Method, system and device for data transmission based on UPF-MEC and medium

By sinking user plane functions and edge computing technology on the base station side, data is directly processed on the base station side, solving the problem of high delay caused by the long traditional data transmission path, real-time processing and efficiency improvement are achieved.

CN119854876APending Publication Date: 2025-04-18TIANYI TRANSPORTATION TECH CO LTD
View PDF 0 Cites 1 Cited by

Patent Information

Application Number
CN202311338090.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2023-10-16
Publication Date
2025-04-18

Smart Images

  • Figure CN119854876A_ABST
    Figure CN119854876A_ABST
Patent Text Reader

Abstract

The invention provides a data transmission method, system and device based on UPF-MEC and a storage medium, and the method comprises the steps: fusing roadside data, transmitting the fused roadside data to a base station, and filtering the fused roadside data through a user plane function of the base station; in response to data needing near-field processing in the filtered roadside data, transmitting the data needing near-field processing to an edge computing technology corresponding to the user plane function for real-time processing; and in response to completion of data processing, transmitting the processed data to the nearest base station through the user plane function, and sending the processed data to the corresponding terminal through the nearest base station. According to the invention, the data is directly processed on the base station side, so that links for data transmission are reduced, and the time delay for data transmission is greatly reduced.
Need to check novelty before this filing date? Find Prior Art

Description

Technical Field

[0001] The present invention relates to the field of vehicle-road collaboration, and more specifically, to a method, system, device and storage medium for data transmission based on UPF-MEC. Background Art

[0002] The traditional data transmission path is: roadside equipment data - base station - BBU (baseband processing unit) - bearer network - core network - central cloud (for diversion) and then back. This path is very long and has high latency. Summary of the invention

[0003] In view of this, the purpose of an embodiment of the present invention is to propose a method, system, device and computer-readable storage medium for data transmission based on UPF-MEC. The present invention sinks the user plane function (UPF, User Plane Function) and edge computing technology (MEC, Mobile Edge Computing) to the base station side, and can process data directly on the base station side, reducing the data transmission link, thereby greatly reducing the data transmission delay.

[0004] Based on the above-mentioned purpose, one aspect of an embodiment of the present invention provides a method for data transmission based on UPF-MEC, comprising the following steps: fusing roadside data and transmitting it to a base station, and filtering the fused roadside data through the user plane function of the base station; in response to the presence of data requiring near-field processing in the filtered roadside data, passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing; and in response to the completion of data processing, transmitting the processed data to the nearest base station through the user plane function, and sending the processed data to the corresponding terminal through the nearest base station.

[0005] In some embodiments, in response to the presence of data requiring near-field processing in the filtered roadside data, the step of passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing through the optical fiber ring network composed of the base station and adjacent base stations.

[0006] In some embodiments, in response to the presence of data requiring near-field processing in the filtered roadside data, the step of passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: rasterizing and fusing the roadside data based on world coordinate alignment to form a data virtual plane in the fiber optic ring network, and layering the data according to the data virtual plane.

[0007] In some embodiments, in response to the presence of data requiring near-field processing in the filtered roadside data, the step of passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: splitting the rasterized data packet into different sub-data packets according to map coordinates, and setting the sequence numbers of the sub-data packets in sequence.

[0008] In some embodiments, in response to the completion of data processing, the step of transmitting the processed data to the nearest base station through the user plane function, and sending the processed data to the corresponding terminal through the nearest base station includes: providing the terminal with a minimum range of traffic data under the premise of safety based on the terminal's location, speed and complexity of the current traffic scene.

[0009] In some implementations, the step of fusing the roadside data and transmitting it to the base station includes: connecting the roadside sensor computing unit with adjacent roadside sensor computing units to form a local convergence ring network, and fusing the roadside data through the convergence ring network.

[0010] In some implementations, the step of fusing the roadside data and transmitting it to the base station includes: dynamically switching the transmission base station and the transmission channel according to the signal-to-noise ratio signal and the reference signal receiving power signal.

[0011] On the other hand, an embodiment of the present invention provides a system for data transmission based on UPF-MEC, including: a fusion module, configured to transmit the roadside data after fusing it to a base station, and filter the fused roadside data through the user plane function of the base station; a processing module, configured to respond to the presence of data requiring near-field processing in the filtered roadside data, and pass the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing; and a transmission module, configured to respond to the completion of data processing, transmit the processed data to the nearest base station through the user plane function, and send the processed data to the corresponding terminal through the nearest base station.

