Unmanned aerial vehicle cluster networking system and method

Abstract

The invention discloses an unmanned aerial vehicle cluster networking system and method. The system comprises an unmanned aerial vehicle module, a data transmission module and a circuit breaking unit, the unmanned aerial vehicle module is connected with the data transmission module and the circuit breaking unit through interfaces. The data transmission module is connected with the circuit breaking unit through an optical fiber; according to the system, the unmanned aerial vehicle module, the data transmission module and the circuit breaking unit are mutually matched to work, so that TSN optical fiber networking of the unmanned aerial vehicle cluster is realized, high-bandwidth and low-delay networking is provided for nodes among the unmanned aerial vehicle clusters, data communication in the cluster can be effectively carried out, the nodes with hard damage are cut off, and the reliability of the unmanned aerial vehicle cluster is improved. It is ensured that the damaged nodes do not influence the task of the cluster and are not interfered and deceived by a conventional anti-unmanned aerial vehicle bee colony means; the method has the same beneficial effects.

Description

Technical Field

[0001] The present application relates to the field of drone network communication technology, and in particular to a system and method for drone cluster networking. Background Art

[0002] Unmanned aerial vehicles (UAVs) have been developing continuously in recent years, and various technologies have basically matured. They have played an increasingly important role in the military and civilian fields. With the advantages of UAVs such as low cost, good concealment, simple take-off and landing, support for multiple mission types and high-demand tasks, UAVs have developed from relatively simple single units with limited capabilities to UAV swarms.

[0003] When drone swarms are performing tasks, they need to collect intelligence through sensors and other airborne equipment and exchange information with ground command stations. They need to coordinate group flight control and also need to communicate with manned aircraft through radio communications. Therefore, data links, communications, navigation and other resources are very important for the function of drone swarms. Soft kill in anti-drone swarm means that by interfering or deceiving such resources, drone swarms lose their ability to coordinate operations. It has the advantages of fast strike speed, high interception efficiency, and high cost-effectiveness, and is currently being widely studied and used.

[0004] In view of this, how to ensure that drone swarms can form networks and communicate normally when they are interfered with and deceived by anti-drone swarm means is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide a system and method for drone cluster networking, which realizes TSN optical fiber networking of drone clusters through various modules, provides high-bandwidth and low-latency networking for nodes between drone clusters, can effectively carry out data communication within the cluster, and cut off nodes that have hard damage to ensure that the damaged nodes will not affect the tasks of the cluster.

[0006] The first object of the present invention is to provide a system for drone cluster networking; The technical solution provided by the present invention is as follows: A system for drone cluster networking, comprising: a drone module, a data transmission module and a circuit breaker unit; the drone module is connected to the data transmission module and the circuit breaker unit respectively through interfaces; the data transmission module is connected to the circuit breaker unit through an optical fiber; The drone module is used to receive the data sent by the data transmission module and control the circuit breaker unit; The data transmission module is used to ensure data transmission between the ground station and the drone module; The disconnecting unit is used to cut off the optical fiber connected to the damaged drone according to the instruction of the drone module.

[0007] Preferably, the drone module specifically includes: a main control chip, a storage unit, a sensor, a communication interface and a control interface; The main control chip is connected to the storage unit and the sensor respectively; The main control chip is connected to the circuit breaker unit via the control interface; The main control chip is connected to the data transmission module through the communication interface.

[0008] Preferably, the drone module further includes: GPS, a steering gear and a mission interface; The servo is connected to the main control chip; The GPS is used to collect the location information and speed information of the drone; The task interface is used to install additional equipment.

[0009] Preferably, the sensors specifically include: an IMU sensor, a magnetic sensor, an airspeed sensor and a static pressure sensor; The main control chip is respectively connected to the IMU sensor, the magnetic sensor, the airspeed sensor and the static pressure sensor, and is used to provide the main control chip with target data for aircraft control.

[0010] Preferably, the data transmission module is specifically a TSN switching chip; The TSN switching chip is connected to the communication interface via an Ethernet interface; The TSN switching chip is connected to the circuit breaker unit via an optical fiber.

[0011] Preferably, the TSN switching chip is connected to the ground controller via an optical fiber interface.

