicle also fails during the arrival of the substitute required unmanned aerial vehicle, it is replaced by the substitute target unmanned aerial vehicle, and the idle unmanned aerial vehicle obtains the task data through the recovery mode The obtained mission data is restored to the replacement target UAV, and based on the secondary backup method, the replacement target UAV backs up and sends the mission data again; the interaction method includes: step 1: range determination, obtaining the signal range of the target UAV, obtaining the signal range item, and obtaining the idle UAVs within the signal range item, setting it as the first signal transmission point, and obtaining the first signal transmission point set, the first signal transmission point set includes at least one first signal transmission point; step 2: demand point determination, obtaining the number information of the demand UAVs within the signal range item, setting it as the second signal transmission point, and obtaining the second signal transmission point set, the second signal transmission point set includes at least one second signal transmission point; step 3: replication determination, based on the number of the first signal transmission point set and the second signal transmission point set, the same number of mission data is replicated in the mission storage module to obtain a mission data set; step 4: mission sending, based on the location information of the first signal transmission point set and the second signal transmission point set, the copied mission data set is sent to the mission storage module of the first signal transmission point set and the second signal transmission point set.

[0048] It should be noted that all drones working in collaboration are equipped with a task storage module, and within the signal range of the drone, self-organizing networking technology can be used to automatically establish and maintain the network without fixed infrastructure. Each drone can serve as a network node to forward data. When one of the drones wants to send task data, according to the networking result, the target drone will send the task data to multiple idle drones at the same time as sending the task data to the demand drone. After obtaining the task data, the idle drone will copy the task data in the task storage module in the same way and send it to the remaining idle drones in the same way. When the demand drone fails, it will be replaced by the substitute demand drone. When the target drone also fails during the arrival of the substitute demand drone, it will be replaced by the substitute target drone. The idle drone will restore the acquired task data to the replacement target drone, and the replacement target drone will retransmit the task data to the replacement demand drone to prevent the loss of task data. When the drones work in collaborative networking, according to the signal range of the target drone to send the task data, the idle drones and the demand drones that need to receive the task data within the signal range are searched. According to the number of the two, the target drone copies the task data in its own task storage module.

[0049] like Figure 6-Figure 6 As shown in the figure, in the specific implementation process, when a company wants to monitor farmland, due to the large scope and long distance between farmlands, multiple drones are required to work together in networking. Five drones are used, which are distributed in a straight line. The serial numbers of the five drones are 1, 2, 3, 4, and 5, and the five drones work together in networking. When drone No. 2 finds an abnormal situation or an emergency, in order to reduce the response time, drone No. 2 immediately feeds back information to drone No. 1, requesting to execute the task data of changing the flight path and increasing the monitoring frequency. At this time, drone No. 2 copies the task data into two copies in the task storage module, one of which is transmitted to the task storage module of drone No. 1, and the other is transmitted to the task storage module of drone No. 3. In the example above, when UAV 2 was transmitting mission data to UAV 1, UAV 1 suddenly broke down and the transmission was interrupted. At this time, UAV 6 replaced UAV 1. While UAV 6 was reaching the signal range of UAV 2, UAV 2 also broke down. At this time, UAV 7 replaced UAV 2. When UAVs 6 and 7 both arrived at the designated location, UAV 3 had received the mission data transmitted by UAV 2 in advance, so UAV 3 would restore the mission data to UAV 7. UAV 7, which had received the mission data, would retransmit the mission data to UAV 6, effectively preventing the loss of mission data and improving the protection of mission data.

[0050] like Figure 4 As shown, the extension method includes: S1: determining the extension range, obtaining the signal range of the idle drone, obtaining the idle range item, and obtaining the second batch of idle drones in the idle range item, setting them as the third signal transmission point, obtaining the third signal transmission point set, and the third signal transmission point set includes at least one third signal transmission point; S2: determining the extension quantity, based on the quantity of the third signal transmission point set, copying the same quantity of task data in the task storage module to obtain an extended task data set, and the extended task data set includes at least one extended task data item; S3: sending the extended task, based on the location information of the third signal transmission point set, sending the copied extended task data set to the task storage module of the third signal transmission point set, and repeating steps S1-S3.

[0051] It should be noted that after the target drone copies and sends the mission data to the mission storage modules of all idle drones within the signal range, the idle drones will copy and send the mission data again according to their own signal range and the number of the second batch of idle drones within the signal range, send the mission data to the second batch of idle drones, and repeat this step until all networked and coordinated drones have obtained the mission data, thereby achieving a regional backup effect for the mission data.

[0052] The extension method also includes: S4: sending elimination, obtaining the task information in the second batch of idle drone task storage module, obtaining the stored task item, and comparing it with the extended task data item. When the stored task item is the same as the extended task data item, the third signal transmission point where the stored task item exists is set as the elimination point, and the same number of extended task data items as the elimination point are reduced in the extended task data set; S5: repeat elimination, repeat the steps of S4, reduce the number of copies of the task storage module to reduce space occupancy.

