Unmanned aerial vehicle flexible command and control system and method based on intermediate distribution interaction layer, electronic equipment and medium

Abstract

The invention discloses an unmanned aerial vehicle flexible command and control system and method based on an intermediate distribution interaction layer, electronic equipment and a medium. The method can comprise the following steps: initializing an unmanned aerial vehicle flexible command and control system based on an intermediate distribution interaction layer; task data are determined, and automatic scheduling is carried out on the corresponding system nodes through a command scheduling unit; and the system nodes perform corresponding scheduling tasks and feed back the execution progress. The problems that a traditional command and control system is complex in architecture, poor in expansibility, high in communication delay and the like are solved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) command and control systems, and more specifically, to a UAV flexible command and control system, method, electronic equipment and medium based on an intermediate distribution interaction layer. Background Art

[0002] Traditional drone command and control system architectures mostly use UDP multicast for data communication, and each communication node is a one-to-many relationship. As the number of system nodes increases, this architecture becomes extremely complex, which not only increases the difficulty of system maintenance, but also reduces the system's communication efficiency and reliability. In addition, the UDP multicast method is prone to problems such as broadcast storms, further affecting the stability and performance of the system.

[0003] Therefore, it is necessary to develop a flexible UAV command and control system, method, electronic equipment and medium based on an intermediate distribution interaction layer.

[0004] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0005] The present invention proposes a UAV flexible command and control system, method, electronic equipment and medium based on an intermediate distribution interaction layer, aiming to solve the problems of complex architecture, poor scalability and high communication delay of traditional command and control systems.

[0006] In a first aspect, the embodiment of the present disclosure further provides a UAV flexible command and control system based on an intermediate distribution interaction layer, including:

[0007] Intermediate distribution interaction layer;

[0008] A plurality of system nodes are respectively connected to the intermediate distribution interaction layer;

[0009] The command and dispatch unit dynamically adjusts the subscription configuration between the system node and the intermediate distribution interaction layer according to the current task status, node function and network status.

[0010] Preferably, the system nodes include ground stations and ground data terminals.

[0011] In a second aspect, the embodiment of the present disclosure provides a flexible command and control method for a drone based on an intermediate distribution interaction layer, including:

[0012] Initialize the UAV flexible command and control system based on the intermediate distribution interaction layer;

[0013] Determine the task data and automatically schedule the corresponding system nodes through the command and dispatch unit;

[0014] The system node performs the corresponding scheduling task and feeds back the execution progress.

[0015] Preferably, initializing the UAV flexible command and control system based on the intermediate distribution interaction layer includes:

[0016] Perform initialization operations on system nodes, set up communication links, identity authentication, configuration files and task requirements;

[0017] Each system node conducts self-discovery through a broadcast mechanism, automatically detects and connects to other system nodes in the network, and synchronizes to the distributed data interaction layer to automatically build the system topology;

[0018] Each system node registers the topics that need to be subscribed or published according to task requirements and role requirements.

[0019] Preferably, automatically scheduling the corresponding system node by the command and dispatch unit includes:

[0020] The command and dispatch unit issues mission instruction data based on mission requirements and network topology;

[0021] Task data is bound to the target topic and transmitted through the intermediate distribution interaction layer;

[0022] The subscribed system nodes configure data subscription relationships according to task requirements, and each system node only receives the relevant data it subscribes to.

[0023] Preferably, the system node performs the corresponding scheduling task and feeds back the execution progress, including:

[0024] The command and dispatch unit issues task instructions and dispatches them to the executing system nodes according to the real-time requirements of the task, the status of the task nodes and the network topology;

[0025] Each execution node continuously feeds back the execution progress and status to the command and dispatch unit according to task requirements.

[0026] Preferably, it also includes discovering new nodes and recovering failed nodes:

[0027] When a new node joins through the distributed self-discovery mechanism, it automatically identifies and connects with other nodes through broadcast messages;

[0028] When a node fails or exits the system, the intermediate distribution interaction layer reconfigures the data transmission path through a fault-tolerant algorithm.

[0029] Preferably, this also includes monitoring system performance and optimizing bandwidth management:

[0030] By monitoring the operating status, task progress, and data transmission quality of each node, the command and dispatch unit evaluates the performance of the system in real time;

[0031] According to the performance evaluation results, the command and dispatch unit adjusts the task scheduling strategy and optimizes the data flow path and task allocation method;

[0032] Optimize the use of data transmission bandwidth based on data compression and encryption technology.

[0033] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0034] A memory storing executable instructions;

[0035] A processor runs the executable instructions in the memory to implement the UAV flexible command and control method based on the intermediate distribution interaction layer.

