Data transmission method, device, equipment, medium and program for multiple unmanned aerial vehicles

Abstract

The present application provides a data transmission method, device, equipment, medium and program for multiple drones. The method includes: when multiple drone identification signals are detected, an initial collaborative operation network is established according to the multiple drone identification signals, and the collaborative operation network is composed of drone systems corresponding to the multiple drone identification signals, and the drone system includes multiple components; based on the initial collaborative operation network, component grouping is performed to obtain multiple component types and their corresponding component identification sets; the component operation status corresponding to each component is obtained; and according to the component operation status corresponding to all components in each component type, the available identification set data corresponding to each component type is determined, and the available identification set data includes multiple component identifications with normal component operation status; according to the available identification set data corresponding to each of the multiple component types, a target collaborative operation network supporting drone data transmission is constructed.

Description

Technical Field

[0001] The present application relates to the field of drones, and in particular to a method, device, equipment, medium and program for data transmission of multiple drones. Background Art

[0002] With the development of drone technology, drones are increasingly being used in a variety of fields, including but not limited to agricultural monitoring, disaster assessment, logistics and transportation, and security monitoring. Drones are usually equipped with a variety of sensors and actuators, such as optoelectronic pods (for capturing and transmitting images) and flight computers (responsible for processing data and controlling flight). In order to ensure the safety and efficiency of operations, a ground control station is an indispensable part, which allows operators to remotely monitor and control drones.

[0003] However, in existing drone systems, each drone tends to operate independently, each with its own optoelectronic pod, flight computer, and ground control station. Although this architecture simplifies the design of a single drone, when multiple drones are operating simultaneously, if a key component of a drone (such as an optoelectronic pod or flight computer) fails, the entire drone may not be able to continue the mission, which greatly affects the continuity and reliability of the mission. Summary of the invention

[0004] The present application provides a data transmission method, device, equipment, medium and program for multiple drones, which are used to solve the technical problem that some drones have low operating stability when multiple drones work together.

[0005] In a first aspect, the present application provides a multi-UAV data transmission method, comprising:

[0006] When multiple drone identification signals are detected, an initial collaborative operation network is established according to the multiple drone identification signals, wherein the collaborative operation network is composed of drone systems corresponding to the multiple drone identification signals, and the drone system includes multiple components;

[0007] Based on the initial collaborative operation network, component grouping is performed to obtain a plurality of component types and their respective corresponding component identification sets, wherein the component types include an optoelectronic pod, a flight control computer, and a ground control station;

[0008] Obtaining the component operation status corresponding to each of the components; and determining the available identification set data corresponding to each of the component types according to the component operation status corresponding to all components in each of the component types, wherein the available identification set data includes multiple component identifications whose component operation status is normal;

[0009] A target collaborative operation network is constructed according to the available identification set data corresponding to each of the multiple component types, wherein the target collaborative operation network is used to support drone data transmission.

[0010] Optionally, in the method as described above, the plurality of component types include a ground control station, the available identification set data includes an available identification set,

[0011] Determining available identification set data corresponding to the ground control station according to the component operation states corresponding to all components in the ground control station, including:

[0012] Determine an initial identification set corresponding to each ground control station according to the component operation status corresponding to all components in the ground control station, wherein the initial identification set includes a plurality of initial identifications, and the initial identification is an identification of a component in which the component operation status is normal;

[0013] For each initial identifier, obtaining component performance corresponding to the component corresponding to the initial identifier;

[0014] According to the performance of the plurality of components, the initial identifiers are sorted to obtain a recommended identifier queue, wherein the recommended identifier queue includes the plurality of initial identifiers arranged according to the performance of the components;

[0015] The first number of initial identifiers in the recommended identifier queue are used as available identifiers to obtain an available identifier set.

[0016] Optionally, in the method described above, the multiple component types include an optoelectronic pod, and the available identifier set data also includes target tasks to be processed corresponding to the available identifiers.