[0012] The second object of the present invention is to provide a method for drone cluster networking; The technical solution provided by the present invention is as follows: A method for drone cluster networking, comprising the following steps: Initialize the drone module, data transmission module, circuit breaker unit and configuration data structure, and enter the basic configuration state after initial success; Acquire an initial configuration data structure according to the basic configuration state, and configure basic node parameters and topology verification through the initial configuration data structure; Remotely configuring the network cluster nodes according to the topology and communication data stream transmission information, and verifying the remote configuration; The network cluster nodes are scanned for network operation status to obtain diagnosis results, and abnormal nodes are cut off according to the diagnosis results.

[0013] Preferably, the topology verification specifically includes: Configure the corresponding forwarding table according to the network topology; Transmitting configuration data to each cluster node according to the forwarding table; The cluster node forwards the reported data to the ground controller for verification.

[0014] Preferably, before scanning the network operation status of the network cluster nodes to obtain the diagnosis results, the method further includes: Initialize the master clock and slave clock in the network; Whether the master clock and the slave clock of the network are synchronized is determined by the deviation between each node and the master clock.

[0015] Preferably, scanning the network operation status of the network cluster nodes to obtain a diagnosis result, and cutting off abnormal nodes according to the diagnosis result, specifically includes: Active network scanning is used to read the link status, node status, and packet loss registers of each drone module to diagnose the network node and link connectivity status of each drone: If the network node and link connectivity status of the drone is abnormal, the network node and network link status are deeply detected according to the telemetry message to obtain telemetry information, and network fault diagnosis is performed based on the telemetry information; If the network node and link connectivity status of the drone is hard damaged, the disconnection unit of the drone adjacent to the damaged drone is controlled to cut off the optical fiber with the damaged drone.

[0016] The third object of the present invention is to provide an electronic device; The technical solution provided by the present invention is as follows: An electronic device, comprising: at least one processor; and A memory is communicatively connected to the at least one processor, the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the steps of the method for drone cluster networking.

[0017] A fourth object of the present invention is to provide a computer readable storage medium; The technical solution provided by the present invention is as follows: A computer-readable storage medium is used to store a computer program, and the computer program is used to enable a computer to execute the steps of a method for forming a cluster of unmanned aerial vehicles (UAVs).

[0018] A system for drone cluster networking provided by the present invention comprises: a drone module, a data transmission module and a circuit breaker unit; the drone module is respectively connected to the data transmission module and the circuit breaker unit through interfaces; the data transmission module is connected to the circuit breaker unit through optical fibers; the system realizes TSN optical fiber networking of drone clusters through the cooperation of the drone module, the data transmission module and the circuit breaker unit, provides high-bandwidth and low-latency networking for nodes between drone clusters, can effectively carry out data communication within the cluster, and cuts off nodes that have suffered hard damage, ensuring that the damaged nodes will not affect the tasks of the cluster and will not be interfered with and deceived by conventional anti-drone swarm means.

[0019] The present invention also provides a method for drone cluster networking. Since this method and the drone cluster networking system solve the same technical problem and belong to the same technical concept, they should have the same beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application 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 described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the structure of a system for drone cluster networking in an embodiment of the present invention; Figure 2 A schematic diagram of a flow chart of a method for forming a drone cluster network in an embodiment of the present invention; Figure 3 This is another schematic diagram of a flow chart of a method for forming a drone cluster network in an embodiment of the present invention; Figure 4 A topological diagram of a drone cluster network in an embodiment of the present invention; Figure 5 Schematic diagram of node removal in drone cluster networking in an embodiment of the present invention; Figure 6 The figure is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0025] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0026] like Figure 1 As shown, an embodiment of the present invention provides a system for drone cluster networking, comprising: a drone module 1, a data transmission module 2 and a circuit breaker unit 3; the drone module 1 is connected to the data transmission module 2 and the circuit breaker unit 3 respectively through interfaces; the data transmission module 2 is connected to the circuit breaker unit 3 through an optical fiber; The drone module 1 is used to receive data sent by the data transmission module 2 and control the circuit breaker unit 3; The data transmission module 2 is used to ensure data transmission between the ground station and the drone module 1; The disconnection unit 3 is used to cut off the optical fiber connected to the damaged drone according to the instruction of the drone module 1.

