Unmanned aerial vehicle signal wireless transmission method and unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle signal wireless transmission method and an unmanned aerial vehicle, and relates to the technical field of wireless communication, and the method comprises the steps: dividing a functional device integrated with a Bluetooth communication chip into a master device and a slave device according to the system architecture of the unmanned aerial vehicle, so as to construct a Bluetooth communication network; performing communication grading on the slave devices based on the task mode of the unmanned aerial vehicle; determining a data transmission mode between the slave device and the master device based on the current communication state and the communication level, and performing data transmission; and when the master device receives the data of the plurality of slave devices, processing the corresponding data according to the communication levels of the slave devices. The technical problem that a wireless communication scheme of an unmanned aerial vehicle system in the prior art is difficult to consider energy consumption and real-time performance at the same time is solved. Energy consumption can be reduced, and anti-interference performance, real-time performance and reliability of data are improved.

Description

Technical Field

[0001] This application relates to the field of wireless communication technologies, and in particular, to a method for wirelessly transmitting drone signals and a drone. Background Art

[0002] During flight, a drone needs to cooperate with various sensors such as attitude sensors, cameras, and obstacle avoidance sensors, as well as a control module to achieve stable flight or perform various tasks. At the signal transmission level, traditional drone systems mainly use wired communication solutions to connect various modules and sensors to build a communication architecture and complete the transmission of data and instructions in the drone system. Although this implementation method can ensure the stability and low power consumption of signal transmission, it has obvious technical defects: First, complex cable routing will significantly increase the overall weight and structural volume of the drone, directly affecting its maneuverability and reducing the flexibility of the drone. Second, rigid connections are prone to poor contact when the drone encounters vibration or sudden temperature changes, resulting in signal distortion in cable transmission and even communication interruption, seriously affecting the normal flight and task execution of the drone.

[0003] In view of the limitations of the wired communication solution, some studies have tried to use conventional wireless communication solutions such as Wi-Fi (a wireless local area network technology) and ZigBee (a low-power, short-range wireless communication technology) for replacement. These wireless communication solutions achieve communication between devices through radio frequency signals, and indeed eliminate the bondage of physical cables. However, their technical implementation has inherent deficiencies: The processing delay of the Wi-Fi protocol stack is relatively high, making it difficult to meet the real-time requirements of the drone system. Compared with Wi-Fi, although ZigBee has lower power consumption, its transmission bandwidth and processing capabilities are limited and cannot support the high-precision synchronous transmission of multi-sensor data. These technical defects make the existing wireless communication solutions difficult to be applicable in high-dynamic control scenarios of drones.

[0004] In addition, Wi-Fi and ZigBee consume a large amount of energy. During the data transmission process, encoding, modulation, demodulation, and the transmission of wireless signals will all bring energy consumption. Even when no data is being transmitted, a certain amount of energy is required to maintain the standby state to be ready to receive or send data at any time, thereby shortening the battery life of the drone. Summary of the Invention

[0005] Embodiments of this application provide a method for wirelessly transmitting drone signals and a drone, which solve the technical problem that the wireless communication solutions in the existing drone systems are difficult to balance energy consumption and real-time performance.

[0006] In a first aspect, an embodiment of the present application provides a method for wireless transmission of drone signals, including: dividing functional devices integrated with Bluetooth communication chips into master devices and slave devices according to the system architecture of the drone to build a Bluetooth communication network; classifying the communication levels of the slave devices based on the task mode of the drone; determining the data transmission method between the slave devices and the master device based on the current communication status and the communication level, and performing data transmission; when the master device receives data from multiple slave devices, processing the corresponding data according to the communication levels of the slave devices.

[0007] In combination with the first aspect, in a possible implementation, the step of dividing functional devices integrated with Bluetooth communication chips into master devices and slave devices according to the system architecture of the drone to build a Bluetooth communication network includes: integrating Bluetooth communication chips into each functional device of the drone; dividing the core devices among the functional devices into the master devices based on the system architecture of the drone, and dividing the remaining functional devices into the slave devices; determining the network topology according to the number and system architecture of the master devices and the slave devices; configuring the master devices and the slave devices according to the network topology to build the Bluetooth communication network.

[0008] In combination with the first aspect, in a possible implementation, the step of determining the data transmission method between the slave devices and the master device based on the current communication status and the communication level includes: the master device sending a query request to the slave devices at a set frequency to obtain the current communication status of each channel in the Bluetooth communication network; determining the corresponding data transmission method according to the current communication status of each channel; where the data transmission method includes a channel selection mechanism and / or a data segmentation mechanism and / or an anti-interference strategy and / or a master device relay strategy.