[0053] It should be noted that when drones work together, there may be multiple drones within the signal range of one drone. Therefore, there will be drones in the second batch of idle drones that have received mission data transmission. At this time, the second batch of idle drones that have received mission data transmission are set as elimination points. When copying mission data, the space occupancy rate of the drone mission storage module can be reduced by reducing the number of copies.

[0054] The cleaning method includes: M1: first threshold setting, setting the first cleaning threshold, the first cleaning threshold is a number threshold, and the task data that first reaches the first cleaning threshold is automatically cleaned according to the order in which the task data is acquired; M2: second threshold setting, setting the second cleaning threshold, the second cleaning threshold is a time threshold, and the task data that reaches the second cleaning threshold is automatically cleaned according to the time when the task data is stored in the task storage module.

[0055] It should be noted that the first cleaning threshold is the number threshold, which is 10 times. When the task data in the task storage module reaches 10, the longest task data will be automatically cleaned up according to the order of priority to ensure the space of the drone task storage module. The second cleaning threshold is the time threshold, which is 100h. The task data in the drone task storage module that has been stored for 100h will be automatically cleaned up.

[0056] The cleaning method also includes: M3: importance assignment. During the processes of M1 and M2, when mission data is acquired, importance is assigned to important mission data based on the additional information attached when the target UAV sends the mission data, so as to obtain an important mission data set; M4: mission cleaning. Based on the important mission data set, a third cleaning threshold is set. The third cleaning threshold is a number threshold. Important mission data that reaches the third cleaning threshold is automatically cleaned.

[0057] It should be noted that when the target UAV sends mission data, important mission data will be marked. At this time, the mission data will be accompanied by additional information. The third cleaning threshold is set to the number threshold, and the number is 10 times. When the mission data in the mission storage module reaches 10, the important mission data sets containing important mission data are excluded, and the longest mission data are automatically cleaned up according to the order of priority.

[0058] The recovery methods include: N1: recovery point acquisition, obtaining the signal range of the replacement target UAV, obtaining the replacement signal range item, and obtaining the idle UAVs within the replacement signal range item, setting them as recovery points, and obtaining a recovery point set; N2: recovery point selection, based on the location information of the recovery point, selecting the UAV closest to the replacement target UAV as the target recovery point, and restoring the mission data and transmitting it to the mission storage module of the replacement target UAV.

[0059] It should be noted that when the replacement target UAV arrives at the designated location, the idle UAVs within the signal range are acquired according to the signal range of the replacement target UAV. Since these idle UAVs have all received the mission data transmission of the target UAV, these idle UAVs can all recover the data of the replacement target UAV. At this time, the idle UAV closest to the replacement target UAV is selected as the target recovery point to recover the mission data of the replacement target UAV.

[0060] The recovery method also includes: N3: working status acquisition, obtaining the working status of the recovery point, setting the recovery point in the working state as an exclusion point, and obtaining the filtered recovery point; N4: recovery point screening, based on the location information of the filtered recovery point, selecting the filtered recovery point closest to the replacement target drone for recovery and transmission of mission data.

[0061] It should be noted that when an idle drone within the signal range of the replacement target drone is recovering mission data, the idle drone closest to the replacement target drone may be in a data transmission state. At this time, the idle drone is set as an exclusion point and the nearest idle drone is reselected to recover mission data.

[0062] The secondary backup method includes: data comparison, obtaining the task data information in the idle drone task storage module within the replacement signal range item, and comparing it with the restored task data. When the task data information in the idle drone task storage module is the same as the restored task data, the task data is copied in the task storage module of the replacement target drone, and the number of copies is based on the required drones and the number of replacement required drones within the replacement signal range item, and the task data is sent. When the task data information in the idle drone task storage module is different from the restored task data, the task data is copied in the task storage module of the replacement target drone, and the number of copies is based on the required drones, the replacement required drones and the number of idle drones within the replacement signal range item, and the task data is sent.

[0063] It should be noted that the mission data of the replacement target drone may change after it is restored. For example, when the replacement target drone discovers an emergency again, new mission data will be added based on the original mission data. At this time, the restored mission data will be compared with the mission data information in the idle drone mission storage module within the replacement signal range item. The mission data information in the idle drone mission storage module within the replacement signal range item can be updated and backed up.