[0012] According to another aspect of the embodiments of the present invention, there is also provided a device for data transmission based on UPF-MEC, including: multiple roadside sensor computing units, which form a convergence ring network to merge and upload roadside data within the coverage of the convergence ring network; multiple base stations, which include user plane functions and corresponding edge computing technologies, and the multiple base stations form a fiber optic ring network to process and share the data uploaded by the convergence ring network, and send the processed data to the corresponding terminal.

[0013] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program that implements the above method steps when executed by a processor.

[0014] The present invention has the following beneficial technical effects: user plane functions and edge computing technologies are sunk to the base station side, data is processed directly on the base station side, the data transmission links are reduced, and thus the data transmission delay is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A schematic diagram of an embodiment of a method for performing data transmission based on UPF-MEC provided by the present invention;

[0017] Figure 2 The overall architecture diagram of data transmission based on UPF-MEC provided by the present invention;

[0018] Figure 3 A schematic diagram of rasterized transmission data provided by the present invention;

[0019] Figure 4 A schematic diagram of an embodiment of a system for transmitting data based on UPF-MEC provided by the present invention;

[0020] Figure 5 A working principle diagram of the device for data transmission based on UPF-MEC provided by the present invention;

[0021] Figure 6 A schematic diagram of the on-line process of a device for data transmission based on UPF-MEC provided by the present invention;

[0022] Figure 7 A schematic diagram of an embodiment of a computer storage medium for data transmission based on UPF-MEC provided by the present invention. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0024] It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities with the same name or non-identical parameters. It can be seen that "first" and "second" are only for the convenience of expression and should not be understood as limitations on the embodiments of the present invention. The subsequent embodiments will not explain this one by one.

[0025] A first aspect of an embodiment of the present invention proposes an embodiment of a method for data transmission based on UPF-MEC. Figure 1 FIG. 1 is a schematic diagram of an embodiment of a method for performing data transmission based on UPF-MEC provided by the present invention. Figure 1 As shown, the embodiment of the present invention includes the following steps:

[0026] S1, fusing the roadside data and transmitting it to a base station, and filtering the fused roadside data through a user plane function of the base station;

[0027] S2. In response to the presence of data requiring near-field processing in the filtered roadside data, the data requiring near-field processing is transmitted to the edge computing technology corresponding to the user plane function for real-time processing; and

[0028] S3. In response to the data processing being completed, the processed data is transmitted to the nearest base station through the user plane function, and the processed data is sent to the corresponding terminal through the nearest base station.

[0029] Figure 2 The overall architecture diagram of data transmission based on UPF-MEC provided by the present invention is combined with Figure 2 The embodiments of the present invention are described.

[0030] like Figure 2 As shown, the overall architecture of the embodiment of the present invention is divided into three layers: distributed computing layer, fused computing layer and central computing layer. The distributed computing layer uses RSSCU (Road Side Sensor Computing Unit) as the core module; the fused computing layer uses the computing base station as the core module, which is the basis of the computing network; the central computing layer is based on the public cloud.

[0031] The RSSCU of the distributed computing power layer integrates perception sensors (such as lidar, millimeter-wave radar, camera, acoustic and optical equipment, etc.), computing unit modules, data compression modules, positioning and timing modules, and wireless communication modules (WIFI, 5G). This module collects sensor data in real time and performs deep learning reasoning through the computing module to obtain perception results, and then transmits the perception results to the fusion computing power layer unit through the 5G module.

[0032] In some embodiments, the step of transmitting the roadside data after fusion to the base station includes: dynamically switching the transmission base station and the transmission channel according to the signal-to-noise ratio signal and the reference signal receiving power signal. In the distributed computing power layer, the data collected by the RSSCU is transmitted to the fusion computing power layer by wireless transmission. In the embodiment of the present invention, a dual-transmission and selective reception mechanism is used to achieve low data latency guarantee, that is, the transmitting end uses dual wireless modules to send the same data, and the receiving end extracts data on a first-come, first-served basis when receiving the data. In order to ensure the path optimization effect of the two wireless modules in the distributed computing power layer (that is, the paths are as inconsistent as possible), the wireless modules will dynamically switch between different base stations and different channels according to the SINR (signal-to-noise ratio) signal and the RSRP (reference signal receiving power) signal, thereby ensuring the lowest transmission latency.