[0009] In combination with the first aspect, in a possible implementation, the step of determining the corresponding data transmission method according to the current communication status of each channel includes: when the current communication status of the channel is communication congestion, performing data transmission between the corresponding slave device and the master device through the channel selection mechanism and / or the data segmentation mechanism; and / or, when the current communication status of the channel is a high data loss rate or error rate, performing data transmission between the corresponding slave device and the master device based on the anti-interference strategy; and / or, when the channel between the first master device and the slave device cannot be connected, enabling the master device relay strategy, using other master devices except the first master device as relay nodes, and realizing data transmission between the first master device and the slave device through the relay nodes.

[0010] In combination with the first aspect, in a possible implementation manner, when the current communication state of the channel is communication congestion, data transmission between the corresponding slave device and the master device is performed through the channel selection mechanism and / or the data segmentation mechanism, including: when the signal strength of the channel is less than a first threshold, the data throughput is less than a second threshold, and the computing rate of the Bluetooth communication chip of the master device is greater than or equal to a third threshold, the channel with the best signal is selected through the channel selection mechanism for data transmission; when the signal strength of the channel is greater than or equal to the first threshold, the data throughput is less than the second threshold, and the computing rate of the Bluetooth chip of the master device is less than the third threshold, through the data segmentation mechanism, the data is segmented into multiple data packets for data transmission; when the signal strength of the channel is less than the first threshold, the data throughput is less than the second threshold, and the computing rate of the Bluetooth communication chip of the master device is less than the third threshold, through the channel selection mechanism and the data segmentation mechanism, the data is segmented into multiple data packets, and the channel with the best signal is selected for data transmission.

[0011] In combination with the first aspect, in a possible implementation manner, the data segmentation mechanism includes: segmenting the data corresponding to the congested communication channel into multiple data packets according to a preset rule; where the preset rule includes: dividing the data into multiple data packets according to the communication level of the slave device corresponding to the congested communication channel, and the number of data packets segmented by the slave device with a higher communication level is less than the number of data packets segmented by the slave device with a lower communication level.

[0012] In combination with the first aspect, in a possible implementation manner, the anti-interference strategy includes: using a multi-frequency selection mechanism to change the communication channel; where the multi-frequency selection mechanism includes: reserving multiple groups of sub-channels within a set frequency band as candidate communication frequency bands; periodically scanning the available Bluetooth frequency bands in the Bluetooth communication network and real-time monitoring the communication quality of the available Bluetooth frequency bands; determining a target communication channel from the candidate communication frequency bands according to the communication quality; and / or, the slave device with a higher communication level corresponding to the data transmission preferentially pairs with the channel with the best signal, and / or the slave device with a lower communication level compresses the data before data transmission; and / or, enabling an error correction coding function to add error correction coding to the data / data packets transmitted in the channel.

[0013] In combination with the first aspect, in a possible implementation manner, it further includes: based on a preset trigger condition, raising the limit value of the data transmission traffic from a first traffic value to a second traffic value; where the preset trigger condition includes at least one of entering an emergency handling mode, the data segmentation mechanism being enabled, and the error correction coding function being enabled.

[0014] In combination with the first aspect, in a possible implementation manner, when the master device receives data from multiple slave devices, processing the corresponding data according to the communication levels of the slave devices includes: the master device uses the time when it receives the data from the slave device as the starting time; according to the communication levels of the slave devices and the starting time, determining the processing order of the data received by the master device from the slave devices; and the master device periodically processes the received data according to the processing order.

[0015] In a second aspect, an embodiment of the present application provides a drone for implementing a method for wireless transmission of drone signals, including a drone body, multiple functional devices integrated with Bluetooth communication chips, and a power supply device; the drone body includes a skin provided with a shielding layer, and the shielding layer is connected to the metal part of the drone body through a grounding wire; the multiple functional devices integrated with Bluetooth communication chips are used to implement the method as described in the first aspect or any possible implementation manner of the first aspect; the power supply device is used to supply energy to the drone body to maintain the flight state of the drone body; and to maintain the operation of the multiple functional devices.

[0016] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: By constructing a Bluetooth communication network, the embodiments of the present application can reduce the energy consumption when the drone system performs wireless communication; by dividing communication levels, the overall resource utilization rate can be improved, and at the same time, the timely response of key data can be ensured. It effectively solves the technical problem that the wireless communication scheme of the existing drone system is difficult to balance energy consumption and real-time performance. Furthermore, it can reduce energy consumption and improve the anti-interference ability, real-time performance and reliability of data. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments of the present application or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a flowchart of a method for wireless transmission of drone signals provided by an embodiment of the present application; Figure 2 It is an example diagram of a Bluetooth communication network provided by an embodiment of the present application; Figure 3 It is an example diagram of communication through a relay node in the Bluetooth communication network provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] The following provides an explanation of some technologies related to the embodiments of the present application to facilitate understanding. It should be considered that they are merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description below omits some descriptions of well-known functions and structures.

