A state synchronization control method, electronic device and storage medium for multi-airport hopping flight of networked unmanned aerial vehicles

Abstract

The present invention belongs to the technical field of multi-airport hopping flight of unmanned aerial vehicles, and more specifically, relates to a state synchronization control method, an electronic device and a storage medium for networked unmanned aerial vehicles with multi-airport hopping flight. The method includes: a ground airport establishes a connection with a master station through a networked middleware program and completes registration; the master station sets up an airport control group; the networked middleware program of the ground airport continuously detects the unmanned aerial vehicle, and automatically connects when the unmanned aerial vehicle is detected, and the ground airport issues an instruction to the unmanned aerial vehicle through the master station; according to the issued instruction, the ground airport updates the instruction state, and at the same time transmits the information to the master station through the middleware; after receiving the feedback information, the master station looks up the information of the airport control group where it is located, and at the same time encapsulates the state information into a message in the mavlink protocol format and sends it to other ground airports; other ground airports parse the message and update the latest state. The present invention enables multi-airports to have the control right of unmanned aerial vehicles at any time, and increases the flexibility during hopping flight operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of multi-airport hopping flight of unmanned aerial vehicles (UAVs), and more specifically, relates to a state synchronization control method, an electronic device, and a storage medium for networked UAV multi-airport hopping flight. Background Art

[0002] Multi-airport hopping flight is a technology used to expand the mission execution range of UAVs and improve the flight endurance of UAVs. Specifically, it involves deploying multiple airports at different geographical locations, enabling UAVs to take off, land, and execute tasks automatically between these airports, thereby achieving the ability to perform long-distance and long-duration operations. During the hopping flight process, UAVs rely on technologies such as communication matching, real-time information transmission, and system regulation to achieve the transfer from one airport to another, no longer being restricted by the single-flight distance.

[0003] Although the currently used hopping flight technology can achieve long-distance operations of UAVs, there are still some aspects that need to be studied and improved, among which the control of UAVs between multiple airports is worthy of particular attention. Currently, UAVs usually achieve hopping flight by frequency pairing and connecting with each airport. However, limited by the connection method, during the process of a UAV hopping from one airport to another, it can only be controlled by the current airport, which restricts the control flexibility of the UAV. Secondly, the flight connection process may be affected by environmental occlusion, thereby affecting the communication quality between the UAV and the airport and the real-time performance of state synchronization.

[0004] Chinese Patent Document CN113467522B discloses a method and system for a UAV to pass through a UAV airport. The method for a UAV to pass through a UAV airport includes: obtaining UAV state information; sending a UAV airport information set request to an index server; receiving the UAV airport information set sent by the index server; calculating a connected UAV airport site set including the access point coordinates of any two successively connected UAV airports according to the UAV airport information set by weight calculation; calculating an optimal weight successively connected path set; determining an accessible optimal weight successively connected path set; and determining a flight path according to the weight combination condition.

[0005] In view of this, the present invention designs a state synchronization control method for networked UAV multi-airport hopping flight to solve the recognition problem of video double confirmation in one-key sequence control. Summary of the Invention

[0006] The present invention aims to overcome at least one defect of the above-mentioned prior art and provides a state synchronization control method for networked UAV multi-airport hopping flight.

[0007] The present invention also discloses an electronic device loaded with a state synchronization control method for networked UAV multi-airport hopping flight.

[0008] The present invention also discloses a storage medium loaded with a state synchronization control method for multi-airport hopping flight of networked unmanned aerial vehicles.

