Unmanned aerial vehicle signal wireless transmission method and unmanned aerial vehicle

Abstract

The application discloses a kind of unmanned aerial vehicle signal wireless transmission method and unmanned aerial vehicle, it is related to wireless communication technical field, the method includes: according to the system architecture of unmanned aerial vehicle, the functional device integrated with Bluetooth communication chip is divided into master device and slave device, to construct Bluetooth communication networking;Based on the task mode of unmanned aerial vehicle, the communication level division of slave device is carried out;Based on current communication state and communication level, the data transmission mode between slave device and master device is determined, data transmission is carried out;When master device receives the data of multiple slave devices, corresponding data is handled according to the communication level of slave device.Solve the technical problem that the wireless communication scheme of unmanned aerial vehicle system in prior art is difficult to consider energy consumption and real-time nature.Can reduce energy consumption, improve the anti-interference, real-time nature and reliability of data.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless communication, and in particular to a signal wireless transmission method for a UAV and a UAV. BACKGROUND

[0002] During flight, the UAV needs to use multiple sensors such as attitude sensors, cameras, obstacle avoidance sensors, and control modules to work together to achieve stable flight or perform various tasks. In the signal transmission layer, the traditional UAV system mainly uses a wired communication scheme to connect various modules and various sensors to build a communication architecture and complete the transmission of data and instructions in the UAV system. Although this implementation can ensure the stability and low energy consumption of signal transmission, it has obvious technical defects. First, complex cable wiring significantly increases the overall weight and structural volume of the UAV, directly affecting its maneuverability, resulting in reduced flexibility of the UAV. Second, rigid connection can cause poor contact when the UAV encounters vibration or temperature changes, resulting in distorted signals transmitted by the cable, and even communication interruption, which seriously affects the normal flight and task execution of the UAV.

[0003] In view of the limitations of the wired communication scheme, some research attempts to use conventional wireless communication schemes such as Wi-Fi (a wireless local area network technology), ZigBee (a low-power, short-range wireless communication technology), etc. to replace it. This type of wireless communication scheme uses radio frequency signals to achieve communication between devices, which indeed eliminates the constraints of physical cables. However, there are inherent deficiencies in its technical implementation: the Wi-Fi protocol stack has high processing delay, which makes it difficult to meet the real-time requirements of the UAV system. Compared with Wi-Fi, ZigBee has lower power consumption, but its transmission bandwidth and processing capacity are limited, and it cannot support high-precision synchronous transmission of multi-sensor data. These technical defects make existing wireless communication schemes difficult to apply in high-dynamic control scenarios of the UAV.

[0004] In addition, Wi-Fi and ZigBee have high energy consumption. During data transmission, encoding, modulation, demodulation, and wireless signal transmission all consume energy. Even when no data is being transmitted, some energy is consumed to maintain standby state at all times in order to be ready to receive or send data, which shortens the battery life of the UAV. SUMMARY

[0005] The UAV signal wireless transmission method and the UAV provided by the embodiments of the present application solve the technical problem that the wireless communication scheme of the existing UAV system cannot balance energy consumption and real-time performance.

[0006] In a first aspect, the embodiments of the present application provide a method for wireless transmission of signals of a UAV, comprising: dividing functional devices integrated with Bluetooth communication chips into master devices and slave devices according to a system architecture of the UAV to construct a Bluetooth communication network; dividing the slave devices into communication levels based on a task mode of the UAV; determining a data transmission mode between the slave devices and the master devices based on a current communication state and the communication levels, and performing data transmission; and when the master device receives data of multiple slave devices, processing the corresponding data according to the communication levels of the slave devices.

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

[0008] In a possible implementation manner of the first aspect, the determining of the data transmission mode between the slave devices and the master devices based on the current communication state and the communication levels comprises: the master device sends a query request to the slave devices at a set frequency to obtain the current communication state of each channel in the Bluetooth communication network; and determining the data transmission mode according to the current communication state of each channel, wherein the data transmission mode comprises 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 a possible implementation manner of the first aspect, the determining of the data transmission mode according to the current communication state of each channel comprises: when the current communication state of a 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 state of a channel is a high data frame loss rate or a high bit error rate, performing data transmission between the corresponding slave device and the master device based on the anti-interference strategy; and / or, when the current communication state of a channel is that a channel between a first master device and the slave devices cannot be connected, enabling the master device relay strategy to use other master devices except the first master device as relay nodes to realize data transmission between the first master device and the slave devices through the relay nodes.