[0017] Determining available identification set data corresponding to the optoelectronic pod according to the component operation states corresponding to all components in the optoelectronic pod, including:

[0018] According to the component operation states corresponding to all components in the optoelectronic pod, an available identification set and a first identification set corresponding to the optoelectronic pod are determined, wherein the available identification set includes multiple available identifications whose component operation states are normal, and the first identification set includes multiple first identifications, wherein the first identification is a component identification whose component operation state is abnormal;

[0019] Obtain available position information, first position information, optoelectronic pod pending tasks and first pending tasks, wherein the available position information is the position information corresponding to the available identifier, the first position information is the position information corresponding to the first identifier, the optoelectronic pod pending tasks are pending task data corresponding to the component corresponding to the available identifier, and the first pending tasks are pending task data corresponding to the component corresponding to the first identifier;

[0020] Determine, in the first identifier set, a first alternative identifier corresponding to the first identifier according to the available location information and the first location information, wherein the available location information corresponding to the first alternative identifier is most adjacent to the first location information in all the available location information;

[0021] According to the first pending task, the optoelectronic pod pending task corresponding to the first replacement identifier is updated to obtain the target pending task.

[0022] Optionally, in the method described above, the multiple component types include a flight control computer, and the available identifier set data also includes target tasks to be processed corresponding to the available identifiers.

[0023] Determining available identification set data corresponding to the flight control computer according to component operation states corresponding to all components in the flight control computer, including:

[0024] Determine, according to the component operation states corresponding to all components in the flight control computer, a second identification set and a third identification set corresponding to the flight control computer, wherein the second identification set includes a plurality of available identifications of components with normal operation states, and the third identification set includes a plurality of third identifications, and the third identifications are component identifications of components with abnormal operation states;

[0025] Acquire a pending task of the flight control computer and a second pending task, wherein the pending task of the flight control computer is pending task data corresponding to the component corresponding to the second identifier, and the second pending task is pending task data corresponding to the component corresponding to the third identifier;

[0026] According to the second pending task, the flight control computer pending task is updated to obtain a target pending task.

[0027] Optionally, in the method described above, during the transmission of the drone data, the transmission frequency bands corresponding to different components are different.

[0028] Optionally, in the method described above, different components transmit data through different channels.

[0029] The drone data transmission process includes:

[0030] When signal interference is detected, an abnormal channel is determined, and the frequency of the abnormal channel is modulated using a self-frequency modulation system to obtain a replacement channel.

[0031] In a second aspect, the present application provides a multi-UAV data transmission device, comprising:

[0032] an initialization module, configured to establish an initial collaborative operation network according to the multiple drone identification signals when multiple drone identification signals are detected, wherein the collaborative operation network is composed of drone systems corresponding to the multiple drone identification signals, and the drone system includes multiple components;

[0033] A grouping module, used for grouping components based on the initial collaborative operation network to obtain a plurality of component types and their corresponding component identification sets, wherein the component types include an optoelectronic pod, a flight control computer, and a ground control station;

[0034] an acquisition module, used to acquire the component operation status corresponding to each of the components; and determine the available identification set data corresponding to each of the component types according to the component operation status corresponding to all components in each of the component types, wherein the available identification set data includes component identifications of multiple components whose operation status is normal;

[0035] The update module is used to construct a target collaborative operation network according to the available identification set data corresponding to each of the multiple component types, wherein the target collaborative operation network is used to support drone data transmission.

[0036] Optionally, the multiple component types include a ground control station, the available identification set data includes an available identification set, and the acquisition module, when determining the available identification set data corresponding to the ground control station according to the component operation states corresponding to all components in the ground control station, is used to:

[0037] Determine an initial identification set corresponding to each ground control station according to the component operation status corresponding to all components in the ground control station, wherein the initial identification set includes a plurality of initial identifications, and the initial identification is an identification of a component in which the component operation status is normal;

[0038] For each initial identifier, obtaining component performance corresponding to the component corresponding to the initial identifier;

[0039] According to the performance of the plurality of components, the initial identifiers are sorted to obtain a recommended identifier queue, wherein the recommended identifier queue includes the plurality of initial identifiers arranged according to the performance of the components;

[0040] The first number of initial identifiers in the recommended identifier queue are used as available identifiers to obtain an available identifier set.