[0021] Figure 1 It is a flowchart of a method for wireless transmission of drone signals provided by an embodiment of the present application, including steps 101 to 104. Among them, Figure 1 This is only an execution order shown in the embodiment of the present application and does not represent the only execution order of a method for wireless transmission of drone signals. Under the condition that the final result can be achieved, Figure 1 the steps shown can be executed in parallel or reversed.

[0022] Step 101: Divide the functional devices integrated with Bluetooth communication chips into master devices and slave devices according to the system architecture of the drone to build a Bluetooth communication network. In the embodiment of the present application, Bluetooth communication chips are integrated in each functional device of the drone. Based on the system architecture of the drone, the core devices in the functional devices are divided into master devices, and the remaining functional devices are divided into slave devices. Determine the network topology according to the number and system architecture of the master device and the slave device. Configure the master device and the slave device according to the network topology to build a Bluetooth communication network.

[0023] Specifically, at the system architecture level, Bluetooth communication chips are integrated in each functional device of the drone, enabling each functional device to communicate independently and support the Bluetooth protocol stack. The functional modules here are the modules that can achieve specific functions during the mission or flight of the drone, such as flight control computers, navigation devices (such as satellite navigation receivers, radar sensors), communication devices (communication links), mission devices (various sensors, cameras selected according to the mission), etc.

[0024] It should be noted that a radio frequency module should also be integrated in each functional device, and the communication function of the functional device is realized through the cooperation of the Bluetooth communication chip and the radio frequency module.

[0025] The master device and the slave device are divided according to the functions implemented by different functional devices in the UAV system architecture. The functional device responsible for the management and coordination of the entire system, which plays a key role in the operation of the entire system and needs to process a large amount of data and complex algorithms, is divided into the master device. The remaining functional devices dedicated to completing specific tasks and executing the specified functions issued by other functional modules are divided into slave devices.

[0026] It should be noted that the master device and the slave device here are relative concepts. On the one hand, for the entire UAV system, it is the flight control computer that processes a large amount of data and plays a key role in the operation of the UAV system. Therefore, for the entire system, the flight control computer is the master device, and the remaining functional devices are slave devices. On the other hand, according to the roles played by each functional device during the mission execution of the UAV, it can be divided into a flight control module, a communication module, and a mission module, and the master device and the slave device can be independently divided for each module.

[0027] Exemplarily, Figure 2 only some functional devices of the UAV are shown. Those skilled in the art can further expand on Figure 2 this basis, and the division method of the master device and the slave device in this application can still be used, which still falls within the protection scope of this application. As Figure 2 shown (the dotted line in the figure represents Bluetooth wireless transmission, and the solid line represents the feeder), for the flight control module, the master device is the flight control computer, and the remaining functional devices in the flight control module are slave devices. The slave devices in the flight control module include the upper motor speed controller, the lower motor speed controller, the satellite navigation receiver, the power control box, the integrated navigation, the communication link, and the radar sensor. For the communication module, the communication link is the master device, and the remaining functional devices (such as the radio frequency module, the encryption module, etc. not shown in the figure) are slave devices. For the mission module ( Figure 2 taking the mission related to image / video acquisition as an example), the master device is the image processor, and the remaining functional devices in the mission module are slave devices. The slave device in the mission module is the electro-optical pod. And for the flight control module, the communication module, and the mission module, the flight control module plays a key role. Therefore, the flight control module is simultaneously the master device of the communication module and the mission module. Specifically, the image processor is the master device for the mission module and the slave device for the entire system. The communication link is the master device for the communication module and the slave device for the entire system. The flight control computer is the master device for both the flight control module and the entire system.

[0028] According to the number of master devices and slave devices divided and the system architecture, the present application exemplarily adopts a composite star topology. Specifically, a star topology is formed between each master device and its corresponding slave device, that is, each slave device is directly connected to its corresponding master device, forming a plurality of star topologies equal in number to the master devices. Taking Figure 2 as an example, three star topologies with the flight control computer, the image processor, and the communication link as the master devices are formed. Then, from the perspective of the entire system architecture, the master devices (i.e., the image processor and the communication link) in these star topologies are directly connected to the master device of the entire system, the flight control computer, to form a composite star topology. Configure the corresponding master devices and slave devices according to the determined composite star topology to construct a Bluetooth communication network.