[0010] In combination with the first aspect, in a possible implementation method, 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 calculation rate of the Bluetooth communication chip of the master device is greater than or equal to a third threshold, the channel selection mechanism is used to select the channel with the best signal 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 calculation rate of the Bluetooth communication chip of the master device is less than the third threshold, the data segmentation mechanism is used to split the data 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 calculation rate of the Bluetooth communication chip of the master device is less than the third threshold, the channel selection mechanism and the data segmentation mechanism are used to split the data into multiple data packets, and select the channel with the best signal for data transmission.

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

[0012] In combination with the first aspect, in a possible implementation method, the anti-interference strategy includes: using a multi-frequency selection mechanism to change the communication channel; wherein 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 monitoring the communication quality of the available Bluetooth frequency bands in real time; determining the target communication channel in the candidate communication frequency band based on the communication quality; and / or, the slave device with a high communication level corresponding to the data transmission is preferentially paired with the channel with the best signal, and / or the slave device with a low communication level compresses the data before transmitting the data; and / or, enabling the error correction coding function, and adding error correction coding to the data / data packet transmitted in the channel.

[0013] In combination with the first aspect, in a possible implementation method, it also includes: based on a preset trigger condition, increasing the limit of the data transmission flow from a first flow value to a second flow value; wherein, the preset trigger condition includes at least one of entering an emergency processing mode, turning on a data segmentation mechanism, and enabling an error correction coding function.

[0014] With reference to the first aspect, in a possible implementation manner, when the master device receives data of a plurality of slave devices, the data corresponding to the slave devices is processed according to the communication levels of the slave devices, including: the master device taking a time of receiving the data of the slave devices as a starting time; determining a processing sequence of the master device for the data received from the slave devices according to the communication levels of the slave devices and the starting time; and the master device processing the received data periodically according to the processing sequence.

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

[0016] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0017] The embodiments of the present application can reduce the energy consumption of the UAV system when performing wireless communication by constructing a Bluetooth communication network; by dividing the communication levels, the overall resource utilization rate can be improved, while ensuring the timely response of key data. Effectively solve the technical problem that the wireless communication scheme of the existing UAV system cannot balance energy consumption and real-time performance. Further, it can reduce energy consumption, improve data anti-interference, real-time performance and reliability. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0019] Figure 1 A flowchart of a wireless transmission method of UAV signals provided by the embodiments of the present application;

[0020] Figure 2 An example diagram of Bluetooth communication networking provided by the embodiments of the present application;

[0021] Figure 3 An example diagram of communication through a relay node in Bluetooth communication networking provided by the embodiments of the present application. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0023] The following describes some technologies related to the embodiments of the present application to help understanding, which should be considered only as exemplary. Therefore, a person of ordinary skill in the art should appreciate that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Also, for clarity and conciseness, the description in the following omits the description of some well-known functions and structures.

[0024] Figure 1 is a flowchart of a method for wireless transmission of signals of a UAV provided by the embodiments of the present application, comprising steps 101 to 104. Wherein, Figure 1 The embodiments of the present application only show one execution order, and do not represent the only execution order of the method for wireless transmission of signals of a UAV, and Figure 1 The steps shown can be executed in parallel or in reverse.

[0025] Step 101: According to the system architecture of the UAV, the functional devices integrated with Bluetooth communication chips are divided into master devices and slave devices to build a Bluetooth communication network. In the embodiments of the present application, Bluetooth communication chips are integrated in each functional device of the UAV. Based on the system architecture of the UAV, the core devices among the functional devices are divided into master devices, and the remaining functional devices are divided into slave devices. The network topology structure is determined according to the number of master devices and slave devices and the system architecture. The master devices and slave devices are configured according to the network topology structure to build a Bluetooth communication network.

[0026] Specifically, at the system architecture level, Bluetooth communication chips are integrated in each functional device of the UAV, so that each functional device can independently communicate and support the Bluetooth protocol stack. The functional modules here are modules that can realize specific functions of the UAV during a task or flight, such as a flight control computer, navigation devices (such as a GPS receiver, a radar sensor), communication devices (communication links), task devices (various sensors, camera selected according to a task), etc.