[0027] In actual application, a drone module 1, a data transmission module 2 and a circuit breaker unit 3 are set in the drone cluster networking system. The drone module 1 is connected to the data transmission module 2 and the circuit breaker unit 3 through interfaces, and the drone module 1 can receive data sent by the data transmission module 2 and control the circuit breaker unit 3; the data transmission module 2 is connected to the circuit breaker unit 3 through an optical fiber, and the TSN networking function of the drone cluster is realized through the data transmission module 2 to ensure high-bandwidth and low-latency data transmission between the system and the ground station and other drone systems within the cluster, and the circuit breaker unit 3 can cut off the optical fiber connected to the damaged drone through the instruction of the drone module 1; the system realizes the TSN optical fiber networking of the drone cluster through the drone module, the data transmission module and the circuit breaker unit, provides high-bandwidth and low-latency networking for nodes between drone clusters, can effectively carry out data communication within the cluster, and cut off the nodes that have suffered hard damage, to ensure that the damaged nodes will not affect the tasks of the cluster and will not be interfered with and deceived by conventional anti-drone swarm means; the drone module in this embodiment refers to the drone system.

[0028] Preferably, the drone module 1 specifically includes: a main control chip 11, a storage unit 12, a sensor 13, a communication interface 14 and a control interface 15; The main control chip 11 is connected to the storage unit 12 and the sensor 13 respectively; The main control chip 11 is connected to the circuit breaker unit 3 via the control interface 15; The main control chip 11 is connected to the data transmission module 2 via the communication interface 14 .

[0029] In actual use, a main control chip 11, a storage unit 12, a sensor 13, a communication interface 14 and a control interface 15 are specifically set in the drone module, wherein the main control chip 11 calculates the drone flight control according to the input information of the sensor 13 to realize the control of the aircraft, and the main control chip can receive Ethernet message data transmitted from the communication interface 14, and can also control the circuit breaker unit 3 through the control interface 15; and the storage unit 12 mainly records the drone attitude information, altitude information and magnetic heading information, and transmits the recorded information to the main control chip 11, and at the same time stores some control parameters of the flight control, control additional parameters and mission waypoints, so that the main control chip 11 can receive the received drone attitude information, drone altitude information and magnetic heading information through the communication interface 14. The sensor 13 includes an IMU sensor for collecting the attitude information of the drone; a magnetic sensor for collecting the magnetic heading information of the drone; an airspeed sensor for collecting the speed signal of the aircraft relative to the air during the flight; a static pressure sensor for calculating the static pressure value signal of the airspeed; each sensor mainly provides the main control chip 11 with various data provided by the aircraft control; the communication interface 14 mainly realizes the TSN access function of the drone module, mainly completes the conversion of the drone module data to TSN data, and realizes the data communication with the ground station and the data interaction within the cluster; the control interface 15 mainly provides the main control chip 11 with control of the circuit breaker unit 3, and can cut off the optical fiber connected to the outside.

[0030] Preferably, the drone module 1 further includes: a GPS 16, a steering engine 17 and a mission interface 18; The servo is connected to the main control chip; The GPS 16 is used to collect the position information and speed information of the drone; The task interface 18 is used to install additional equipment.

[0031] In actual use, the drone module also includes: GPS16, steering gear 17 and task interface 18; wherein, GPS16 is mainly used to collect the position information and speed information of the drone; steering gear 17 includes aileron rudder, elevator rudder, throttle rudder, rudder, parachute cabin rudder, flap rudder, etc., and controls the attitude of the drone by receiving the input control signal of the main control chip 11; GPS16 is mainly used to collect the position information and speed information of the drone; task interface 18 is used for the task needs of the drone when working, and additional accessories are installed, such as various reconnaissance equipment. In this embodiment, the drone module 1 can be connected to the communication interface 14 and the control interface 15 to realize the fiber optic networking and control of the drone cluster. In this embodiment, GPS and task interface will not be connected to the data transmission module, because the drone can support wireless networking or wired networking. By default, wired networking is preferred, and the original drone function is still retained.

[0032] Preferably, the data transmission module 2 is specifically a TSN switching chip; The TSN switching chip is connected to the communication interface 14 via an Ethernet interface; The TSN switching chip is connected to the circuit breaker unit 3 via an optical fiber.

[0033] In actual application, the data transmission module is specifically a TSN switching chip. The TSN switching chip will be connected to the communication interface 14 through the Ethernet interface and to the circuit breaker unit 3 through the optical fiber. The TSN networking function of the drone cluster is mainly realized through the TSN switching chip to ensure high-bandwidth and low-latency data transmission between the system and the ground station and other drone modules 1 within the cluster.

[0034] Preferably, the TSN switching chip is connected to the ground controller via an optical fiber interface.