[0041] Optionally, the multiple component types include an optoelectronic pod, and the available identification set data also includes target tasks to be processed corresponding to the available identifications. When the acquisition module is executed to determine the available identification set data corresponding to the optoelectronic pod according to the component operation states corresponding to all components in the optoelectronic pod, it is used to:

[0042] According to the component operation states corresponding to all components in the optoelectronic pod, an available identification set and a first identification set corresponding to the optoelectronic pod are determined, wherein the available identification set includes multiple available identifications whose component operation states are normal, and the first identification set includes multiple first identifications, wherein the first identification is a component identification whose component operation state is abnormal;

[0043] Obtain available position information, first position information, optoelectronic pod pending tasks and first pending tasks, wherein the available position information is the position information corresponding to the available identifier, the first position information is the position information corresponding to the first identifier, the optoelectronic pod pending tasks are pending task data corresponding to the component corresponding to the available identifier, and the first pending tasks are pending task data corresponding to the component corresponding to the first identifier;

[0044] Determine, in the first identifier set, a first alternative identifier corresponding to the first identifier according to the available location information and the first location information, wherein the available location information corresponding to the first alternative identifier is most adjacent to the first location information in all the available location information;

[0045] According to the first pending task, the optoelectronic pod pending task corresponding to the first replacement identifier is updated to obtain the target pending task.

[0046] Optionally, the multiple component types include a flight control computer, the available identification set data also includes target tasks to be processed corresponding to the available identifications, and the acquisition module, when determining the available identification set data corresponding to the flight control computer according to the component running states corresponding to all components in the flight control computer, is used to:

[0047] Determine, according to the component operation states corresponding to all components in the flight control computer, a second identification set and a third identification set corresponding to the flight control computer, wherein the second identification set includes a plurality of available identifications of components with normal operation states, and the third identification set includes a plurality of third identifications, and the third identifications are component identifications of components with abnormal operation states;

[0048] Acquire a pending task of the flight control computer and a second pending task, wherein the pending task of the flight control computer is pending task data corresponding to the component corresponding to the second identifier, and the second pending task is pending task data corresponding to the component corresponding to the third identifier;

[0049] According to the second pending task, the flight control computer pending task is updated to obtain a target pending task.

[0050] Optionally, during the transmission of the drone data, different components have different corresponding transmission frequency bands.

[0051] Optionally, different components transmit data through different channels, and the above device further includes:

[0052] The self-adjustment module is used to determine an abnormal channel when signal interference is detected, and use a self-frequency adjustment system to adjust the frequency of the abnormal channel to obtain a replacement channel.

[0053] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0054] The memory stores computer-executable instructions;

[0055] The processor executes the computer-executable instructions stored in the memory to implement the multi-UAV data transmission method as described in any one of the first aspects.

[0056] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the multi-UAV data transmission method as described in any one of the first aspects.

[0057] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the multi-UAV data transmission method as described in any one of the first aspects.

[0058] The multi-UAV data transmission method provided by the present application is as follows: when multiple UAV identification signals are detected, an initial collaborative operation network is first established according to the above multiple UAV identification signals to determine the UAV systems participating in the collaborative operation; based on the initial collaborative operation network, components are grouped to obtain multiple component types and their respective corresponding component identification sets, thereby integrating components of different types; the component operation status corresponding to each component is obtained to determine whether each component can operate normally; and according to the component operation status corresponding to all components in each component type, the available identification set data corresponding to each component type is determined, and components that can operate normally are used as available components, thereby excluding unavailable components in advance; thereby building a target collaborative operation network with fully available components to achieve stable transmission of UAV data and achieve the beneficial effect of stable operation of UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0060] Figure 1 A schematic diagram of an application scenario of a multi-UAV data transmission method provided in an embodiment of the present application;

[0061] Figure 2 A flowchart of a multi-UAV data transmission method provided in an embodiment of the present application;

[0062] Figure 3 A schematic diagram of the structure of a multi-UAV data transmission device provided in an embodiment of the present application;

[0063] Figure 4 A schematic diagram of the structure of an electronic device provided in this application.

[0064] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0065] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0066] First, the terms involved in this application are explained:

[0067] Electro-optical pod: Equipped with high-definition optical and infrared cameras to ensure clear images even at long distances.

[0068] Flight control computer: Also known as flight control computer or flight controller, it is the core component responsible for handling flight control tasks and is installed on the drone frame together with the optoelectronic pod.