[0029] In addition, after constructing the Bluetooth communication network, a Bluetooth communication protocol applicable to the present application can also be defined. Temporary keys and long-term keys can also be set to pair the master devices and slave devices in the Bluetooth communication network to determine the target communication channel. The pairing here is the pairing between the master device and the slave device. A master device can be paired with multiple slave devices respectively, and a slave device can also be paired with multiple master devices. The master device integrated network management function is responsible for coordinating the data reception, transmission, and processing of the corresponding slave devices and can communicate with multiple slave devices. In addition, according to the composite star topology of the present application, the pairing here can also be the pairing between the master device flight control computer and other master devices. The target communication channel refers to the channel with the best communication quality between the slave device and its corresponding master device and can be determined according to the channel selection mechanism.

[0030] The pairing between devices is encrypted through an encryption pairing mechanism that sets temporary keys and long-term keys to ensure the security of the pairing between the master device and the slave device, ensuring that only authorized functional devices can join the Bluetooth communication network and guaranteeing the security during the data transmission process. In addition, the pairing relationship between the master device and the slave device can also be specified according to the master device relay strategy in the following text.

[0031] Step 102: Divide the communication levels of the slave devices based on the mission mode of the unmanned aerial vehicle. The mission mode includes at least one of the autonomous flight mode, the mission execution mode, and the emergency handling mode. In the embodiment of the present application, since the master device is involved in coordinating the data reception, transmission, and processing of multiple slave devices, compared with the one-to-one transmission of traditional wired signals, it is necessary to divide the communication levels of the slave devices to ensure that the data of important or urgent slave devices is preferentially processed, avoid the system resources being occupied by the data of slave devices with low communication levels, thereby improving the overall resource utilization rate, and at the same time ensuring that key data (such as attitude adjustment, obstacle avoidance information, etc.) can be responded to in a timely manner.

[0032] When classifying communication levels, slave devices with a high communication level include integrated navigation, communication links, and satellite navigation receivers. The data of the satellite navigation receiver and the image processor need to be forwarded by the master device (flight control computer). Therefore, the master device needs to be able to process and coordinate more than three data channels simultaneously. Moreover, when the UAV is in different mission modes, the classification of communication levels will be changed according to mission requirements. There are three main mission modes, namely autonomous flight mode, mission execution mode, and emergency handling mode, which are as follows.

[0033] The autonomous flight mode is for the UAV to perform tasks such as autonomous takeoff and landing, autonomous navigation flight, and autonomous obstacle avoidance without human intervention. Therefore, in the autonomous flight mode, the primary requirement is to ensure flight safety. Thus, flight control and communication between devices are required. At this time, the communication levels of slave devices such as integrated navigation, communication links (relative to the flight control computer), satellite navigation receivers, motor speed controllers, and radar sensors are set to high to ensure flight safety. The communication data volume of the power management box is small, and the data frame format is simple, so it can be set to the medium communication level. The image processor plays a minor role in the autonomous flight mode, so its communication level is general. For the mission module with the image processor as the master device, at this time, the communication level of the electro-optical pod is general, and the communication level of the communication link is high. In the autonomous flight mode, the specific communication levels of slave devices are shown in Table 1.

[0034] Table 1 Communication level table of slave devices in autonomous flight mode

[0035] The mission execution mode refers to the mode when the UAV is performing a mission. Exemplarily, taking the reconnaissance and strike mission as an example, the UAV conducts reconnaissance or strikes on the target at the target location. The mission execution is mainly guided by the electro-optical pod taking pictures and the miss distance. The primary requirement is to execute the mission. Therefore, the communication levels of integrated navigation, communication links, satellite navigation receivers, image processors, and electro-optical pods are high to ensure mission execution. In the mission execution mode, the specific communication levels of slave devices are shown in Table 2.

[0036] Table 2 Communication level table of slave devices in mission execution mode

[0037] The emergency handling mode means that when the UAV is unable to continue the mission due to external environmental interference or UAV failure during the mission flight, it needs to enter the emergency handling mode. The emergency handling mode is mainly divided into two categories: The first category is that the UAV has the ability of autonomous return. When it cannot continue flying due to weather conditions or communication link interference during flight, it returns according to the autonomous return procedure. The second category is that the UAV does not have the ability to return. Due to UAV failure or abnormal flight, it crashes or makes a forced landing. In the first category of emergency handling mode, the communication level of the UAV is divided according to the communication level of the autonomous flight mode. In the second category of emergency handling mode, the primary requirement is to transmit and record the position and flight data of the UAV. Therefore, the communication levels of the integrated navigation, communication link, and satellite navigation receiver are set to high level to ensure the execution of the mission. In the emergency handling mode, the specific communication levels of the slave devices are shown in Table 3.