[0033] In some embodiments, the step of fusing the roadside data and transmitting it to the base station includes: connecting the roadside sensor computing unit with the adjacent roadside sensor computing unit to form a local convergence ring network, and realizing the fusion of the roadside data through the convergence ring network. In addition to being able to transmit through a wireless module, the RSSCU module in the embodiment of the present invention can also be connected to adjacent RSSCUs (wired or wireless) to form a local convergence ring network. In this ring network, the sensor data on each RSSCU can realize pre-fusion and post-fusion of data.

[0034] In some embodiments, in response to the presence of data requiring near-field processing in the filtered roadside data, the step of passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function through a fiber optic ring network composed of a base station and adjacent base stations for real-time processing. The fused computing layer refers to the UPF-MEC in the overall architecture, where UPF refers to the user plane function, which mainly uses the capabilities of the computing power base station to realize data diversion by UPF (importing real-time high-quality data directly to MEC for data processing), while also fusing the data sent by the distributed computing layer. The fusion method will be based on the world coordinate alignment method. In order to ensure the integrity of the data, the perception results of the distribution layer will be fused based on rasterization.

[0035] In some embodiments, in response to the presence of data requiring near-field processing in the filtered roadside data, the step of passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: rasterizing and fusing the roadside data based on world coordinate alignment to form a data virtual plane in the fiber ring network, and hierarchically processing the data according to the data virtual plane. By fusing the raster perception results of the distribution layer, a regional digital plane is formed in the fiber ring network. The data virtual plane hierarchically processes the entire regional perception results, thereby realizing the processing of different traffic elements and the removal of sensitive information, and maximizing the protection of the privacy of social and public information.

[0036] In some embodiments, in response to the presence of data requiring near-field processing in the filtered roadside data, the step of passing the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: splitting the rasterized data packet into different sub-data packets according to map coordinates, and setting the sequence numbers of the sub-data packets in sequence.

[0037] Figure 3 A schematic diagram of the rasterized transmission data provided by the present invention, such as Figure 3 As shown, the roads are divided according to the map coordinates to form small grids, so that the large data packets in the local area are split into sub-data packets corresponding to the small grids, thereby reducing the delay of data transmission.

[0038] In some embodiments, in response to the completion of data processing, the step of transmitting the processed data to the nearest base station through the user plane function, and sending the processed data to the corresponding terminal through the nearest base station includes: providing the terminal with a minimum range of traffic data under the premise of safety based on the terminal's location, speed and complexity of the current traffic scene.

[0039] In order to ensure that the vehicle side can obtain real-time roadside perception data in a timely manner, the vehicle will be provided with the minimum range of traffic information based on the vehicle's location, speed and the complexity of the current traffic scene, while ensuring the maximum safety margin, thereby reducing the data transmission delay. In order to simplify the complexity of the system, the fusion layer also uses a dynamic grid format to send traffic information. In particular, the grid size here is different from that of the distribution layer, and a dynamic grid is also used.

[0040] The dynamic grid in the embodiment of the present invention refers to: dividing the grid size according to the model of the spatiotemporal traffic data flow. For example, during the morning rush hour, when the traffic jam at the intersection is serious, the switching of vehicles between grids is relatively slow. At this time, the grid is appropriately reduced according to the traffic flow speed and traffic situation. When the vehicles are sparse, the speed is high, and the traffic situation is simple, the grid is appropriately enlarged.

[0041] The MEC in the embodiment of the present invention can perform model reasoning of wireless signal quality based on transmission delays such as SINR, RSRP, link delay monitoring, traffic conditions, data transmission and reception volume at the base station side, and real-time shunting data of UPF, thereby calculating real-time signal quality and short-term signal quality prediction, and classifying the levels according to the quality of signal coverage. Therefore, the driving strategy of the vehicle can be guided and suggested based on the spatiotemporal characteristics of the wireless signal quality.

[0042] It should be pointed out in particular that the various steps in the various embodiments of the above-mentioned method for data transmission based on UPF-MEC can be cross-linked, replaced, added, and deleted. Therefore, these reasonable permutations, combinations and transformations of the method for data transmission based on UPF-MEC should also belong to the scope of protection of the present invention, and the scope of protection of the present invention should not be limited to the embodiments.

[0043] Based on the above purpose, the second aspect of the embodiment of the present invention proposes a system for data transmission based on UPF-MEC. Figure 4 As shown, the system 200 includes the following modules: a fusion module, configured to transmit the roadside data after fusion to the base station, and filter the fused roadside data through the user plane function of the base station; a processing module, configured to respond to the presence of data requiring near-field processing in the filtered roadside data, and pass the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing; and a transmission module, configured to respond to the completion of data processing, transmit the processed data to the nearest base station through the user plane function, and send the processed data to the corresponding terminal through the nearest base station.