[0009] The detailed technical solution of the present invention is as follows:

[0010] A state synchronization control method for multi-airport hopping flight of networked unmanned aerial vehicles, the method comprising the following steps:

[0011] S1. The ground airport establishes a connection with the master station through the network connection middleware program and completes registration, and each ground airport corresponds to a device id separately;

[0012] S2. The master station sets multiple ground airports executing the flight route task as an airport control group for management and control of the flight route task;

[0013] S3. The network connection middleware program of the ground airport continuously detects the connection of the unmanned aerial vehicle. When the unmanned aerial vehicle is detected, it will automatically connect, and the ground airport issues an instruction to the unmanned aerial vehicle through the master station;

[0014] S4. According to the issued instruction, the ground airport updates the status information, including the task execution status and the return status, and at the same time transmits the status information to the master station through the network connection middleware program using the http transmission method;

[0015] S5. After receiving the feedback information from the ground airport, the master station traverses and searches for the airport control group information where it is located through the device id, and at the same time encapsulates the obtained status information into a message in the mavlink protocol format, and sends the message to other ground airports within the airport control group where it is located;

[0016] S6. According to the message sent by the master station, other ground airports parse and synchronously update the corresponding instruction status to the latest status;

[0017] S7. When the unmanned aerial vehicle continues to execute the flight task, execute S3 - S5 until the entire flight route task is completed.

[0018] Preferably according to the present invention, the ground airport establishes a connection with the master station through the network connection middleware program and completes registration means that: the ground airport sets configuration file parameters, the network connection middleware program reads the configuration parameters, establishes a connection with the master station and completes registration.

[0019] Preferably according to the present invention, the network connection middleware program of the ground airport continuously detects the connection of the unmanned aerial vehicle means that: the network connection middleware program of the ground airport obtains the unmanned aerial vehicle connection information by setting and reading the configuration file parameters, continuously detects the connection of the unmanned aerial vehicle and initiates a connection application.

[0020] Preferably according to the present invention, the networked middleware program includes: a configuration parameter reading unit, an airport equipment registration unit, a drone connection unit, and a drone status synchronization control unit.

[0021] Preferably according to the present invention, the configuration parameter reading unit is used for reading and managing the parameter information of the configuration file: operating device registration and drone communication connection by reading the parameter information of the configuration file in real time;

[0022] Preferably according to the present invention, the airport equipment registration unit is used for completing the equipment registration and management of the airport in the drone control master station: transmitting the airport equipment id to the control master station by reading the airport equipment id in the configuration file and using network technology based on http for the master station to complete the equipment registration, and completing the communication connection with the control master station before connecting to the drone; on the other hand, realizing flight information interaction with the master station based on websocket and transmitting the current status information of the drone.

[0023] Preferably according to the present invention, the drone connection unit is used for completing network connection with drones equipped with networked functions: this unit realizes automatic connection after the drone is powered on. Specifically, after setting the communication address of the drone device through the configuration file, it reads and loads the parameter information of the configuration file, and at the same time starts the communication connection service to continuously apply for connection to the address of the configuration information; when the drone is not powered on, this unit runs in the control server and will continuously apply for connection to the communication address in the configuration file. When the connection times out, it will initiate a new connection request until the drone is powered on. At this time, this unit will initiate a connection request to the drone again to automatically establish a communication link.

[0024] Preferably according to the present invention, the drone status synchronization control unit is used for completing the information synchronization of the flight status of networked drones during multi-airport hopping flight.

[0025] In another aspect of the present invention, an electronic device is further provided, including:

[0026] At least one processor; and

[0027] A memory, the memory stores instructions, when the instructions are executed by the at least one processor, enabling the at least one processor to execute the state synchronization control method of the networked drone multi-airport hopping flight as described above.

[0028] In another aspect of the present invention, a machine-readable storage medium is further provided, which stores executable instructions, and when the instructions are executed, enabling the machine to execute the state synchronization control method of the networked drone multi-airport hopping flight as described above.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] (1) The present invention proposes a state synchronization control method for multi-airport hopping flight of networked unmanned aerial vehicles (UAVs). By means of networking, automatic connection between the UAV and the ground airport is achieved, which not only improves the communication stability, can update the airport instruction status in real time, ensures real-time adjustment of UAV flight control, but also enables the multi-airport to have the control right of the UAV at any time, increasing the flexibility during the hopping flight operation.

[0031] (2) The present invention uses the message transmission of the mavlink protocol, which increases the compatibility and expandability of information transmission between systems to a certain extent. The way of customizing messages can meet the transmission requirements of information fields at any time, enabling the UAV to complete long-distance flight tasks more intelligently and quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is the technical flow chart of the state synchronization control method for multi-airport hopping flight of the networked UAV described in the present invention.