[0038] Table 3 Communication Levels of Slave Devices in Emergency Handling Mode

[0039] Step 103: Determine the data transmission method between the slave device and the master device based on the current communication status and communication level, and perform data transmission. In the embodiment of the present application, the master device sends a query request to the slave device at a set frequency to obtain the current communication status of each channel in the Bluetooth communication network. Determine the corresponding data transmission method according to the current communication status of each channel. Among them, the data transmission method includes a channel selection mechanism and / or a data segmentation mechanism and / or an anti-interference strategy and / or a master device relay strategy.

[0040] Specifically, in the special mission mode of the UAV or in the working conditions with intensive data communication, the traffic load in the channels of the entire Bluetooth communication network will be heavy, resulting in network congestion in the Bluetooth communication network. Therefore, the present application can also: The master device sends a query request to the slave device at a set frequency (such as once every 100 - 500 milliseconds or once every 20 seconds, depending on the mission mode) to obtain the current communication status of each channel in the Bluetooth communication network, and determine the corresponding data transmission method according to the current communication status of each channel.

[0041] Furthermore, the master device (flight control computer) adopts a polling mechanism for device management, that is, it sends a query request to each slave device at a set frequency to obtain the current communication status of each channel in the Bluetooth communication network. The device status (working status, interruption status, etc.) in the Bluetooth communication network can also be obtained here. Then determine whether to adopt a channel selection mechanism and / or a data segmentation mechanism and / or an anti-interference strategy and / or a master device relay strategy according to the current communication status of each channel.

[0042] In the embodiments of the present application, determining the corresponding data transmission method according to the current communication status of each channel includes: when the current communication status of the channel is communication congestion, performing data transmission between the corresponding slave device and the master device through a channel selection mechanism and / or a data splitting mechanism. And / or, when the current communication status of the channel is a high data loss rate or error rate, performing data transmission between the corresponding slave device and the master device based on an anti-interference strategy. And / or, when the current communication status of the channel is that the channel between the first master device and the slave device cannot be connected, enabling the master device relay strategy, using other master devices except the first master device as relay nodes, and realizing data transmission between the first master device and the slave device through the relay nodes.

[0043] Specifically, the current communication status mainly includes network data congestion, a high data loss rate or error rate, and the inability to connect the channel. Among them, the data loss rate and the error rate are key indicators for measuring communication quality. When a high data loss rate or error rate appears in a Bluetooth communication network, it is usually due to electromagnetic interference in the physical layer. The electromagnetic interference in the physical layer mainly includes internal interference from the drone and external interference. There are the following three solutions for internal interference: First, quickly change the communication channel through a channel selection mechanism to avoid interference points. Second, according to the communication level, prioritize ensuring that the data of slave devices with a high communication level uses the channel with the best signal, and temporarily use compression technology for the data of slave devices with a medium or low communication level to reduce bandwidth occupancy and ensure normal data transmission. Third, enable the error correction coding function. If the receiving end detects an error, automatically correct the error through error correction coding.

[0044] Specifically, if the channel between the slave device and the first master device cannot be connected in a Bluetooth communication network, the remaining master devices other than the first master device can be used as relay nodes for communication. Among them, the first master device can be any master device in the Bluetooth communication network. As Figure 3 shown (the black dotted line represents Bluetooth wireless transmission, the red dotted line represents the inability to connect the channel, and the black solid line represents the feeder), for example, when the radar sensor cannot establish a connection with the flight control computer, establish a communication channel between the image processor and the radar sensor, and use the image processor as a relay node to perform data transmission between the radar sensor and the flight control computer.

[0045] Specifically, the performance of network data congestion in the communication quality of the channel mainly includes the signal strength state, the data throughput size, or the calculation rate of the Bluetooth communication chip. Different strategies are adopted under different performance states of the communication quality of different channels.

[0046] Further, when the current communication state of the channel is communication congestion, data transmission between the corresponding slave device and the master device is performed through the channel selection mechanism and / or the data segmentation mechanism, including: when the signal strength of the channel is less than the first threshold, the data throughput is less than the second threshold, and the computing rate of the Bluetooth communication chip of the master device is greater than or equal to the third threshold, the channel with the best signal is selected through the channel selection mechanism for data transmission. When the signal strength of the channel is greater than or equal to the first threshold, the data throughput is less than the second threshold, and the computing rate of the Bluetooth chip of the master device is less than the third threshold, through the data segmentation mechanism, the data is segmented into multiple data packets for data transmission. When the signal strength of the channel is less than the first threshold, the data throughput is less than the second threshold, and the computing rate of the Bluetooth communication chip of the master device is less than the third threshold, through the channel selection mechanism and the data segmentation mechanism, the data is segmented into multiple data packets, and the channel with the best signal is selected for data transmission.