[0069] Ground Control Station: GCS is a key device used by operators to remotely control drones and receive data from drones.

[0070] The multi-UAV data transmission method provided in the present application can be applied to an UAV system, which includes: an optoelectronic pod, a flight control computer and a ground control station.

[0071] The above-mentioned ground control station can be a wireless terminal or a wired terminal. The wireless terminal can be a device that provides voice and / or other business data connectivity to users, a handheld device with wireless connection function, or other processing equipment connected to a wireless modem. The wireless terminal can communicate with one or more core network devices via the Radio Access Network (RAN). The wireless terminal can be a mobile terminal, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal. For example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with the wireless access network. For another example, the wireless terminal can also be a Personal Communication Service (PCS) phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) and other devices. A wireless terminal may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, an access terminal, a user terminal, a user agent, a user device or user equipment, without limitation. Optionally, the terminal device may also be a smart watch, a tablet computer or other device.

[0072] Figure 1 A schematic diagram of an application scenario of the multi-UAV data transmission method provided in this application, such as Figure 1 As shown, one application scenario of the prior art is: the operator sends a control instruction (the control instruction includes a navigation instruction and a camera instruction) to the flight control computer through the ground control station; the flight control computer receives the control instruction, and controls the navigation of the UAV aircraft based on the navigation instruction, and controls the photoelectric pod to take pictures based on the camera instruction; after the photoelectric pod performs the camera action, the collected camera data is sent to the flight control computer; after the navigation instruction performs the navigation action, the real-time navigation data is sent to the flight control computer; the flight control computer sends the received navigation data and camera data to the ground control station, thereby feeding back the real-time data of the UAV to the operator.

[0073] In combination with the above scenarios, it can be seen that in the existing technology, if a key component of a drone (such as an optoelectronic pod or a flight computer) fails, the entire drone may not be able to continue to perform the mission, and there is a technical problem of low drone operation stability.

[0074] A multi-UAV data transmission method provided in an embodiment of the present application is intended to solve the above technical problems in the prior art and is executed by a ground control station in the above-mentioned UAV system.

[0075] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0076] like Figure 2 As shown, Figure 2 A flowchart of a multi-UAV data transmission method provided in an embodiment of the present application, a multi-UAV data transmission method, may specifically include steps S201 to S204, wherein:

[0077] S201. When multiple drone identification signals are detected, an initial collaborative operation network is established based on the multiple drone identification signals, wherein the collaborative operation network is composed of drone systems corresponding to the multiple drone identification signals, and the drone system includes multiple components.

[0078] When multiple drone identification signals are detected, they are first defined as a collection of information that can uniquely identify each drone, including radio frequency, location data, and identification code. After the system parses each signal, it associates drones with the same operational objectives to form an initial collaborative operation network. This network is composed of individual drones, each of which contains multiple components such as flight control, communication, and sensors.

[0079] S202: Group components based on the initial collaborative operation network to obtain multiple component types and their corresponding component identification sets.

[0080] Component types include optoelectronic pods, flight control computers, and ground control stations. The component identification set includes multiple component identifications, and the component identification can represent the identity information of the component.

[0081] S203, obtaining the component operation status corresponding to each component; and determining the available identification set data corresponding to each component type according to the component operation status corresponding to all components in each component type, wherein the available identification set data includes multiple component identifications whose component operation status is normal.

[0082] Each component is equipped with a module capable of sending and receiving heartbeat signals. The module sends a heartbeat packet containing the component identifier and the current status summary to the electronic device at a preset time interval (for example, every 5 seconds). The status summary usually includes but is not limited to whether the component is online, basic operating parameters (such as temperature, voltage, etc.), and any immediate error codes.

[0083] Among them, the component operation status is normal or abnormal.

[0084] S204. Construct a target collaborative operation network according to the available identification set data corresponding to each of the multiple component types, wherein the target collaborative operation network is used to support drone data transmission.