[0036] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for flexible command and control of a drone based on an intermediate distribution interaction layer is implemented.

[0037] Its beneficial effects are:

[0038] The present invention realizes efficient data transmission and dynamic task scheduling between nodes in the UAV system by designing a distributed data interaction layer and combining the publish-subscribe mechanism. The method ensures real-time data sharing and flexible execution of tasks through automatic routing of task data and dynamic subscription configuration of nodes. The command and dispatch software dynamically adjusts the subscription and publishing relationship between nodes according to task requirements and network status to adapt to changes in task priority, timeliness and network topology. In addition, the present invention has fault tolerance and can ensure the continuity and stability of the system through redundancy and task allocation of other nodes in the event of node failure. Simulation experiments show that the present invention significantly improves task execution efficiency and system reliability in task scenarios such as multi-target distributed reconnaissance and formation collaborative operations.

[0039] The methods and apparatus of the present invention have other features and advantages that will be apparent from, or will be described in detail in, the accompanying drawings and subsequent detailed descriptions incorporated herein, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0041] Figure 1 A block diagram of a UAV flexible command and control system based on an intermediate distribution interaction layer according to an embodiment of the present invention is shown.

[0042] Figure 2 A flow chart showing the steps of the method for flexible command and control of a UAV based on an intermediate distribution interaction layer according to the present invention.

[0043] Figure 3 A flowchart showing the steps of a method for flexible command and control of a UAV based on an intermediate distribution interaction layer according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0045] To facilitate understanding of the solutions and effects of the embodiments of the present invention, four specific application examples are given below. Those skilled in the art should understand that the examples are only for facilitating understanding of the present invention, and any specific details thereof are not intended to limit the present invention in any way.

[0046] Example 1

[0047] Figure 1 A block diagram of a UAV flexible command and control system based on an intermediate distribution interaction layer according to an embodiment of the present invention is shown.

[0048] like Figure 1 As shown, the UAV flexible command and control system based on the intermediate distribution interaction layer includes:

[0049] Intermediate distribution interaction layer;

[0050] Multiple system nodes are connected to the intermediate distribution interaction layer respectively;

[0051] The command and dispatch unit dynamically adjusts the subscription configuration between the system nodes and the intermediate distribution interaction layer according to the current task status, node function and network conditions.

[0052] In one example, the system nodes include ground stations and ground data terminals.

[0053] Example 2

[0054] Figure 2 A flow chart showing the steps of the method for flexible command and control of a UAV based on an intermediate distribution interaction layer according to the present invention.

[0055] like Figure 2 As shown, the UAV flexible command and control method based on the intermediate distribution interaction layer includes:

[0056] Step 101, initializing the UAV flexible command and control system based on the intermediate distribution interaction layer;

[0057] Step 102, determining the task data and automatically scheduling the corresponding system nodes through the command and dispatch unit;

[0058] Step 103: The system node performs the corresponding scheduling task and feeds back the execution progress.

[0059] In one example, initializing a UAV flexible command and control system based on an intermediate distribution interaction layer includes:

[0060] Perform initialization operations on system nodes, set up communication links, identity authentication, configuration files and task requirements;

[0061] Each system node conducts self-discovery through a broadcast mechanism, automatically detects and connects to other system nodes in the network, and synchronizes to the distributed data interaction layer to automatically build the system topology;

[0062] Each system node registers the topics that need to be subscribed or published according to task requirements and role requirements.

[0063] In one example, automatically scheduling the corresponding system node by the command and dispatch unit includes:

[0064] The command and dispatch unit issues mission instruction data based on mission requirements and network topology;

[0065] Task data is bound to the target topic and transmitted through the intermediate distribution interaction layer;

[0066] The subscribed system nodes configure data subscription relationships according to task requirements, and each system node only receives the relevant data it subscribes to.

[0067] In one example, the system node performs the corresponding scheduling task and feeds back the execution progress, including:

[0068] The command and dispatch unit issues task instructions and dispatches them to the execution system nodes according to the real-time requirements of the task, the status of the task nodes and the network topology;

[0069] Each execution node continuously feeds back the execution progress and status to the command and dispatch unit based on task requirements.

[0070] In one example, this also includes discovering new nodes and recovering failed nodes:

[0071] When a new node joins through the distributed self-discovery mechanism, it automatically identifies and connects with other nodes through broadcast messages;

[0072] When a node fails or exits the system, the intermediate distribution interaction layer reconfigures the data transmission path through a fault-tolerant algorithm.

[0073] In one example, this also includes monitoring system performance and optimizing bandwidth management:

[0074] By monitoring the operating status, task progress, and data transmission quality of each node, the command and dispatch unit evaluates the system performance in real time;

[0075] According to the performance evaluation results, the command and dispatch unit adjusts the task scheduling strategy and optimizes the data flow path and task allocation method;

[0076] Optimize the use of data transmission bandwidth based on data compression and encryption technology.