[0035] In actual use, the TSN switching chip leads to 4 external fiber optic interfaces for internal cluster networking or connecting to the ground controller. The ground controller can initialize, remotely configure, verify configuration, synchronize time, and scan network operation status for all TSN switching chips inside the drone, thereby achieving management and control of the drone cluster networking.

[0036] like Figures 2 to 3 As shown, an embodiment of the present invention provides a method for drone cluster networking, comprising the following steps: S1. Initialize the drone module, data transmission module, circuit breaker unit and configuration data structure, and enter the basic configuration state after initial success; In step S1, this step belongs to the initial state, which is to complete the initialization of each drone, and then jump to the basic configuration state after the initial success; among them, the initialization of each component inside the drone module; the initial network state, network operation state variables, and network state capture conditions in the data transmission module are initialized; the initialization of the circuit breaker unit is to initialize the circuit breaker unit to a normal working state; the initialization of the configuration data structure is to parse the initial configuration text and fill in the initial configuration data structure; it also includes the initialization of the communication interface, which is to initialize the TSN communication library.

[0037] S2. Obtaining an initial configuration data structure according to the basic configuration state, and configuring basic node parameters and topology verification through the initial configuration data structure; In step S2, this step is the topology verification state, in which the ground controller completes the configuration of the basic parameters of the node and the network topology verification function according to the initial configuration data structure obtained in the basic configuration state of the drone cluster. Among them, the basic parameters include the size of the time slot of the TSN switching chip, the scheduling cycle, etc.

[0038] S3. Remotely configure the network cluster nodes according to the topology and communication data stream transmission information, and verify the remote configuration; In step S3, this step is divided into remote configuration state and configuration verification state. In the remote configuration state, the ground controller mainly transmits planning information according to the network connection topology and communication data stream, and then configures the network cluster nodes; the ground controller receives the user's planning configuration information and stores it in the global configuration information data structure; the ground controller configures the drone cluster from the drone connected to the ground first, and configures it from near to far in the order of topological connection. After completing the configuration, check the configuration verification flag. If it is 1, it means that configuration verification is required, then jump to the configuration verification state. If it is 0, it means that no configuration verification is required, then jump to the time synchronization initialization state.

[0039] In the configuration verification state, the ground controller completes the functions of receiving remote configuration verification information, collecting node report information in the network, and reporting it to the upper-layer application. The ground controller first receives and parses the information that needs to be verified sent by the upper-layer application; then, according to the received verification information, it configures the corresponding node report register to obtain the information that needs to be verified (report information); finally, it submits the received report information to the upper-layer application, which determines whether the configuration is successful. If the configuration is successful, it jumps to the time synchronization initialization state. If the configuration fails, it jumps to the network failure state. This state is mainly for unrecoverable network failures (non-hard damage), prompting the user with fault information to facilitate the recovery and maintenance of the drone.

[0040] S4. Scan the network operation status of the network cluster nodes to obtain diagnosis results, and cut off abnormal nodes according to the diagnosis results.

[0041] In step S4, this step includes a network operation status scanning state and a network operation abnormal node cut-off state. In the network operation status scanning state, the ground controller will perform a network operation status scan on the network cluster nodes, thereby completing status monitoring, fault diagnosis and other operations, and at the same time send the diagnosis results to the network operation abnormal node cut-off state. In the network operation abnormal node cut-off state, when the ground controller finds that the network node or link status is abnormal, it will cut off the abnormal node.

[0042] Preferably, the topology verification specifically includes: Configure the corresponding forwarding table according to the network topology; Transmitting configuration data to each cluster node according to the forwarding table; The cluster node forwards the reported data to the ground controller for verification.

[0043] In actual use, topology verification is to configure the corresponding forwarding table for the specific network topology so that the configuration data can be transmitted to each cluster node, and the reported data of each node can be forwarded to the ground controller. If the ground controller can receive the report message of the configuration cluster node, the node is online, otherwise the node is offline. If it is offline, it jumps to the network failure state. This state is mainly for unrecoverable network failures (non-hard damage), prompting the user with fault information, and relevant personnel are required to check the problems of the faulty drone node.

[0044] like Figure 4 As shown in the figure, the drone cluster has completed the connection deployment before takeoff, and its topology structure has been known during deployment. Each drone supports 4 external connection interfaces. Therefore, when the drone is deployed and networked, the reliability of transmission will be taken into consideration. Therefore, multiple interfaces are generally used to connect with other drones to provide more redundant links for data transmission to prevent the failure of the drone node networking due to a certain optical fiber failure.