[0047] Specifically, in the state where the signal strength is weak, the data throughput is small, and the computing rate of the Bluetooth chip is normal, the current communication state is mainly caused by the signal strength. The communication channel can be changed through the channel selection mechanism, and the channel with the best signal can be selected for communication. In the state where the signal strength is normal, the data throughput is small, and the computing rate of the Bluetooth chip is low, the main influencing factor of the current communication state is the overload of short-term communication data volume. Through the data segmentation mechanism, the data volume of the transmission unit in the channel can be reduced to improve the transmission efficiency and reduce network congestion. In the state where the signal strength is weak, the data throughput is small, and the computing rate of the Bluetooth chip is low, the current communication state is jointly caused by the signal strength and the overload of short-term communication data volume. The channel selection mechanism and the data segmentation mechanism can be jointly executed to improve network congestion. Exemplarily, the first threshold, the second threshold, and the third threshold are all judged based on 85% of the normal communication state.

[0048] Further, the data segmentation mechanism includes: segmenting the data corresponding to the congested communication channel into multiple data packets according to a preset rule. Wherein, the preset rule includes: dividing the data into multiple data packets according to the communication level of the slave device corresponding to the congested communication channel, and the number of data packets segmented by the slave device with a higher communication level is less than the number of data packets segmented by the slave device with a lower communication level.

[0049] Specifically, the maximum transmission unit is exemplarily set to 160 bits, the data corresponding to the congested communication channel is divided into multiple data packets according to the maximum transmission unit, and error correction coding is added to each data packet.

[0050] Exemplarily, while the data segmentation mechanism reduces the data volume of the transmission unit, the number of transmission units increases. The more the data packet is segmented, the greater the overall delay after recombination at the receiving end. Therefore, this application distinguishes according to the communication level. The data of the slave device with a high communication level is segmented into three data packets in three equal parts. The data of the slave device with a medium or low communication level is segmented into five data packets in five equal parts. It can reduce the transmission delay of the slave device with a high communication level on the premise of ensuring normal data transmission as much as possible, thereby reducing network congestion and improving system throughput. In addition, when the preset trigger condition is reached, the Bluetooth communication chip and the radio frequency module enter the overclocking operation, and the transmitted data flow is allowed to be within 60% of the design margin to increase the total amount of data processed per unit time.

[0051] Furthermore, the anti-interference strategy includes: using a multi-frequency selection mechanism to change the communication channel. Among them, the multi-frequency selection mechanism includes: reserving multiple groups of sub-channels within the set frequency band as candidate communication frequency bands. Periodically scanning the available Bluetooth frequency bands in the Bluetooth communication network and real-time monitoring the communication quality of the available Bluetooth frequency bands. Determining the target communication channel from the candidate communication frequency bands according to the communication quality. And / or, the slave device corresponding to the data transmission with a high communication level preferentially pairs with the channel with the best signal, and / or the slave device with a low communication level compresses the data before data transmission. And / or, enabling the error correction coding function to add error correction coding to the data / data packets transmitted in the channel.

[0052] Specifically, the set frequency band is exemplarily 2.4 GHz (gigahertz). The communication quality can be determined according to the signal strength and bit error rate of the available Bluetooth frequency band. And, it is also possible to determine the slave device using the target communication channel according to the communication level of the slave device, that is, the slave device with a high communication level can preferentially switch the channel.

[0053] Specifically, in this application, the format definition of the data between the functional devices of the drone is defined in the existing form, only adding error correction coding, without other secondary development, reducing the time delay caused by compilation and decoding. The size of the data transmitted in the channel is set according to the maximum transmission unit, and the data exceeding the maximum transmission unit can be segmented and transmitted according to the data segmentation mechanism above. And error correction coding and encryption are added during the transmission of data / data packets, and the master device and the slave device encrypt and decrypt the data / data packets through a preset encryption key to prevent the control instructions of the drone during flight from being eavesdropped or tampered with at a long distance.

[0054] Among them, error correction coding is a crucial point in the Bluetooth communication network design and can achieve high-reliability communication. After enabling the error correction coding function, the entire data processing process increases the requirement for the chip computing power. Therefore, the Bluetooth communication chip enters the overclocking operation to improve the data processing ability of the Bluetooth communication chip.

[0055] In an embodiment of the present application, the limit value of the data transmission traffic can also be increased from the first traffic value to the second traffic value based on a preset trigger condition. The preset trigger condition includes at least one of entering an emergency processing mode, enabling a data splitting mechanism, and enabling an error correction coding function.