[0033] Figure 2 is the program structure diagram of the networked middleware in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The following further describes the present disclosure in conjunction with the drawings and embodiments.

[0035] Embodiment 1

[0036] Refer Figure 1 , this embodiment provides a state synchronization control method for multi-airport hopping flight of networked UAVs, and the method includes:

[0037] S1. The ground airport establishes a connection with the master station through the networked middleware program and completes registration, and each ground airport corresponds to a device id separately;

[0038] S2. The master station sets multiple ground airports executing the route task as an airport control group for management and control of the route task;

[0039] S3. The networked middleware program of the ground airport continuously detects the connection of the UAV. When the UAV is detected, it will be automatically connected, and the ground airport issues instructions to the UAV through the master station;

[0040] S4. According to the issued instructions, the ground airport updates the instruction status, including the task execution status and the return status, and at the same time uses the http transmission method to transmit the status information to the master station through the networked middleware program;

[0041] After the master station receives the feedback information from the ground airport, it will search for the airport control group information where it is located through the device ID. At the same time, it will encapsulate the obtained status information into a message in the mavlink protocol format and send this message to other ground airports within the airport control group where it is located;

[0042] S6. According to the message sent by the master station, other ground airports parse and synchronously update the corresponding instruction status to the latest status;

[0043] S7. When the UAV continues to execute the flight mission, execute S3 - S5 until the entire route mission is completed.

[0044] The ground airport establishes a connection with the master station and completes registration through the network connection middleware program means that: the ground airport sets the configuration file parameters, the network connection middleware program reads the configuration parameters, establishes a connection with the master station and completes registration. Using the UAV airport device ID for master station registration realizes the orderly management of the one - to - many scenario under UAV mission flight, improves the management efficiency during the operation process, and can complete flight control and mission management more efficiently, thus greatly enhancing the effective operation rate of UAV flight.

[0045] The network connection middleware program of the ground airport continuously detects the connection of the UAV means that: the network connection middleware program of the ground airport obtains the UAV connection information by setting and reading the configuration file parameters, continuously detects the connection of the UAV and initiates a connection request. Through continuous connection detection and requests, the network - connected UAV middleware program ensures an effective real - time connection with the UAV, increases the master station operator's control over the real - time status of the UAV, and thus improves the efficiency of UAV operations.

[0046] As Figure 2 shown, the network connection middleware program includes: a configuration parameter reading unit, an airport device registration unit, a UAV connection unit, and a UAV status synchronization control unit;

[0047] The configuration parameter reading unit is used for reading and managing the parameter information of the configuration file: performing operations such as device registration and UAV communication connection by reading the parameter information of the configuration file in real - time;

[0048] The airport device registration unit is used for completing the device registration and management of the airport in the UAV control master station: by reading the airport device ID in the configuration file, transmitting the airport device ID to the control master station using network technology based on http and having the master station complete the device registration, and completing the communication connection with the control master station before connecting to the UAV, facilitating subsequent UAV flight control of the airport; on the other hand, realizing flight information interaction with the master station based on websocket, and transmitting the current status information of the UAV, including: remaining battery power of the UAV, UAV voltage, UAV longitude and latitude, UAV altitude, UAV flight time.

[0049] The drone connection unit is used to complete the network connection with a drone equipped with a network connection function: the unit can complete the automatic connection of the drone after it is powered on, including 4G and 5G connections. Specifically, after setting the communication address of the drone device through the configuration file, the parameter information of the loaded configuration file is read, and the communication connection service is started to make continuous connection applications to the address of the configuration information; when the drone is not turned on, the unit will continuously apply for connection to the communication address in the configuration file when running in the control server. When the connection times out, a new connection request will be re-initiated until the drone is powered on. At this time, the unit will re-initiate a connection request to the drone to automatically complete the establishment of the communication link.

[0050] The drone status synchronization control unit is used to complete the information synchronization of the drone flight status when the networked drone hops across multiple airports.