[0044] In some embodiments, the processing module is configured to: transmit the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing through a fiber optic ring network composed of a base station and adjacent base stations.

[0045] In some embodiments, the processing module is configured to: perform rasterized fusion of roadside data based on world coordinate alignment to form a data virtual plane within the optical fiber ring network, and perform hierarchical processing on the data according to the data virtual plane.

[0046] In some implementations, the processing module is configured to: split the rasterized data packet into different sub-data packets according to map coordinates, and set serial numbers of the sub-data packets in sequence.

[0047] In some embodiments, the transmission module is configured to provide the terminal with minimum range of traffic data under the premise of safety according to the location, speed and complexity of the current traffic scene of the terminal.

[0048] In some implementations, the fusion module is configured to: connect the roadside sensor computing unit with adjacent roadside sensor computing units to form a local convergence ring network, and achieve fusion of roadside data through the convergence ring network.

[0049] In some implementations, the fusion module is configured to dynamically switch the transmission base station and the transmission channel according to the signal-to-noise ratio signal and the reference signal received power signal.

[0050] Based on the above-mentioned purpose, the third aspect of an embodiment of the present invention proposes a device for data transmission based on UPF-MEC, including: multiple roadside sensor computing units, which form a convergence ring network to merge and upload roadside data within the coverage of the convergence ring network; multiple base stations, which include user plane functions and corresponding edge computing technologies, and the multiple base stations form a fiber optic ring network to process and share the data uploaded by the convergence ring network, and send the processed data to the corresponding terminal.

[0051] Figure 5 The working principle diagram of the device for data transmission based on UPF-MEC provided by the present invention is as follows: Figure 5 As shown in the figure, the intelligent connected vehicle registers the vehicle and driving information through the car enterprise TSP service cloud or the central computing layer (cloud control platform central cloud), so that the central computing layer (cloud control platform central cloud) can obtain the vehicle's driving information, vehicle information, location information and subscribed service information, etc. The central computing layer passes the fusion layer access interface to the intelligent connected vehicle based on the location information, and sends the service information to the relevant computing base stations on the driving route. The intelligent connected vehicle accesses the service of the fusion computing layer based on the interface information, thereby obtaining the service data of vehicle-road collaboration.

[0052] Figure 6 A schematic diagram of the on-line process of a device for data transmission based on UPF-MEC provided by the present invention, such as Figure 6 As shown in the figure, the RSSCU online process in the distributed computing layer is divided into 6 steps, as follows:

[0053] (1) Initial system power-on: After power-on, the RSSCU obtains the device installation location through the GPS module, and the device records the location;

[0054] (2) Location information reporting: RSSCU transmits the acquired location signal to the central computing layer (central cloud of cloud control platform) through the 5G module for information registration;

[0055] (3) Download the positioning map. The central computing layer (cloud control platform central cloud) sends the local positioning reference map to the RSSCU based on the RSSCU location information for optimal posture adjustment.

[0056] (4) Equipment posture adjustment: The installation personnel complete the equipment posture adjustment under the guidance of the work simulation deployment;

[0057] (5) Configuration information interaction: RSSCU uploads the configuration information to the central computing layer (the central cloud of the cloud control platform), and the central computing layer (the central cloud of the cloud control platform) sends the configuration information to the computing base stations at the same time. At the same time, the central computing layer (the central cloud of the cloud control platform) transmits the fusion layer information, that is, the information of the nearest computing base stations, to RSSCU;

[0058] (6) Normal system operation: RSSCU transmits the corresponding configuration data to the fusion layer (computing power base station) based on the acquired fusion layer information, that is, the information of the nearest computing power base station, so that the system starts to work normally.

[0059] The present invention also provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, performs a method for data transmission based on UPF-MEC.

[0060] like Figure 7 As shown, it is a schematic diagram of an embodiment of the computer storage medium for data transmission based on UPF-MEC provided by the present invention. Figure 7 Taking the computer storage medium shown as an example, the computer readable storage medium 401 stores a computer program 402 that performs the above method when executed by a processor.

[0061] Finally, it should be noted that a person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the program of the method for data transmission based on UPF-MEC can be stored in a computer-readable storage medium, and the program, when executed, can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium of the program can be a disk, an optical disk, a read-only storage memory (ROM) or a random access memory (RAM), etc. The above-mentioned computer program embodiment can achieve the same or similar effect as any of the corresponding aforementioned method embodiments.