[0056] Specifically, the first traffic value is exemplarily set to a 40% design margin, and the second traffic value is exemplarily set to a 60% design margin. To ensure that the processing capacity of the Bluetooth communication chip and the performance of the radio frequency module are in the best state, the limit value of the data transmission traffic is restricted to always remain within the range of 40% design margin (the 40% design margin is the maximum data volume for normal communication), thereby ensuring the data transmission stability and low latency characteristics of the entire system. In addition, the processing capacity of the Bluetooth communication chip and the performance of the radio frequency module can be overclocked according to specific software strategies / mechanisms or in specific task modes.

[0057] Through the analysis and calculation of the existing communication mode and hardware device conditions, the present application can control the data transmission delay within the range of 3 - 10 milliseconds, which can meet the real-time requirements of UAV data communication. In the present application, the encryption transmission and encryption pairing mechanisms in the Bluetooth communication network can prevent data from being directly obtained. Compared with traditional cable transmission, two additional encryption designs are added, which can effectively prevent data from being stolen after the UAV is intercepted.

[0058] Step 104: When the master device receives data from multiple slave devices, process the corresponding data according to the communication levels of the slave devices. In an embodiment of the present application, the master device takes the time when it receives data from the slave device as the starting time. According to the communication levels of the slave devices and the starting time, determine the processing order of the data received by the master device from the slave devices. The master device periodically processes the received data according to the processing order.

[0059] Specifically, the processing period is exemplarily set to 50 milliseconds. The master device takes the time when it receives data as the starting time, and starts from the starting time, processes the data within the processing period. For the data within the same processing period, according to the communication levels of the slave devices that send the data, preferentially process the data of the slave devices with a higher communication level. After the data within this processing period is processed, then process the data within the next processing period. This can prevent the data of the slave devices with a higher communication level from continuously occupying the data processing channel. Even if the data of the slave devices with a higher communication level continuously enters the sorting queue, the maximum waiting time of the data of the slave devices with a lower communication level in the queue will not exceed 50 milliseconds.

[0060] Although the present application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on routine or non-creative labor. The step sequence listed in this embodiment is only one way among the execution sequences of numerous steps and does not represent the only execution sequence. When the actual device or client product is executed, it may be executed in the method sequence shown in this embodiment or the accompanying drawings or executed in parallel (such as in an environment of parallel processors or multi-threaded processing).

[0061] An embodiment of the present application also provides a drone for implementing the method of wireless transmission of drone signals, including a drone body, a plurality of functional devices integrated with Bluetooth communication chips, and a power supply device.

[0062] The drone body includes a skin provided with a shielding layer, and the shielding layer is connected to the metal part of the drone body through a grounding wire. The plurality of functional devices integrated with Bluetooth communication chips are used to implement a method of wireless transmission of drone signals in an embodiment of the present application. The power supply device is used to supply energy to the drone body to maintain the flight state of the drone body; and to maintain the operation of the plurality of functional devices.

[0063] Specifically, the shielding layer is made of a highly conductive material (such as silver-plated fiber, copper foil, or conductive paint). During the production of the drone, the shielding layer is installed in its skin or a conductive paint is coated on the skin to isolate external electromagnetic interference. Ensure that the surface of the skin is clean and free of corrosive substances when installing the shielding layer. Then, use a grounding wire to connect the shielding layer to the metal part of the drone body to form a complete Faraday cage to shield external interference.

[0064] Some modules in the device described in the present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment, where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0065] The device or module clarified in the above application embodiment can be specifically implemented by a computer chip or entity, or by a product with a certain function. For the convenience of description, when describing the above device, various modules are described separately according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0066] The methods, devices or modules described in this application can be implemented in the form of computer-readable program code. The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor, and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, the method steps can be logically programmed to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers to achieve the same function. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or the structures within the hardware component.

[0067] In addition, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist separately, or two or more modules can be integrated into one module.

[0068] The above storage medium includes, but is not limited to, random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions.

[0069] As can be seen from the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary hardware. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product or can also be reflected in the implementation process of data migration. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0070] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. All or part of this application can be used in many general-purpose or special-purpose computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on.

[0071] The above embodiments are only used to illustrate the technical solutions of this application, rather than to limit this application; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of this application.

Claims

1. A method for wireless transmission of UAV signals, characterized in that, Including: Function devices integrated with Bluetooth communication chips are divided into master devices and slave devices according to the system architecture of the drone, so as to build a Bluetooth communication network. The communication levels of the slave devices are divided based on the task mode of the drone. Based on the current communication status and the communication level, determine the data transmission method between the slave device and the master device, and perform data transmission. When the master device receives data from multiple slave devices, process the corresponding data according to the communication level of the slave devices.