[0027] 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 by cooperation of the Bluetooth communication chip and the radio frequency module.

[0028] Different functional devices are divided into master and slave devices based on the functions they perform within the drone system architecture. Devices responsible for overall system management and coordination, playing a key role in overall system operation, and requiring the processing of large amounts of data and complex algorithms are classified as master devices. Other functional devices dedicated to completing specific tasks and executing designated tasks from other functional modules are classified as slave devices.

[0029] It's important to note that the terms "master" and "slave" are relative terms. For the entire drone system, the flight control computer processes large amounts of data and plays a critical role in its operation. Therefore, the flight control computer is the master device, while the remaining functional devices are slaves. Furthermore, depending on the collaborative role each functional device plays during a drone's mission, they can be categorized as flight control module, communication module, and mission module. Master and slave devices can be independently defined for each module.

[0030] For example, Figure 2 Only some functional devices of the drone are shown in the figure. Those skilled in the art can also Figure 2 Based on the further expansion, the method of dividing the master device and the slave device of this application can be used, and it still falls within the protection scope of this application. Figure 2 As shown in the figure (the dotted line in the figure represents Bluetooth wireless transmission, and the solid line represents the feeder), for the flight control module, the main device is the flight control computer, and the other functional devices in the flight control module are slave devices. The slave devices in the flight control module include the upper motor speed regulator, the lower motor speed regulator, 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 main device, and the other functional devices (such as the radio frequency module, encryption module, etc. are not shown in the figure) are slave devices. For the mission module ( Figure 2 For example, for tasks related to image / video acquisition, the image processor is the master device, while the other functional devices in the mission module are slave devices. The slave device in the mission module is the electronic pod. Furthermore, among the flight control module, communication module, and mission module, the flight control module plays a key role, making it the master device for both the communication module and the mission module. Specifically, the image processor is the master device for the mission module and a slave device for the entire system. The communication link is the master device for the communication module and a slave device for the entire system. The flight control computer is the master device for both the flight control module and the entire system.

[0031] Based on the number of master devices and slave devices divided and the system architecture, this application exemplarily adopts a composite star topology. Specifically, there is a star topology between each master device and its corresponding slave device, that is, each slave device is directly connected to its corresponding master device, forming multiple star topologies equal to the number of master devices. Figure 2 For example, three star topologies are constructed, with the flight control computer, image processor, and communication link as the master devices. From a system architecture perspective, the master devices in these star topologies (i.e., image processor and communication link) are directly connected to the flight control computer, the master device of the entire system, to form a composite star topology. Based on this composite star topology, the corresponding master and slave devices are configured to establish a Bluetooth communication network.

[0032] In addition, after building 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 device and the slave device 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 and processing of the corresponding slave device, 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 a channel with the best communication quality between the slave device and the corresponding master device, which can be determined according to the channel selection mechanism.

[0033] By setting up an encrypted pairing mechanism with temporary and long-term keys, device pairing is encrypted, ensuring the pairing security of master and slave devices. This ensures that only authorized functional devices can join the Bluetooth communication network, ensuring the security of data transmission. In addition, the pairing relationship between master and slave devices can be specified based on the master relay policy described below.

[0034] Step 102: Classify the communication levels of the slave devices based on the drone's mission mode. Mission modes include at least one of autonomous flight mode, mission execution mode, and emergency response mode. In this embodiment of the present application, because the master device coordinates the transmission, reception, and processing of data from multiple slave devices, compared to traditional one-to-one wired signal transmission, it is necessary to classify the communication levels of the slave devices. This ensures that important or urgent slave device data is prioritized, preventing system resources from being occupied by data from slave devices with lower communication levels, thereby improving overall resource utilization and ensuring timely response to critical data (such as attitude adjustments and obstacle avoidance information).

[0035] When the communication level is divided, the slave device with high communication level involves the integrated navigation, communication link, and GPS receiver. The data of the GPS receiver and image processor need to be forwarded by the master device (flight control computer), so the master device needs to process and coordinate more than three data channels at the same time. And the communication level will be changed according to the task requirements in different task modes. There are three main task modes, namely autonomous flight mode, task execution mode and emergency processing mode, as follows.