[0064] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. A method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration, characterized in that: include: Task data backup: The tasks to be published are transferred to the task storage module, and the task data is copied in the task storage module to obtain the task data items; Dynamic signal connection: Based on the interactive mode, the target drone sends the mission data items to at least two idle drones. At the same time, based on the mission data requirements of the demand drone, the mission data is sent to the demand drone, and the mission data is backed up and sent for storage, providing a stronger protection effect; Dynamic signal extension: Based on the extension method, when an idle drone obtains mission data, the mission data is extended, so that the mission data can be more fully backed up and protected, and the mission storage module of the drone is cleaned up through the cleaning method to ensure the space occupancy rate of the mission storage module; Mission data recovery: When the demand drone fails, it will be replaced by the substitute demand drone. When the substitute demand drone arrives, if the target drone also fails, it will be replaced by the substitute target drone. The idle drone will restore the acquired mission data to the replacement target drone through recovery. Based on the secondary backup method, the replacement target drone will back up and send the mission data again. The interaction methods include: Step 1: Range determination, obtaining the signal range of the target drone, obtaining a signal range item, and obtaining an idle drone within the signal range item, setting it as a first signal transmission point, and obtaining a first signal transmission point set, wherein the first signal transmission point set includes at least one first signal transmission point; Step 2: Determine the demand point, obtain the number information of the demanded drones within the signal range, set it as the second signal transmission point, and obtain the second signal transmission point set, the second signal transmission point set includes at least one second signal transmission point; Step 3: Determine the replication, based on the number of the first signal transmission point set and the second signal transmission point set, replicate the same number of task data in the task storage module to obtain a task data set; Step 4: Task sending: Based on the location information of the first signal transmission point set and the second signal transmission point set, the copied task data set is sent to the task storage modules of the first signal transmission point set and the second signal transmission point set.

2. The method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration according to claim 1 is characterized in that: The extension methods include: S1: Determine the extended range, obtain the signal range of the idle drones, obtain the idle range item, and obtain the second batch of idle drones in the idle range item, set them as third signal transmission points, and obtain a third signal transmission point set, which includes at least one third signal transmission point; S2: Determine the extension quantity. Based on the quantity of the third signal transmission point set, duplicate the same quantity of the task data in the task storage module to obtain an extended task data set. The extended task data set includes at least one extended task data item. S3: Extended task sending: based on the location information of the third signal transmission point set, the copied extended task data set is sent to the task storage module of the third signal transmission point set, and steps S1-S3 are repeated.

3. The method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration according to claim 2 is characterized in that: The extension method also includes: S4: Send elimination, obtain the task information in the second batch of idle drone task storage module, obtain the stored task items, and compare them with the extended task data items. When the stored task items are the same as the extended task data items, the third signal transmission point where the stored task items exist is set as the elimination point, and the same number of extended task data items as the elimination points is reduced in the extended task data set; S5: Repeat elimination, repeat the steps of S4, reduce the number of replications of the task storage module to reduce space occupancy.

4. The method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration according to claim 1 is characterized in that: The cleaning method includes: M1: First threshold setting, setting the first cleaning threshold, the first cleaning threshold is the number threshold, according to the order in which the task data is acquired, the task data that first reaches the first cleaning threshold is automatically cleaned; M2: second threshold setting, setting the second cleaning threshold, the second cleaning threshold is a time threshold, according to the time when the task data is stored in the task storage module, the task data that reaches the second cleaning threshold is automatically cleaned.

5. The method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration according to claim 4 is characterized in that: The cleaning method also includes: M3: Assigning importance. During the process of M1 and M2, when the mission data is obtained, the important mission data is assigned importance according to the additional information attached when the target UAV sends the mission data, and the important mission data set is obtained; M4: Task cleaning: Based on the important task data set, a third cleaning threshold is set, where the third cleaning threshold is a number threshold, and important task data that reaches the third cleaning threshold is automatically cleaned.

6. The method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration according to claim 1, characterized in that: The recovery methods include: N1: Recovery point acquisition, obtain the signal range of the replacement target drone, obtain the replacement signal range item, and obtain the idle drones within the replacement signal range item, set it as the recovery point, and obtain the recovery point set; N2: Recovery point selection: Based on the location information of the recovery point, the UAV closest to the replacement target UAV is selected as the target recovery point, and the mission data is restored and transmitted to the mission storage module of the replacement target UAV.

7. The method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration according to claim 6 is characterized in that: The recovery method also includes: N3: Obtaining the working status, obtaining the working status of the recovery point, setting the recovery point in the working status as an exclusion point, and obtaining the filtered recovery point; N4: Recovery point screening, based on the location information of the screened recovery point, select the screened recovery point closest to the replacement target drone to restore and transmit the mission data.

8. The method for dynamic networking of unmanned aerial vehicles based on multi-machine collaboration according to claim 6 is characterized in that: The secondary backup method includes: data comparison, obtaining the task data information in the idle drone task storage module within the replacement signal range item, and comparing it with the restored task data; when the task data information in the idle drone task storage module is the same as the restored task data, the task data is copied in the task storage module of the replacement target drone, and the number of copies is based on the required drones and the number of replacement required drones within the replacement signal range item, and the task data is sent; when the task data information in the idle drone task storage module is different from the restored task data, the task data is copied in the task storage module of the replacement target drone, and the number of copies is based on the required drones, the replacement required drones and the number of idle drones within the replacement signal range item, and the task data is sent.

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