[0077] Figure 3 A flowchart showing the steps of a method for flexible command and control of a UAV based on an intermediate distribution interaction layer according to an embodiment of the present invention is shown.

[0078] Specifically, Figure 3 As shown in the figure, node initialization and system adaptive configuration. Each system node includes a ground station (GCS) and a ground data terminal GDT. When it starts, it completes the initialization operation, sets the communication link, authentication, configuration file and mission requirements, and ensures that the node operates stably in a distributed environment. Each node performs self-discovery through a broadcast mechanism, automatically detects and connects to other nodes in the network. According to its role and mission requirements, the node performs initialization operations and synchronizes to the distributed data interaction layer to automatically build the system topology. Each node registers the topics it needs to subscribe to or publish according to the mission requirements and role requirements. Data topic registration involves the configuration of two-way data interaction capabilities between nodes and topics to ensure that mission data can be transmitted correctly.

[0079] Publish task data and automatically schedule. The command and dispatch unit publishes task instruction data according to task requirements and network topology. Task data is bound to the target topic and transmitted through the intermediate distribution interaction layer. The publishing node does not need to explicitly specify the subscription node, and the data is automatically routed to all nodes subscribed to the topic. The subscribing node configures the data subscription relationship according to the task requirements, and the system automatically routes the data according to the established topic and subscription node relationship. Each node only receives the relevant data it subscribes to, without the need to establish a direct communication connection. The command and dispatch unit dynamically adjusts the subscription configuration of each node according to the current task status, node function and network status. This dynamic configuration mechanism allows flexible adaptation to task requirements and system conditions based on task priority, timeliness and network topology changes.

[0080] Select data transfer mode and optimize routing.

[0081] Transmission mode selection: Select the appropriate data transmission mode based on task requirements and network conditions:

[0082] One-to-one mode: Data is transmitted from the publishing node to a single designated subscription node, which is suitable for scenarios with clear data transmission targets.

[0083] One-to-many mode: data is broadcast from the publishing node to multiple subscribing nodes, which is suitable for large-scale broadcast tasks such as formation reconnaissance and global monitoring.

[0084] Many-to-one mode: multiple nodes publish data to the same target topic. It is suitable for data aggregation tasks, such as multiple nodes working together to complete a task.

[0085] The system dynamically adjusts the data transmission path and bandwidth allocation, taking into account network topology, node status and bandwidth resources, and selects the optimal transmission path. The optimization process is ongoing, reducing data transmission delays and improving bandwidth utilization through feedback mechanisms.

[0086] Dispatching tasks and feeding back execution progress. The command and dispatch unit issues task instructions and dispatches them to appropriate execution nodes based on the real-time requirements of the task, the status of the task nodes, and the network topology. The scheduling software dynamically sets the node's subscription topic and data flow based on the task priority and node status to ensure the smooth execution of the task. Each execution node continuously feeds back the execution progress, status, and related data to the command and dispatch unit based on the task requirements. The command and dispatch unit adjusts the task execution strategy based on real-time feedback data to optimize the execution efficiency and reliability of the task. Multiple nodes work together through real-time data sharing and feedback. The command and dispatch unit flexibly adjusts task allocation, execution order, and the collaborative relationship between nodes based on task changes, node status, and data flow relationships.

[0087] Discover new nodes and restore failed nodes. The system adopts a distributed self-discovery mechanism. When a new node joins, it automatically identifies and connects with other nodes through broadcast messages. The new node automatically adjusts the subscription relationship according to its task configuration to ensure seamless expansion of the system. When a node fails or exits the system, the distribution interaction layer reconfigures the data transmission path through a fault-tolerant algorithm to ensure that the function of the failed node is redundant or replaced by other nodes in the network to avoid affecting the overall function of the system. The system adjusts the network topology in real time according to the increase and decrease of nodes and optimizes the data flow path. Changes in node status in the network (such as network disconnection, node failure, etc.) will not affect data reception and task execution of other nodes.

[0088] Monitor system performance and optimize bandwidth management. By monitoring the operating status of each node, task progress, data transmission quality and other indicators, the command and dispatch unit evaluates the overall performance of the system in real time, such as latency, bandwidth occupancy, data loss rate, etc. Based on the performance evaluation results, the command and dispatch unit adjusts the task scheduling strategy, optimizes the data flow path and task allocation method, and ensures the system's task execution capability under high load. Introduce data compression and encryption technology to optimize the use of data transmission bandwidth, reduce network transmission delays, ensure efficient and low-latency data transmission, and avoid network bottlenecks.