[0036] The autonomous flight mode is that the UAV performs tasks such as autonomous take-off and landing, autonomous navigation flight, and autonomous obstacle avoidance without human intervention. Therefore, the primary requirement of the UAV in the autonomous flight mode is to ensure flight safety, so flight control and communication between devices are needed. At this time, the communication levels of the integrated navigation, communication link (relative to the flight control computer), GPS receiver, motor speed regulator, and radar sensor are set to high to ensure flight safety. The communication data of the power management box is small, and the data frame format is simple, so it can be set to the intermediate communication level. The role of the image processor in the autonomous flight mode is small, so its communication level is general. For the task module with the image processor as the master device, the communication level of the electronic pod is general, and the communication level of the communication link is high. The specific communication levels of the slave devices in the autonomous flight mode are shown in Table 1.

[0037] Table 1 Communication level table of slave devices in autonomous flight mode

[0038]

[0039] The task execution mode refers to the mode of the UAV when performing tasks. Taking the reconnaissance and strike task as an example, the UAV performs reconnaissance or strikes on the target object at the target location. The task execution is mainly guided by the image of the electronic pod and the off-target amount. The primary requirement is to execute the task. Therefore, the communication levels of the integrated navigation, communication link, GPS receiver, image processor, and electronic pod are high to ensure task execution. The specific communication levels of the slave devices in the task execution mode are shown in Table 2.

[0040] Table 2 Communication level table of slave devices in task execution mode

[0041]

[0042] The emergency processing mode refers to that the UAV cannot continue to perform the task due to external environmental interference or UAV failure in the task flight and needs to enter the emergency processing mode. The emergency processing mode is mainly divided into two categories: the first category is that the UAV has autonomous return capability, and cannot continue to fly due to weather environment or cannot continue to perform the task due to communication link interference, and returns according to the autonomous return procedure. The second category is that the UAV does not have return capability, and crashes or makes an emergency landing due to UAV failure or flight anomaly. In the first category of emergency processing 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 processing mode, the primary requirement is to return and record the position and flight data of the UAV, so the communication level of the integrated navigation, communication link and GPS receiver is set to high level to ensure the execution of the task. The specific communication level of the slave device in the emergency processing mode is shown in Table 3.

[0043] Table 3 Communication level table of slave device in emergency processing mode

[0044]

[0045] Step 103: Determine the data transmission mode between the slave device and the master device based on the current communication state and the 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 state of each channel in the Bluetooth communication network. The corresponding data transmission mode is determined according to the current communication state of each channel. The data transmission mode includes channel selection mechanism and / or data segmentation mechanism and / or anti-interference strategy and / or master device relay strategy.

[0046] Specifically, the UAV in the special task mode or the data communication intensive working condition will cause heavy traffic load in the channel of the entire Bluetooth communication network, resulting in network congestion of the Bluetooth communication network. Therefore, the present application can also send a query request to the slave device at a set frequency (for example, once every 100-500 milliseconds or once every 20 seconds, depending on the task mode) to obtain the current communication state of each channel in the Bluetooth communication network, and determine the corresponding data transmission mode according to the current communication state of each channel.

[0047] Further, the master device (flight control computer) uses a polling mechanism for device management, i.e. sends a query request to each slave device at a set frequency to obtain the current communication state of each channel in the Bluetooth communication network. The device state (working state, interruption state, etc.) in the Bluetooth communication network can also be obtained. Then, it is determined whether to use the channel selection mechanism and / or data segmentation mechanism and / or anti-interference strategy and / or master device relay strategy according to the current communication state of each channel.

[0048] In the embodiments of the present application, the data transmission mode is determined according to the current communication state of each channel, including: when the current communication state of the channel is communication congestion, the data transmission between the corresponding slave device and the master device is carried out through the channel selection mechanism and / or the data segmentation mechanism. And / or, when the current communication state of the channel is high data frame loss rate or bit error rate, the data transmission between the corresponding slave device and the master device is carried out based on the anti-interference strategy. And / or, when the current communication state of the channel is that the channel between the first master device and the slave device cannot be connected, the master device relay strategy is enabled, and the data transmission between the first master device and the slave device is realized through the relay node of the other master device except the first master device.