[0085] The multi-UAV data transmission method provided in the embodiment of the present application is as follows: when multiple UAV identification signals are detected, an initial collaborative operation network is first established according to the above multiple UAV identification signals to determine the UAV systems participating in the collaborative operation; based on the initial collaborative operation network, components are grouped to obtain multiple component types and their respective corresponding component identification sets, thereby integrating components of different types; the component operation status corresponding to each component is obtained to determine whether each component can operate normally; and according to the component operation status corresponding to all components in each component type, the available identification set data corresponding to each component type is determined, and components that can operate normally are used as available components, thereby excluding unavailable components in advance; thereby building a target collaborative operation network with fully available components to achieve stable transmission of UAV data and achieve the beneficial effect of stable operation of UAVs.

[0086] In an implementable manner, the multiple component types include a ground control station, the available identification set data includes an available identification set, and the above-mentioned determining the available identification set data corresponding to the ground control station according to the component operation states corresponding to all components in the ground control station includes:

[0087] Determine an initial identification set corresponding to each ground control station according to the component operation states corresponding to all components in the ground control station, wherein the initial identification set includes a plurality of initial identifications, and the initial identifications are component identifications of normal component operation states;

[0088] For each initial identifier, obtain component performance corresponding to the component corresponding to the initial identifier;

[0089] Sorting the initial identifiers according to the performance of the plurality of components to obtain a recommended identifier queue, wherein the recommended identifier queue includes the plurality of initial identifiers arranged according to the performance of the components;

[0090] The first number of initial identifiers in the recommended identifier queue are used as available identifiers to obtain an available identifier set.

[0091] For example, there are ground control stations A, B, and C, and the component operation states are normal, normal, and abnormal, respectively. The component performance is based on the number of cores, which correspond to four cores, six cores, and four cores, respectively. At this time, the initial identification set is [ground control station A, ground control station B], and the recommended identification queue is [ground control station B, ground control station A]. If the first number is 1, the available identification is ground control station B, and the available identification set is [ground control station B].

[0092] The first number may be a preset number or may be determined based on actual conditions, and this embodiment does not make any specific limitation thereto.

[0093] The multi-UAV data transmission method provided in the embodiment of the present application improves the operational stability of the UAV collaborative operation network by using ground control stations with better performance as available components. At the same time, it can avoid the error triggering problem caused by excessive commands brought by a large number of ground control stations.

[0094] In one achievable manner, the multiple component types include an optoelectronic pod, and the available identification set data also includes target tasks to be processed corresponding to the available identifications.

[0095] The above-mentioned determination of the available identification set data corresponding to the optoelectronic pod according to the component operation status corresponding to all components in the optoelectronic pod includes:

[0096] According to the component operation states corresponding to all components in the optoelectronic pod, an available identification set and a first identification set corresponding to the optoelectronic pod are determined, wherein the available identification set includes multiple available identifications whose component operation states are normal, and the first identification set includes multiple first identifications, wherein the first identification is a component identification whose component operation state is abnormal;

[0097] Obtain available position information, first position information, optoelectronic pod pending tasks and first pending tasks, wherein the available position information is the position information corresponding to the available identifier, the first position information is the position information corresponding to the first identifier, the optoelectronic pod pending tasks are the pending task data corresponding to the component corresponding to the available identifier, and the first pending tasks are the pending task data corresponding to the component corresponding to the first identifier;

[0098] Determine, in the first identifier set, a first alternative identifier corresponding to the first identifier according to the available location information and the first location information, wherein, among all the available location information, the available location information corresponding to the first alternative identifier is most adjacent to the first location information;

[0099] According to the first pending task, the optoelectronic pod pending task corresponding to the first replacement identifier is updated to obtain the target pending task.

[0100] For example, there are optoelectronic pods A, B, and C, and the component operating states are normal, normal, and abnormal, respectively. The position data are (1, 0, 1), (8, 0, 9), and (9, 0, 8), respectively. The available identification set is [optoelectronic pod A, optoelectronic pod B], the first identification set is [optoelectronic pod C], the available position information is (1, 0, 1), (8, 0, 9), the first position information is (9, 0, 8), and the first alternative identification is optoelectronic pod B. At this time, if the data capacity corresponding to the first pending task is 50 MB and the data capacity corresponding to the optoelectronic pod pending task is 10 MB, then the data capacity corresponding to the target pending task is 60 MB.