2. The method according to claim 1, characterized in that, The step of dividing function devices integrated with Bluetooth communication chips into master devices and slave devices according to the system architecture of the drone to build a Bluetooth communication network includes: Integrate Bluetooth communication chips into each function device of the drone. Based on the system architecture of the drone, divide the core device among the function devices into the master device, and divide the remaining function devices into the slave devices. Determine the network topology according to the number and system architecture of the master device and the slave device. Configure the master device and the slave device according to the network topology to build the Bluetooth communication network.

3. The method according to claim 1, characterized in that, The step of determining the data transmission method between the slave device and the master device based on the current communication status and the communication level includes: The master device sends a query request to the slave device at a set frequency to obtain the current communication status of each channel in the Bluetooth communication network. Determine the corresponding data transmission method according to the current communication status of each channel; wherein, the data transmission method includes a channel selection mechanism and / or a data segmentation mechanism and / or an anti-interference strategy and / or a master device relay strategy.

4. The method according to claim 3, characterized in that The step of determining the corresponding data transmission method according to the current communication status of each channel includes: When the current communication status of the channel is communication congestion, perform data transmission between the corresponding slave device and the master device through the channel selection mechanism and / or the data segmentation mechanism; and / or, When the current communication status of the channel is a high data loss rate or error rate, perform data transmission between the corresponding slave device and the master device based on the anti-interference strategy; and / or, When the channel between the first master device and the slave device cannot be connected, enable the master device relay strategy, use other master devices except the first master device as relay nodes, and realize data transmission between the first master device and the slave device through the relay nodes.

5. The method according to claim 4, characterized in that, The step of performing data transmission between the corresponding slave device and the master device through the channel selection mechanism and / or the data segmentation mechanism when the current communication status of the channel is communication congestion includes: When the signal strength of the channel is less than the first threshold, the data throughput is less than the second threshold, and the computing rate of the Bluetooth communication chip of the master device is greater than or equal to the third threshold, select the channel with the best signal through the channel selection mechanism for data transmission. When the signal strength of the channel is greater than or equal to the first threshold, the data throughput is less than the second threshold, and the computing rate of the Bluetooth chip of the master device is less than the third threshold, divide the data into multiple data packets for data transmission through the data segmentation mechanism. When the signal strength of the channel is less than the first threshold, the data throughput is less than the second threshold, and the computing rate of the Bluetooth communication chip of the master device is less than the third threshold, the data is segmented into multiple data packets through the channel selection mechanism and the data segmentation mechanism, and the channel with the best signal is selected for data transmission.

6. The method according to claim 4, characterized in that, The data segmentation mechanism includes: Segmenting the data corresponding to the congested communication channel into multiple data packets according to a preset rule; wherein, the preset rule includes: dividing the data into multiple data packets according to the communication level of the slave device corresponding to the congested communication channel, and the number of data packets segmented by the slave device with a higher communication level is less than the number of data packets segmented by the slave device with a lower communication level.

7. The method according to claim 4, wherein The anti-interference strategy includes: Replacing the communication channel by using a multi-frequency selection mechanism; wherein, the multi-frequency selection mechanism includes: reserving multiple groups of sub-channels within a set frequency band as candidate communication frequency bands; periodically scanning the available Bluetooth frequency bands in the Bluetooth communication network, and real-time monitoring the communication quality of the available Bluetooth frequency bands; determining a target communication channel from the candidate communication frequency bands according to the communication quality; and / or, The slave device with a higher communication level corresponding to the data transmission preferentially pairs with the channel with the best signal, and / or the slave device with a lower communication level compresses the data before data transmission; and / or, Enabling an error correction coding function to add error correction coding to the data / data packets transmitted in the channel.

8. The method according to claim 1, characterized in that, It further includes: Based on a preset trigger condition, increasing the limit value of the data transmission traffic from the first traffic value to the second traffic value; wherein, the preset trigger condition includes at least one of entering an emergency processing mode, the data segmentation mechanism being turned on, and the error correction coding function being enabled.

9. The method according to claim 1, characterized in that, When the master device receives data from multiple slave devices, processing the corresponding data according to the communication level of the slave device includes: The master device takes the time when it receives the data from the slave device as the starting time; Determining the processing order of the data received from the slave device by the master device according to the communication level of the slave device and the starting time; The master device periodically processes the received data according to the processing order.

10. A drone for implementing a method of wireless transmission of drone signals, characterized in that, It includes a drone body, multiple functional devices integrated with Bluetooth communication chips, and a power supply device; The drone body includes a skin provided with a shielding layer, and the shielding layer is connected to the metal part of the drone body through a grounding wire; Multiple functional devices integrated with Bluetooth communication chips are used to implement the method described in any one of claims 1 to 9; The power supply device is used to supply energy to the drone body to maintain the flight state of the drone body; and to maintain the operation of multiple functional devices.

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