[0049] Specifically, the current communication state mainly includes network data congestion, high data frame loss rate or bit error rate, and channel disconnection. Among them, the data frame loss rate and the bit error rate are key indicators for measuring communication quality. When a high frame loss rate or bit error rate occurs in Bluetooth communication networking, it is usually caused by electromagnetic interference at the physical layer. The electromagnetic interference at the physical layer mainly includes interference from inside and outside the unmanned aerial vehicle. The following three points are the solutions to the internal interference: first, quickly change the communication channel through the channel selection mechanism to avoid the interference point. Second, according to the communication level, the data of the slave device with high communication level is preferentially ensured to use the best channel, and the data of the slave device with medium or low communication level temporarily uses compression technology to reduce bandwidth occupation, so as to ensure normal data transmission. Third, the error correction coding function is enabled, and if the receiving end detects an error, the error is automatically corrected through error correction coding.

[0050] Specifically, if the channel between the slave device and the first master device cannot be connected in the Bluetooth communication networking, the remaining master devices except the first master device can be used as relay nodes for communication. The first master device can be any master device in the Bluetooth communication networking. For example, as shown in Figure 3 When the radar sensor cannot establish a connection with the flight control computer, the image processor is connected with the radar sensor to establish a communication channel, and the data transmission between the radar sensor and the flight control computer is carried out through the image processor as a relay node.

[0051] Specifically, the network data congestion mainly includes signal strength state, data throughput size or Bluetooth communication chip computing rate in the communication quality of the channel. Different strategies are adopted under different communication quality states of the channel.

[0052] Further, when the current communication state of the channel is communication congestion, the 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 value, the data throughput is less than the second threshold value, and the calculation rate of the Bluetooth communication chip of the master device is greater than or equal to the third threshold value, the channel selection mechanism is used to select the channel with the best signal for data transmission. When the signal strength of the channel is greater than or equal to the first threshold value, the data throughput is less than the second threshold value, and the calculation rate of the Bluetooth chip of the master device is less than the third threshold value, the data segmentation mechanism is used to segment the data into multiple data packets for data transmission. When the signal strength of the channel is less than the first threshold value, the data throughput is less than the second threshold value, and the calculation rate of the Bluetooth communication chip of the master device is less than the third threshold value, 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.

[0053] Specifically, in the state of weak signal strength, small data throughput, and normal calculation rate of the Bluetooth chip, the current communication state is mainly caused by the signal strength, and the channel selection mechanism can be used to replace the communication channel and select the channel with the best signal for communication. In the state of normal signal strength, small data throughput, and low calculation rate of the Bluetooth chip, the main cause of the current communication state is the overload of short-term communication data volume, and the data segmentation mechanism can be used to reduce the data volume of the transmission unit in the channel to improve the transmission efficiency and reduce network congestion. In the state of weak signal strength, small data throughput, and low calculation rate of the Bluetooth chip, the current communication state is caused by the signal strength and the overload of short-term communication data volume, and the channel selection mechanism and the data segmentation mechanism can be used to improve network congestion. Exemplarily, the first threshold value, the second threshold value, and the third threshold value are all set to 85% of the normal communication state as the judgment index.

[0054] Further, the data segmentation mechanism includes: dividing the data corresponding to the channel with communication congestion into multiple data packets according to a preset rule. The preset rule includes: dividing the data into multiple data packets according to the communication level of the slave device corresponding to the channel with communication congestion, and the number of data packets segmented by the slave device with a high communication level is less than the number of data packets segmented by the slave device with a low communication level.

[0055] Specifically, the maximum transmission unit is exemplarily set to 160 bits, the data corresponding to the channel with communication congestion is divided into multiple data packets according to the maximum transmission unit, and error correction coding is added in each data packet.

[0056] Exemplarily, the data segmentation mechanism reduces the amount of data in the transmission unit while increasing the number of transmission units. The more the data packets are segmented, the greater the overall delay after recombination at the receiving end. Therefore, according to the communication level, the data of the slave device with high communication level is segmented into three data packets according to three equal divisions. The data of the slave device with medium or low communication level is segmented into five data packets according to five equal divisions. The transmission delay of the slave device with high communication level can be reduced under 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 work, and the transmission data flow is allowed to be within the range of 60% of the design margin, so as to improve the total amount of data processing per unit time.