[0101] It should be noted that the data capacity corresponding to the target task to be processed = the data capacity corresponding to the first task to be processed + the data capacity corresponding to the optoelectronic pod task to be processed.

[0102] The multi-UAV data transmission method provided in the embodiment of the present application excludes unavailable optoelectronic pods by determining an available identifier set; and determines a first alternative identifier that is closer to the unavailable optoelectronic pod to select a component to replace the unavailable optoelectronic pod, and then transfers the first task to be processed to the component corresponding to the first alternative identifier to ensure task integrity.

[0103] In an implementable manner, the multiple component types include a flight control computer, and the available identification set data also includes target tasks to be processed corresponding to the available identifications. The available identification set data corresponding to the flight control computer is determined according to the component operation states corresponding to all components in the flight control computer, and specifically may include:

[0104] Determine a second identification set and a third identification set corresponding to the flight control computer according to the component operation states corresponding to all components in the flight control computer, wherein the second identification set includes a plurality of available identifications of components with normal operation states, and the third identification set includes a plurality of third identifications, and the third identifications are component identifications of components with abnormal operation states;

[0105] Obtaining a flight control computer pending task and a second pending task, wherein the flight control computer pending task is pending task data corresponding to the component corresponding to the second identifier, and the second pending task is pending task data corresponding to the component corresponding to the third identifier;

[0106] According to the second pending task, the flight control computer pending task is updated to obtain the target pending task.

[0107] For example, there are flight control computers A, B, and C, and the component operating states are normal, normal, and abnormal, respectively. The data capacity corresponding to the pending tasks of the flight control computers is 22MB and 35MB, and the data capacity corresponding to the second pending tasks is 18MB; at this time, the second identification set is [flight control computer A, flight control computer B], the number of second identifications is 2, the third identification set is [flight control computer C], and the target pending tasks are 37.5MB and 37.5MB.

[0108] It should be noted that the target pending task = (the sum of the data capacity corresponding to the pending tasks of the flight control computer + the data capacity corresponding to the second pending task) ÷ the number of the second identifier.

[0109] The multi-UAV data transmission method provided in the embodiment of the present application ensures the operational stability of the UAVs by redistributing the task data to be processed to the normally operating flight control computer.

[0110] It should be noted that during the transmission of drone data, the corresponding transmission frequency bands between different components are different.

[0111] Furthermore, different components transmit data through different channels, and the drone data transmission process also includes: when signal interference is detected, the abnormal channel is determined, and the self-frequency modulation system is used to modulate the abnormal channel to obtain a replacement channel.

[0112] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0113] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0114] Figure 3A schematic diagram of a multi-UAV data transmission device provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the multi-UAV data transmission device 40 provided in the embodiment of the present application includes:

[0115] Initialization module 401, used for establishing an initial collaborative operation network according to the multiple drone identification signals when multiple drone identification signals are detected, wherein the collaborative operation network is composed of drone systems corresponding to the multiple drone identification signals, and the drone system includes multiple components;

[0116] A grouping module 402 is used to group components based on the initial collaborative operation network to obtain multiple component types and their corresponding component identification sets;

[0117] The acquisition module 403 is used to acquire the component operation status corresponding to each component; and determine the available identification set data corresponding to each component type according to the component operation status corresponding to all components in each component type, wherein the available identification set data includes multiple component identifications whose component operation status is normal;

[0118] The updating module 404 is used to construct a target collaborative operation network according to the available identification set data corresponding to each of the multiple component types, wherein the target collaborative operation network is used to support drone data transmission.

[0119] Optionally, the multiple component types include a ground control station, and the available identification set data includes an available identification set. The acquisition module 403, when determining the available identification set data corresponding to the ground control station according to the component operation states corresponding to all components in the ground control station, is used to:

[0120] Determine an initial identification set corresponding to each ground control station according to the component operation states corresponding to all components in the ground control station, wherein the initial identification set includes a plurality of initial identifications, and the initial identifications are component identifications of normal component operation states;

[0121] For each initial identifier, obtain component performance corresponding to the component corresponding to the initial identifier;

[0122] Sorting the initial identifiers according to the performance of the plurality of components to obtain a recommended identifier queue, wherein the recommended identifier queue includes the plurality of initial identifiers arranged according to the performance of the components;

[0123] The first number of initial identifiers in the recommended identifier queue are used as available identifiers to obtain an available identifier set.