[0045] Preferably, before scanning the network operation status of the network cluster nodes to obtain the diagnosis results, the method further includes: Initialize the master clock and slave clock in the network; Whether the master clock and the slave clock of the network are synchronized is determined by the deviation between each node and the master clock.

[0046] In actual use, the master clock and slave clock in the network are initialized to the time synchronization initialization state. In this state, the ground controller completes the time synchronization function and is responsible for adjusting the master-slave time deviation in the network to a certain range. If the clock synchronization initialization can be completed, it will jump to the time synchronization verification state. If the clock synchronization initialization cannot be completed, it will jump to the network failure state. This state is mainly for unrecoverable network failures (non-hard damage), prompting the user with fault information to facilitate the recovery and maintenance of the drone.

[0047] The deviation between each node and the master clock is used to determine whether the master clock and slave clock of the network are synchronized, which is the time synchronization verification state. This state mainly verifies whether the entire network is synchronized, and determines whether the network is fully synchronized by the deviation between each node and the master clock. If all nodes can complete clock synchronization, it jumps to the network operation status scanning state. If all node clock synchronization cannot be completed, it jumps to the network fault state. This state is mainly for unrecoverable network faults (non-hard damage), prompting fault information to users to facilitate drone recovery and maintenance.

[0048] Preferably, scanning the network operation status of the network cluster nodes to obtain a diagnosis result, and cutting off abnormal nodes according to the diagnosis result, specifically includes: Active network scanning is used to read the link status, node status, and packet loss registers of each drone module to diagnose the network node and link connectivity status of each drone: If the network node and link connectivity status of the drone is abnormal, the network node and network link status are deeply detected according to the telemetry message to obtain telemetry information, and network fault diagnosis is performed based on the telemetry information; If the network node and link connectivity status of the drone is hard damaged, the disconnection unit of the drone adjacent to the damaged drone is controlled to cut off the optical fiber with the damaged drone.

[0049] In actual use, the ground controller periodically performs lightweight active network scanning, reads key information such as the link status, node status, and packet loss register of each drone device, and makes a preliminary judgment on the network node and link connectivity status. If a drone node status is found to be abnormal, the ground controller enters the in-band network telemetry state, generates telemetry messages according to the telemetry strategy configured by the ground controller, and performs in-depth detection of the network node and network link status to obtain more measurement information and node status information. Based on the acquired telemetry information, the ground controller performs network fault diagnosis, and generates corresponding fault recovery configuration information based on the diagnosis results, such as adjusting the sending path of the data stream, etc. It can jump to the topology verification state and re-plan the network topology to achieve fault recovery. If it is determined that the drone node is hard damaged, it jumps to the network operation abnormal node cut-off state. In this state, when the ground controller finds that the network node or link status is abnormal, the ground controller will control the disconnection unit of the drone adjacent to the drone to cut off all optical fibers with the damaged drone, and re-enter the topology verification state to re-plan the network.

[0050] like Figure 5 As shown in the figure, if one of the drone nodes is hard damaged (marked as V in the figure), the adjacent drone nodes need to cut off the optical fiber adjacent to it to ensure that the hard damaged drone will not affect the tasks of other drone clusters. At the same time, the data exchange of the damaged node is completed through other redundant links, and the network is replanned to achieve re-networking. If all the optical fiber channels of the drone are disconnected and it cannot be connected to the ground control through a wired method, it can be connected to the ground controller through the original wireless method to achieve the recovery of the drone.

[0051] Furthermore, the present application also discloses an electronic device. Figure 6 This is a structural diagram of an electronic device according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0052] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the method for drone cluster networking disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0053] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create an event detection channel between the electronic device 20 and external devices for efficient use of limited annotation data. The communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. The specific interface type can be selected according to specific application needs and is not specifically limited here.

[0054] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222 and data 223, etc. The storage method can be temporary storage or permanent storage.

[0055] Among them, the operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20 to realize the operation and processing of the data 223 in the memory 22 by the processor 21, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the method of drone cluster networking performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks. In addition to data transmitted from external devices received by the drone cluster networking device, the data 223 can also include data collected by its own input and output interface 25, etc.

[0056] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0057] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned method for forming a swarm of drones is implemented. The specific steps of the method may refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be described in detail here.

[0058] It should be understood that the use of "method", "device", "unit" and / or "module" in this application is only a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.