[0051] Embodiment 2,

[0052] This embodiment also provides an electronic device, including:

[0053] at least one processor; and

[0054] A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described above.

[0055] In this embodiment, the electronic device may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile computing devices, smart phones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable computing devices, consumer electronic devices, and the like.

[0056] Embodiment 3,

[0057] This embodiment also provides a machine-readable storage medium storing executable instructions, which, when executed, enable the machine to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described above.

[0058] Specifically, a system or device equipped with a readable storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer or processor of the system or device can read and execute instructions stored in the readable storage medium.

[0059] In this case, the program code read from the readable medium itself can implement the functions of any one of the above embodiments. Therefore, the machine-readable code and the readable storage medium storing the machine-readable code constitute a part of this specification.

[0060] Examples of the readable storage medium include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer or a cloud via a communication network.

[0061] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A state synchronization control method for multi-airport hopping of a networked UAV, characterized in that: The method comprises the following steps: S1. The ground airport establishes a connection with the main station through the network middleware program and completes the registration. Each ground airport corresponds to a separate device ID; S2. The master station sets multiple ground airports that perform route tasks as an airport control group to manage and control the route tasks; S3. The network middleware program of the ground airport continuously detects the connection of the drone. When a drone is detected, it will automatically connect and send instructions to the drone through the main station from the ground airport. S4. According to the issued instructions, the ground airport updates the status information, including the mission execution status and return status, and transmits the status information to the main station through the network middleware program using the http transmission method; S5. After receiving the feedback information from the ground airport, the master station searches for the airport control group information through the device ID, encapsulates the obtained status information into a message in the MavLink protocol format, and sends the message to other ground airports in the airport control group; S6. According to the message sent by the master station, other ground airports parse and synchronously update the corresponding instruction status to the latest status; S7, when the UAV continues to perform the flight mission, execute S3-S5 until the entire route mission is completed; The network connection middleware program includes: a configuration parameter reading unit, an airport equipment registration unit, a drone connection unit, and a drone status synchronization control unit; The configuration parameter reading unit is used to read and manage the parameter information of the configuration file: the device registration and the UAV communication connection operation are performed by reading the parameter information of the configuration file in real time; The airport equipment registration unit is used to complete the equipment registration and management of the airport in the drone control main station: by reading the airport equipment ID in the configuration file, the airport equipment ID is transmitted to the control main station using the http-based network technology and the main station completes the equipment registration, and completes the communication connection with the control main station before connecting to the drone; on the other hand, the flight information interaction with the main station is realized based on websocket, and the current drone status information is transmitted; The drone connection unit is used to complete the network connection with the drone equipped with the network connection function: the unit realizes the automatic connection after the drone is powered on. Specifically, after the communication address of the drone device is set through the configuration file, the parameter information of the loaded configuration file is read, and the communication connection service is started to continuously apply for the connection to the address of the configuration information; when the drone is not turned on, the unit will continuously apply for the connection to the communication address in the configuration file when running in the control server, and will re-initiate a new connection request when the connection times out until the drone is powered on. At this time, the unit will re-initiate a connection request to the drone to automatically complete the establishment of the communication link; The drone status synchronization control unit is used to complete the information synchronization of the drone flight status during the multi-airport hopping of the networked drone.

2. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 1 is characterized in that: The ground airport establishes a connection with the main station and completes registration through the networked middleware program, which means that the ground airport sets configuration file parameters, and the networked middleware program reads the configuration parameters, establishes a connection with the main station and completes registration.

3. The state synchronization control method for multi-airport hopping of a networked UAV according to claim 1 is characterized in that: The networked middleware program of the ground airport continuously detects the connection of the drone, which means that the networked middleware program of the ground airport obtains the drone connection information by setting and reading the configuration file parameters, continuously detects the connection of the drone and initiates a connection application.

4. An electronic device, characterized in that: The electronic device comprises: at least one processor; and A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described in any one of claims 1 to 3.

5. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores executable instructions, which, when executed, enable the machine to execute the state synchronization control method for multi-airport hopping of a networked unmanned aerial vehicle as described in any one of claims 1 to 3.

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