[0124] Optionally, the multiple component types include an optoelectronic pod, and the available identification set data also includes a target to-be-processed task corresponding to the available identification. The acquisition module 403, when executing the determination of the available identification set data corresponding to the optoelectronic pod according to the component operation states corresponding to all components in the optoelectronic pod, is used to:

[0125] According to the component operation states corresponding to all components in the optoelectronic pod, an available identification set and a first identification set corresponding to the optoelectronic pod are determined, wherein the available identification set includes multiple available identifications whose component operation states are normal, and the first identification set includes multiple first identifications, wherein the first identification is a component identification whose component operation state is abnormal;

[0126] Obtain available position information, first position information, optoelectronic pod pending tasks and first pending tasks, wherein the available position information is the position information corresponding to the available identifier, the first position information is the position information corresponding to the first identifier, the optoelectronic pod pending tasks are the pending task data corresponding to the component corresponding to the available identifier, and the first pending tasks are the pending task data corresponding to the component corresponding to the first identifier;

[0127] Determine, in the first identifier set, a first alternative identifier corresponding to the first identifier according to the available location information and the first location information, wherein, among all the available location information, the available location information corresponding to the first alternative identifier is most adjacent to the first location information;

[0128] According to the first pending task, the optoelectronic pod pending task corresponding to the first replacement identifier is updated to obtain the target pending task.

[0129] Optionally, the multiple component types include a flight control computer, and the available identification set data also includes a target to-be-processed task corresponding to the available identification. The acquisition module 403, when determining the available identification set data corresponding to the flight control computer according to the component running states corresponding to all components in the flight control computer, is used to:

[0130] Determine a second identification set and a third identification set corresponding to the flight control computer according to the component operation states corresponding to all components in the flight control computer, wherein the second identification set includes a plurality of available identifications of components with normal operation states, and the third identification set includes a plurality of third identifications, and the third identifications are component identifications of components with abnormal operation states;

[0131] Obtaining a flight control computer pending task and a second pending task, wherein the flight control computer pending task is pending task data corresponding to the component corresponding to the second identifier, and the second pending task is pending task data corresponding to the component corresponding to the third identifier;

[0132] According to the second pending task, the flight control computer pending task is updated to obtain the target pending task.

[0133] Optionally, during the transmission of drone data, different components have different corresponding transmission frequency bands.

[0134] Optionally, different components transmit data through different channels, and the above-mentioned device 40 further includes:

[0135] The self-adjustment module is used to determine the abnormal channel when signal interference is detected, and use the self-frequency adjustment system to adjust the frequency of the abnormal channel to obtain a replacement channel.

[0136] The data transmission device for multiple UAVs provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and will not be described in detail in this embodiment.

[0137] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0138] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0139] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to a transistor, a memristor, etc.

[0140] Figure 4 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 4 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the electronic device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0141] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0142] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0143] If not otherwise specified, the processor 501 may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not otherwise specified, the memory 502 may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory (RRAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), an enhanced dynamic random access memory (EDRAM), a high-bandwidth memory (HBM), a hybrid memory cube (HMC), etc.

[0144] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0145] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above redundant field updating method for a distributed system is implemented.

[0146] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above redundant field updating method for a distributed system.

[0147] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0149] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A data transmission method for multiple drones, characterized in that: include: When multiple drone identification signals are detected, an initial collaborative operation network is established according to the multiple drone identification signals, wherein the collaborative operation network is composed of drone systems corresponding to the multiple drone identification signals, and the drone system includes multiple components; Based on the initial collaborative operation network, component grouping is performed to obtain a plurality of component types and their respective corresponding component identification sets, wherein the component types include an optoelectronic pod, a flight control computer, and a ground control station; Obtaining the component operation status corresponding to each of the components; and determining the available identification set data corresponding to each of the component types according to the component operation status corresponding to all components in each of the component types, wherein the available identification set data includes multiple component identifications whose component operation status is normal; A target collaborative operation network is constructed according to the available identification set data corresponding to each of the multiple component types, wherein the target collaborative operation network is used to support drone data transmission.