[0089] Example 3

[0090] The present disclosure provides an electronic device, which includes: a memory storing executable instructions; and a processor running the executable instructions in the memory to implement the above-mentioned UAV flexible command and control method based on the intermediate distribution interaction layer.

[0091] An electronic device according to an embodiment of the present disclosure includes a memory and a processor.

[0092] The memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, etc.

[0093] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the present disclosure, the processor is used to run the computer-readable instructions stored in the memory.

[0094] Those skilled in the art should be able to understand that in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the protection scope of the present disclosure.

[0095] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0096] Example 4

[0097] An embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method for flexible command and control of a drone based on an intermediate distribution interaction layer is implemented.

[0098] According to the computer-readable storage medium of the embodiment of the present disclosure, non-transitory computer-readable instructions are stored thereon. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the above-mentioned methods of each embodiment of the present disclosure are executed.

[0099] The above-mentioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (e.g., memory card) and media with built-in ROM (e.g., ROM box).

[0100] Those skilled in the art should understand that the purpose of the above description of the embodiments of the present invention is only to exemplarily illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any given examples.

[0101] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A UAV flexible command and control system based on an intermediate distribution interaction layer, characterized in that: include: Intermediate distribution interaction layer; A plurality of system nodes are respectively connected to the intermediate distribution interaction layer; The command and dispatch unit dynamically adjusts the subscription configuration between the system node and the intermediate distribution interaction layer according to the current task status, node function and network status.

2. The UAV flexible command and control method based on the intermediate distribution interaction layer according to claim 1, wherein: The system nodes include ground stations and ground data terminals.

3. A flexible UAV command and control method based on the intermediate distribution interaction layer, The UAV flexible command and control system based on the intermediate distribution interaction layer according to claim 1 or 2 is characterized by comprising: Initialize the UAV flexible command and control system based on the intermediate distribution interaction layer; Determine the task data and automatically schedule the corresponding system nodes through the command and dispatch unit; The system node performs the corresponding scheduling task and feeds back the execution progress.

4. The method for flexible UAV command and control based on the intermediate distribution interaction layer according to claim 3, wherein: Initialization of the UAV flexible command and control system based on the intermediate distribution interaction layer includes: Perform initialization operations on system nodes, set up communication links, identity authentication, configuration files and task requirements; Each system node conducts self-discovery through a broadcast mechanism, automatically detects and connects to other system nodes in the network, and synchronizes to the distributed data interaction layer to automatically build the system topology; Each system node registers the topics that need to be subscribed or published according to task requirements and role requirements.

5. The method for flexible UAV command and control based on the intermediate distribution interaction layer according to claim 3, wherein: Automatic scheduling of corresponding system nodes through the command and dispatch unit includes: The command and dispatch unit issues mission instruction data based on mission requirements and network topology; Task data is bound to the target topic and transmitted through the intermediate distribution interaction layer; The subscribed system nodes configure data subscription relationships according to task requirements, and each system node only receives the relevant data it subscribes to.

6. The UAV flexible command and control method based on the intermediate distribution interaction layer according to claim 3, wherein: The system node performs the corresponding scheduling task and feeds back the execution progress, including: The command and dispatch unit issues task instructions and dispatches them to the executing system nodes according to the real-time requirements of the task, the status of the task nodes and the network topology; Each execution node continuously feeds back the execution progress and status to the command and dispatch unit according to task requirements.

7. The method for flexible UAV command and control based on the intermediate distribution interaction layer according to claim 3, wherein: It also includes discovering new nodes and recovering failed nodes: When a new node joins through the distributed self-discovery mechanism, it automatically identifies and connects with other nodes through broadcast messages; When a node fails or exits the system, the intermediate distribution interaction layer reconfigures the data transmission path through a fault-tolerant algorithm.

8. The method for flexible UAV command and control based on the intermediate distribution interaction layer according to claim 3, wherein: Also includes monitoring system performance and optimizing bandwidth management: By monitoring the operating status, task progress, and data transmission quality of each node, the command and dispatch unit evaluates the performance of the system in real time; According to the performance evaluation results, the command and dispatch unit adjusts the task scheduling strategy and optimizes the data flow path and task allocation method; Optimize the use of data transmission bandwidth based on data compression and encryption technology.

9. An electronic device, characterized in that: The electronic device comprises: A memory storing executable instructions; A processor, wherein the processor runs the executable instructions in the memory to implement the flexible command and control method for a drone based on an intermediate distribution interaction layer as described in any one of claims 3 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for flexible command and control of a drone based on an intermediate distribution interaction layer described in any one of claims 3 to 8 is implemented.

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