A multi-machine cooperation-based unmanned aerial vehicle dynamic networking method

Abstract

The application discloses a kind of unmanned aerial vehicle dynamic networking methods based on multi-machine cooperation, it is related to unmanned aerial vehicle networking technical field. Including: task data backup: the task to be released is transported to task storage module, and task data is copied in task storage module, and task data item is obtained;Dynamic signal connection: based on interactive mode, target unmanned aerial vehicle sends task data item to at least two idle unmanned aerial vehicles, simultaneously based on the task data demand of demand unmanned aerial vehicle, task data is sent to demand unmanned aerial vehicle, and task data is backed up and sent to save.The application when demand unmanned aerial vehicle or task unmanned aerial vehicle appears failure in the process of receiving task or sending task, after replacement unmanned aerial vehicle arrives, based on the signal range of replacement unmanned aerial vehicle, idle unmanned aerial vehicle received task data is used as restoration point, and task is restored from task temporary storage module to the task temporary storage module of replacement 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 collaboration 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., 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 drones. It uses the weighted sum of the distance between various types of drone nodes, the number of node movement steps, and whether they are 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 a threshold to achieve the purpose of collaborative communication of multiple intelligent drones. It solves the communication problems under limited communication conditions and the problem of unstable communication links in highly dynamic drone self-organizing networks. It can realize collaborative communication of drones in special circumstances without ground stations and cloud central entities. At the same time, it can also optimize the movement decisions of drones to ensure the stability of communication links and reliable transmission of data, so as to better cope with the challenges of drone 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. During the task transmission, when the drone that is receiving the task transmission fails, the task transmission will be temporarily interrupted. In the process of replacing the drone to take over the work of the target drone and obtaining the task, when the drone transmitting the task also fails, it is easy to cause the task to be lost. 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 background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a method for dynamic networking of drones based on multi-machine collaboration, comprising:

[0007] Task data backup: the task to be published is transported to the task storage module, and the task data is copied in the task storage module to obtain a task data item;

[0008] Dynamic signal connection: based on the interaction mode, the target unmanned aerial vehicle sends the task data item to at least two idle unmanned aerial vehicles, and based on the task data demand of the demand unmanned aerial vehicle, the task data is sent to the demand unmanned aerial vehicle, the task data is sent and saved by backup, and stronger protection effect is provided;

[0009] 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 perfectly backed up, and the task storage module of the unmanned aerial vehicle is cleaned through the cleaning mode, to ensure the space occupancy rate of the task storage module;

[0010] Task data recovery: when the demand unmanned aerial vehicle fails, the replacement demand unmanned aerial vehicle is replaced, and when the target unmanned aerial vehicle also fails during the arrival of the replacement demand unmanned aerial vehicle, the replacement target unmanned aerial vehicle is replaced, the idle unmanned aerial vehicle recovers the obtained task data to the replacement target unmanned aerial vehicle through the recovery mode, and based on the secondary backup method, the replacement target unmanned aerial vehicle rebacks up and sends the task data;

[0011] The interaction mode includes:

[0012] Step one: range determination, obtaining the signal range of the target unmanned aerial vehicle to obtain the signal range item, and obtaining the idle unmanned aerial vehicle in the signal range item, which is set as the first signal emission point, to obtain the first signal emission point set, the first signal emission point set including at least one first signal emission point;

[0013] Step two: demand point determination, obtaining the number information of the demand unmanned aerial vehicle in the signal range item, which is set as the second signal emission point, to obtain the second signal emission point set, the second signal emission point set including at least one second signal emission point;

[0014] Step three: copy determination, based on the number of the first signal emission point set and the second signal emission point set, the task data is copied in the task storage module to obtain a task data set;

[0015] Step four: task sending, based on the position information of the first signal emission point set and the second signal emission point set, the copied task data set is sent to the task storage module of the first signal emission point set and the second signal emission point set.

[0016] Further, the extension mode includes:

[0017] S1: Determine the extended range, obtain the signal range of the idle UAVs, obtain the idle range item, obtain a second batch of idle UAVs within the idle range item, set them as third signal transmission points, and obtain a third signal transmission point set. The third signal transmission point set 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 task data in the task storage module by the same quantity to obtain an extended task data set, where 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, set the third signal transmission point where the stored task items exist as the elimination point, and reduce the number of extended task data items in the extended task data set by the same number as the elimination points;

[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, set the first cleaning threshold, the first cleaning threshold is the number threshold, according to the order in which the task data is obtained, the task data that first reaches the first cleaning threshold is automatically cleaned;

[0025] 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.

[0026] Furthermore, the cleaning method further includes:

[0027] M3: Importance Assignment. During M1 and M2, when obtaining mission data, important mission data is assigned importance based on the additional information attached when the target UAV sends the mission data, and an important mission data set is obtained.