[0059] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The elements defined by the sentence "includes a..." do not exclude the existence of other identical elements in the process, method, commodity or device that includes the elements.

[0060] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0061] If a flow chart is used in the present application, the flow chart is used to illustrate the operations performed by the system according to the embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, each step can be processed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or a certain step or several steps of operations can be removed from these processes.

[0062] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A drone cluster networking system, characterized in that: include: A drone module, a data transmission module and a circuit breaker unit; the drone module is connected to the data transmission module and the circuit breaker unit respectively through interfaces; The data transmission module is connected to the circuit breaker unit via an optical fiber; The drone module is used to receive the data sent by the data transmission module and control the circuit breaker unit; The data transmission module is used to ensure data transmission between the ground station and the drone module; The disconnecting unit is used to cut off the optical fiber connected to the damaged drone according to the instruction of the drone module.

2. The system for drone cluster networking according to claim 1, characterized in that: The drone module specifically includes: a main control chip, a storage unit, a sensor, a communication interface and a control interface; The main control chip is connected to the storage unit and the sensor respectively; The main control chip is connected to the circuit breaker unit via the control interface; The main control chip is connected to the data transmission module through the communication interface.

3. The system for drone cluster networking according to claim 2, characterized in that: The drone module also includes: GPS, steering gear and mission interface; The servo is connected to the main control chip; The GPS is used to collect the location information and speed information of the drone; The task interface is used to install additional equipment.

4. The system for drone cluster networking according to claim 2, characterized in that: The sensors specifically include: an IMU sensor, a magnetic sensor, an airspeed sensor and a static pressure sensor; The main control chip is respectively connected to the IMU sensor, the magnetic sensor, the airspeed sensor and the static pressure sensor, and is used to provide the main control chip with target data for aircraft control.

5. The system for drone cluster networking according to claim 2, characterized in that: The data transmission module is specifically a TSN switching chip; The TSN switching chip is connected to the communication interface via an Ethernet interface; The TSN switching chip is connected to the circuit breaker unit via an optical fiber.

6. The system for drone cluster networking according to claim 5, characterized in that: The TSN switching chip is connected to the ground controller via an optical fiber interface.

7. A method for drone cluster networking, characterized in that: The following steps are involved: Initialize the drone module, data transmission module, circuit breaker unit and configuration data structure, and enter the basic configuration state after initial success; Acquire an initial configuration data structure according to the basic configuration state, and configure basic node parameters and topology verification through the initial configuration data structure; Remotely configuring the network cluster nodes according to the topology and communication data stream transmission information, and verifying the remote configuration; The network cluster nodes are scanned for network operation status to obtain diagnosis results, and abnormal nodes are cut off according to the diagnosis results.

8. The method for drone cluster networking according to claim 7, characterized in that: The topology verification specifically includes: Configure the corresponding forwarding table according to the network topology; Transmitting configuration data to each cluster node according to the forwarding table; The cluster node forwards the reported data to the ground controller for verification.

9. The method for drone cluster networking according to claim 7, characterized in that: Before scanning the network operation status of the network cluster nodes to obtain the diagnosis result, the method further includes: Initialize the master clock and slave clock in the network; Whether the master clock and the slave clock of the network are synchronized is determined by the deviation between each node and the master clock.

10. The method for drone cluster networking according to claim 7, characterized in that: The scanning of the network operation status of the network cluster nodes to obtain a diagnosis result, and cutting off the abnormal nodes according to the diagnosis result specifically includes: Active network scanning is used to read the link status, node status, and packet loss registers of each drone module to diagnose the network node and link connectivity status of each drone: If the network node and link connectivity status of the drone is abnormal, the network node and network link status are deeply detected according to the telemetry message to obtain telemetry information, and network fault diagnosis is performed based on the telemetry information; If the network node and link connectivity status of the drone is hard damaged, the disconnection unit of the drone adjacent to the damaged drone is controlled to cut off the optical fiber with the damaged drone.

11. An electronic device, characterized in that: include: at least one processor; as well as A memory communicatively connected to the at least one processor, the memory storing a computer program executable by the at least one processor, the computer program being executed by the at least one processor so that the at least one processor can execute the method of any one of claims 7 to 10.

12. A computer-readable storage medium, characterized in that: The storage medium is used to store a computer program, and the computer program is used to enable a computer to execute the method according to any one of claims 7 to 10.

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