[0062] The above are exemplary embodiments disclosed in the present invention, but it should be noted that various changes and modifications may be made without departing from the scope disclosed in the embodiments of the present invention as defined in the claims. The functions, steps and / or actions of the method claims according to the disclosed embodiments described herein do not need to be performed in any particular order. In addition, although the elements disclosed in the embodiments of the present invention may be described or required in individual form, they may also be understood as multiple unless explicitly limited to the singular.

[0063] It should be understood that, as used herein, the singular forms "a", "an" are intended to include the plural forms as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" refers to any and all possible combinations including one or more of the associated listed items.

[0064] The serial numbers of the embodiments disclosed in the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0065] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0066] A person skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the disclosure of the embodiments of the present invention (including the claims) is limited to these examples; under the concept of the embodiments of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the embodiments of the present invention as above, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the embodiments of the present invention.

Claims

1. A method for data transmission based on UPF-MEC, characterized in that: The steps include: fusing the roadside data and transmitting it to a base station, and filtering the fused roadside data through a user plane function of the base station; In response to the presence of data requiring near-field processing in the filtered roadside data, the data requiring near-field processing is transmitted to the edge computing technology corresponding to the user plane function for real-time processing; as well as In response to the data processing being completed, the processed data is transmitted to the nearest base station through the user plane function, and the processed data is sent to the corresponding terminal through the nearest base station.

2. The method for data transmission based on UPF-MEC according to claim 1, characterized in that: In response to the presence of data requiring near-field processing in the filtered roadside data, the step of transmitting the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: The data requiring near-field processing is transmitted to the edge computing technology corresponding to the user plane function for real-time processing through the optical fiber ring network formed by the base station and adjacent base stations.

3. The method for data transmission based on UPF-MEC according to claim 2, characterized in that: In response to the presence of data requiring near-field processing in the filtered roadside data, the step of transmitting the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: The roadside data is rasterized and fused based on the world coordinate alignment to form a data virtual plane in the optical fiber ring network, and the data is layered according to the data virtual plane.

4. The method for data transmission based on UPF-MEC according to claim 3 is characterized in that: In response to the presence of data requiring near-field processing in the filtered roadside data, the step of transmitting the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing includes: The rasterized data packet is split into different sub-data packets according to the map coordinates, and the sub-data packets are numbered in sequence.

5. The method for data transmission based on UPF-MEC according to claim 1, characterized in that: In response to the data processing being completed, the step of transmitting the processed data to the nearest base station through the user plane function, and sending the processed data to the corresponding terminal through the nearest base station includes: Based on the location, speed and complexity of the current traffic scene of the terminal, the terminal is provided with minimal traffic data under the premise of safety.

6. The method for data transmission based on UPF-MEC according to claim 1, characterized in that: The step of fusing the roadside data and transmitting it to the base station comprises: The roadside sensor computing unit is connected to adjacent roadside sensor computing units to form a local convergence ring network, and the fusion of roadside data is achieved through the convergence ring network.

7. The method for data transmission based on UPF-MEC according to claim 1, characterized in that: The step of fusing the roadside data and transmitting it to the base station comprises: The transmission base station and the transmission channel are dynamically switched according to the signal-to-noise ratio signal and the reference signal receiving power signal.

8. A system for data transmission based on UPF-MEC, characterized in that: include: a fusion module configured to fuse the roadside data and transmit it to the base station, and filter the fused roadside data through the user plane function of the base station; A processing module, configured to, in response to the presence of data requiring near-field processing in the filtered roadside data, transmit the data requiring near-field processing to the edge computing technology corresponding to the user plane function for real-time processing; as well as The transmission module is configured to transmit the processed data to the nearest base station through the user plane function in response to the completion of data processing, and send the processed data to the corresponding terminal through the nearest base station.

9. A device for data transmission based on UPF-MEC, characterized in that: include: A plurality of roadside sensor computing units, wherein the plurality of roadside sensor computing units form a convergence ring network, and merge and upload roadside data within the coverage of the convergence ring network; A plurality of base stations, each of which includes a user plane function and a corresponding edge computing technology, and each of which forms a fiber optic ring network, processes and shares data uploaded by the converged ring network, and sends the processed data to a corresponding terminal.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Citation Information

Cited By

  • Deep learning driven low-altitude unmanned aerial vehicle disaster emergency surveying and mapping and real-time monitoring system

    CN120972996A