[0028] M4: Task cleaning: Based on the important task data set, a third cleaning threshold is set. The third cleaning threshold is a number threshold. 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: 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, the screening recovery point closest to the replacement target drone is selected 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 unmanned aerial vehicle dynamic networking method based on multi-machine cooperation, by setting a task temporary storage module, transmits the task to be issued to the task storage module, copies the task in the task storage module, finds an idle unmanned aerial vehicle in the signal range of the target unmanned aerial vehicle during the process of transmitting the task to the task temporary storage module of the demand unmanned aerial vehicle, and sends the backup task data to the task temporary storage module of the idle unmanned aerial vehicle at the same time, when the demand unmanned aerial vehicle or the task unmanned aerial vehicle fails during the process of receiving or sending the task, after the replacement unmanned aerial vehicle arrives, based on the signal range of the replacement unmanned aerial vehicle, the idle unmanned aerial vehicle receiving the 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 replacement unmanned aerial vehicle, the task data in the task temporary storage module of the replacement unmanned aerial vehicle sends the task, effectively prevents the task data loss, and improves the protection effect of the task data.

[0038] At the same time, when the task temporary storage module of the idle unmanned aerial vehicle receives the backup task data, a second batch of idle unmanned aerial vehicles is also found, and the task data is copied and sent repeatedly, so that the task data forms a regional storage backup effect, and the protection and recovery effect of the task data is better. BRIEF DESCRIPTION OF DRAWINGS

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

[0040] Figure 2 It is an interactive mode flow diagram of the application;

[0041] Figure 3 It is a first signal emission point and second signal emission point relationship diagram of the application;

[0042] Figure 4 It is a second batch of idle unmanned aerial vehicle position relationship diagram of the application;

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

[0044] Figure 6 It is a task data sending and recovery relationship diagram of the application. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[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 the network topology according to their own position 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 will still be easy to cause the loss of task data. At this time, even if a replacement drone takes over the position of the damaged drone, in the absence of a ground station, the replacement drone will still be unable to obtain the task data. The technical solution provided by this application sets a task temporary storage module when the task drone publishes the 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, 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 better protection and recovery effects for the task data.

[0047] like Figure 1-Figure 3As shown, the present invention provides a technical solution: a method for dynamic networking of drones based on multi-machine collaboration, including: mission data backup: delivering the tasks to be released to the mission storage module, and copying the mission data in the mission storage module to obtain mission data items; dynamic signal connection: based on the interactive method, the target drone sends the mission data items to at least two idle drones, and at the same time, based on the mission data requirements of the demand drone, sends the mission data to the demand drone, backs up and saves the mission data, and provides a stronger protection effect; dynamic signal extension: based on the extension method, when the idle drone obtains the mission data, the mission data is extended, so that the mission data can be more completely backed up and protected, and the drone's mission storage module is cleaned up by the cleaning method to ensure the space occupancy rate of the task storage module; mission data recovery: when the demand drone fails, it is replaced by the replacement demand drone, and when the target drone also fails during the arrival of the replacement demand drone, it is replaced by the replacement target drone, and the idle drone will obtain the mission data through the recovery method. 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: copy determination, based on the number of the first signal transmission point set and the second signal transmission point set, the same number of copies of the mission data are made 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 modules 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 mission storage module, and within the signal range of the drones, they can all use self-organizing networking technology to automatically establish and maintain a network without fixed infrastructure. Each drone can act as a network node and forward data. When one drone wants to send mission data, based on the networking results, the target drone will send the mission data to multiple idle drones at the same time as sending the mission data to the requesting drone. After obtaining the mission data, the idle drones will use the same method to copy the mission data to the mission storage module and send it to the remaining idle drones in the same way. In addition, if the requesting drone fails, it will be replaced by the replacement requesting drone. If the target drone also fails during the arrival of the replacement requesting drone, it will be replaced by the replacement target drone. The idle drone will restore the acquired mission data to the replacement target drone, which will then retransmit the mission data to the replacement requesting drone to prevent mission data loss. When working in a collaborative network between drones, based on the signal range of the target drone to send mission data, the target drone searches for idle drones and requesting drones that need to receive mission data within the signal range. Based on the number of these two drones, the target drone will copy the mission data in its own mission 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 a network. 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 a network. 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 No. 2 was transmitting mission data to UAV No. 1, UAV No. 1 suddenly broke down and the transmission was interrupted. At this time, UAV No. 6 replaced UAV No. 1. When UAV No. 6 was reaching the signal range of UAV No. 2, UAV No. 2 also broke down. At this time, UAV No. 7 replaced UAV No. 2. When UAV No. 6 and UAV No. 7 both arrived at the designated location, UAV No. 3 had received the mission data transmitted by UAV No. 2 in advance, so UAV No. 3 would restore the mission data to UAV No. 7. UAV No. 7, which received the mission data, would retransmit the mission data to UAV No. 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 drones, 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, and obtaining the third signal transmission point set, the third signal transmission point set includes at least one third signal transmission point; S2: determining the extension quantity, based on the number of the third signal transmission point set, copying the same number of 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: 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 based on their own signal range and the number of the second batch of idle drones within the signal range, and send the mission data to the second batch of idle drones. This step will be repeated until all networked 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 modules, obtaining the stored task items, and comparing 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 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 already received mission data transmission. At this time, the second batch of idle drones that have received mission data transmission will be set as elimination points. When copying mission data, the space occupancy 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 the 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 the 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 a frequency threshold, and the frequency is 10 times. When the task data in the task storage module reaches 10, the task data with the longest time is automatically cleaned according to the order, so as to ensure the space of the unmanned aerial vehicle task storage module. The second cleaning threshold is a time threshold, and the time is 100 hours. The task data stored in the unmanned aerial vehicle task storage module for 100 hours is automatically cleaned.