2. The method according to claim 1, characterized in that: The plurality of component types include a ground control station, the available identification set data includes an available identification set; Determining available identification set data corresponding to the ground control station according to the component operation states corresponding to all components in the ground control station, including: Determine an initial identification set corresponding to the ground control station according to the component operation states corresponding to all components in the ground control station, wherein the initial identification set includes a plurality of initial identifications, and the initial identifications are component identifications of normal component operation states; For each initial identifier, obtaining component performance corresponding to the component corresponding to the initial identifier; According to the performance of the plurality of components, the initial identifiers are sorted to obtain a recommended identifier queue, wherein the recommended identifier queue includes the plurality of initial identifiers arranged according to the performance of the components; The first number of initial identifiers in the recommended identifier queue are used as available identifiers to obtain an available identifier set.

3. The method according to claim 1, characterized in that The multiple component types include an optoelectronic pod, and the available identification set data also includes target tasks to be processed corresponding to the available identifications; Determining available identification set data corresponding to the optoelectronic pod according to the component operation states corresponding to all components in the optoelectronic pod, including: According to the component operation states corresponding to all components in the optoelectronic pod, an available identification set and a first identification set corresponding to the optoelectronic pod are determined, wherein the available identification set includes multiple available identifications whose component operation states are normal, and the first identification set includes multiple first identifications, wherein the first identification is a component identification whose component operation state is abnormal; Obtain available position information, first position information, optoelectronic pod pending tasks and first pending tasks, wherein the available position information is the position information corresponding to the available identifier, the first position information is the position information corresponding to the first identifier, the optoelectronic pod pending tasks are pending task data corresponding to the component corresponding to the available identifier, and the first pending tasks are pending task data corresponding to the component corresponding to the first identifier; Determine, in the first identifier set, a first alternative identifier corresponding to the first identifier according to the available location information and the first location information, wherein the available location information corresponding to the first alternative identifier is most adjacent to the first location information in all the available location information; According to the first pending task, the optoelectronic pod pending task corresponding to the first replacement identifier is updated to obtain the target pending task.

4. The method according to claim 1, characterized in that The multiple component types include a flight control computer, and the available identification set data also includes target tasks to be processed corresponding to the available identifications; Determining available identification set data corresponding to the flight control computer according to component operation states corresponding to all components in the flight control computer, including: Determine, according to the component operation states corresponding to all components in the flight control computer, a second identification set and a third identification set corresponding to the flight control computer, wherein the second identification set includes a plurality of available identifications of components with normal operation states, and the third identification set includes a plurality of third identifications, and the third identifications are component identifications of components with abnormal operation states; Acquire a pending task of the flight control computer and a second pending task, wherein the pending task of the flight control computer is pending task data corresponding to the component corresponding to the second identifier, and the second pending task is pending task data corresponding to the component corresponding to the third identifier; According to the second pending task, the flight control computer pending task is updated to obtain a target pending task.

5. The method according to any one of claims 1 to 4, characterized in that: During the transmission of the drone data, the corresponding transmission frequency bands between different components are different.

6. The method according to any one of claims 1 to 4, characterized in that: Data is transmitted between different components through different channels; The drone data transmission process also includes: When signal interference is detected, an abnormal channel is determined, and the frequency of the abnormal channel is modulated using a self-frequency modulation system to obtain a replacement channel.

7. A data transmission device for multiple drones, characterized in that: include: an initialization module, configured to establish an initial collaborative operation network according to the multiple drone identification signals when multiple drone identification signals are detected, wherein the collaborative operation network is composed of drone systems corresponding to the multiple drone identification signals, and the drone system includes multiple components; A grouping module, used for grouping components based on the initial collaborative operation network to obtain a plurality of component types and their corresponding component identification sets; an acquisition module, used to acquire the component operation status corresponding to each of the components; and determine the available identification set data corresponding to each of the component types according to the component operation status corresponding to all components in each of the component types, wherein the available identification set data includes multiple component identifications whose component operation status is normal, and the component types include an optoelectronic pod, a flight control computer, and a ground control station; The update module is used to construct a target collaborative operation network according to the available identification set data corresponding to each of the multiple component types, wherein the target collaborative operation network is used to support drone data transmission.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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