[0056] The cleaning mode further includes: M3: importance assignment. In the process of M1 and M2, when the task data is obtained, the important task data is assigned importance according to the additional information attached by the target unmanned aerial vehicle when sending the task data, and an important task data set is obtained. M4: task cleaning. Based on the important task data set, a third cleaning threshold is set, the third cleaning threshold is a frequency threshold, and the important task data reaching the third cleaning threshold is automatically cleaned.

[0057] It should be noted that when the target unmanned aerial vehicle sends the task data, the important task data will be marked, and at this time the task data will be attached with additional information. The third cleaning threshold is set as a frequency threshold, and the frequency is 10 times. When the task data in the task storage module reaches 10, the important task data set containing important task data is excluded, and the task data with the longest time is automatically cleaned according to the order.

[0058] The recovery mode includes: N1: recovery point acquisition, acquiring the signal range of the replacement target unmanned aerial vehicle, obtaining a replacement signal range item, and acquiring the idle unmanned aerial vehicles in the replacement signal range item, which are set as recovery points to obtain a recovery point set; N2: recovery point selection, selecting the unmanned aerial vehicle closest to the replacement target unmanned aerial vehicle as the target recovery point based on the position information of the recovery point, and transmitting the task data to the task storage module of the replacement target unmanned aerial vehicle for recovery.

[0059] It should be noted that when the replacement target unmanned aerial vehicle reaches the specified position, the idle unmanned aerial vehicles in the signal range are acquired according to the signal range of the replacement target unmanned aerial vehicle. Since these idle unmanned aerial vehicles have all accepted the transmission of the task data of the target unmanned aerial vehicle, these idle unmanned aerial vehicles can all recover the data of the replacement target unmanned aerial vehicle. At this time, the idle unmanned aerial vehicle closest to the replacement target unmanned aerial vehicle is selected as the target recovery point to recover the task data of the replacement target unmanned aerial vehicle.

[0060] The recovery mode further includes: N3: working state acquisition, acquiring the working state of the recovery point, setting the recovery point in the working state as an exclusion point to obtain a filtered recovery point; N4: recovery point filtering, selecting the filtered recovery point closest to the replacement target unmanned aerial vehicle for recovery transmission of the task data based on the position information of the filtered recovery point.

[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. In this case, 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 understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is limited by the accompanying embodiments and their equivalents.

Claims

1. A method for dynamic networking of drones 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 requesting drone, the mission data is sent to the requesting drone, and the mission data is backed up and saved, providing stronger protection effect; Dynamic signal extension: Based on the extension method, when an idle drone obtains mission data, the mission data is extended, thereby providing more complete backup protection for the mission data. 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 is replaced by a replacement demand drone. When the replacement demand drone arrives and the target drone also fails, it is replaced by a replacement target drone. The idle drone restores the acquired mission data to the replacement target drone through recovery. Based on the secondary backup method, the replacement target drone backs up and sends the mission data again. The interaction methods include: Step 1: Range determination: Obtain the signal range of the target drone, obtain a signal range item, and obtain idle drones within the signal range item, set them as first signal transmission points, and obtain a first signal transmission point set. The first signal transmission point set includes at least one first signal transmission point. Step 2: Determine the demand point, obtain the number of demand drones within the signal range, set it as the second signal transmission point, and obtain a second signal transmission point set, which includes at least one second signal transmission point; Step 3: Determine 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, characterized in that: The extension methods include: S1: Determine the extended range, obtain the signal range of the idle UAVs, obtain the idle range item, obtain a second batch of idle UAVs within the idle range item, set them as third signal transmission points, and obtain a third signal transmission point set. The third signal transmission point set 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 task data in the task storage module by the same quantity to obtain an extended task data set, where 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, 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, set the third signal transmission point where the stored task items exist as the elimination point, and reduce the number of extended task data items in the extended task data set by the same number as the elimination points; 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, characterized in that: The cleaning method includes: M1: First threshold setting, set the first cleaning threshold, the first cleaning threshold is the number threshold, according to the order in which the task data is obtained, 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, characterized in that: The cleaning method also includes: M3: Importance Assignment. During M1 and M2, when obtaining mission data, important mission data is assigned importance based on the additional information attached when the target UAV sends the mission data, and an important mission data set is obtained. M4: Task cleaning: Based on the important task data set, a third cleaning threshold is set. The third cleaning threshold is a number threshold. 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, characterized in that: The recovery method also includes: N3: 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 screening recovery point, the screening recovery point closest to the replacement target drone is selected 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, 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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