[0057] Further, the anti-interference strategy includes: using a multi-frequency selection mechanism to replace the communication channel. The multi-frequency selection mechanism includes: reserving multiple groups of sub-channels as candidate communication frequency bands in a set frequency band. Periodically scan the available Bluetooth frequency bands in the Bluetooth communication network, and monitor the communication quality of the available Bluetooth frequency bands in real time. According to the communication quality, a target communication channel is determined in the candidate communication frequency band. And / or, the slave device corresponding to the data transmission has a high communication level, and the best channel of the priority pairing signal is selected, and / or the slave device with a low communication level compresses the data before data transmission. And / or, the error correction coding function is enabled, and error correction coding is added to the data / packets transmitted in the channel.

[0058] 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. In addition, the slave device using the target communication channel can also be determined according to the communication level of the slave device, that is, the slave device with a high communication level can preferentially switch the channel.

[0059] Specifically, in the present application, the format of data between the functional devices of the unmanned aerial vehicle is defined in the existing form, only the error correction coding is added, and the rest is not developed again, reducing the time delay caused by compiling 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 described above. And add error correction coding and encryption during data / data packet transmission. The master device and the slave device encrypt and decrypt the data / data packet through a preset encryption key, so as to prevent the control command of the unmanned aerial vehicle in flight from being remotely eavesdropped or tampered with.

[0060] The error correction coding is a crucial point in the design of the Bluetooth communication network, which can realize high-reliability communication. After enabling the error correction coding function, the entire data processing process increases the requirement for the computing power of the chip, so the Bluetooth communication chip enters the overclocking work to improve the data processing capacity of the Bluetooth communication chip.

[0061] In the embodiments of the present application, the limit value of the data transmission flow can be raised from the first flow value to the second flow value based on a preset trigger condition. The preset trigger condition includes at least one of entering an emergency processing mode, starting a data segmentation mechanism, and enabling an error correction coding function.

[0062] Specifically, the first flow value is exemplarily set as a design margin of 40%, and the second flow value is exemplarily set as a design margin of 60%. To ensure that the processing capability 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 flow is constrained to always remain within the design margin of 40% (the design margin of 40% is the maximum data amount of normal communication), thereby guaranteeing the data transmission stability and low delay characteristics of the entire system. In addition, the processing capability of the Bluetooth communication chip and the performance of the radio frequency module can be allowed to work at a higher frequency according to specific software strategies / mechanisms or in a specific task mode.

[0063] Through analysis and calculation of existing communication modes and hardware device conditions, the data transmission delay can be controlled within a range of 3-10 milliseconds, which can meet the real-time requirements of the data communication of the unmanned aerial vehicle. In the present application, the encrypted transmission and encrypted pairing mechanism in the Bluetooth communication network can avoid direct acquisition of data, and compared with the traditional cable transmission, the encrypted transmission and encrypted pairing mechanism can effectively prevent the data of the unmanned aerial vehicle from being stolen after being intercepted.

[0064] Step 104: When the master device receives data of the plurality of slave devices, the corresponding data is processed according to the communication level of the slave device. In the embodiments of the present application, the master device takes the time of receiving the data of the slave device as the starting time. According to the communication level of the slave device and the starting time, the processing order of the master device for the data received from the slave device is determined. The master device periodically processes the received data according to the processing order.

[0065] Specifically, the processing period is exemplarily set as 50 milliseconds. The master device takes the time of receiving the data as the starting time, and starts processing the data in the processing period from the starting time. For the data in the same processing period, the data of the slave device with a high communication level is preferentially processed according to the communication level of the slave device sending the data, and the data processing in the next processing period is performed after the data processing in the current processing period is completed. This can prevent the data of the slave device with a high communication level from always occupying the data processing channel. Even if the data of the slave device with a high communication level continuously enters the sorting queue, the maximum waiting time of the data of the slave device with a low communication level in the queue will not exceed 50 milliseconds.

[0066] Although the present application provides method operation steps as described in the embodiments or flowcharts, more or less operation steps can be included based on routine or non-creative labor. The order of steps listed in the embodiments is only one of the many step execution orders, and does not represent the only execution order. In actual device or client product execution, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment).

[0067] The embodiments of the present application further provide a UAV for implementing the UAV signal wireless transmission method, comprising a UAV body, a plurality of functional devices integrated with Bluetooth communication chips, and a power supply device.

[0068] The UAV body comprises a skin provided with a shielding layer, and the shielding layer is connected to the metal part of the UAV body through a grounding wire. The plurality of functional devices integrated with Bluetooth communication chips are used to implement one of the UAV signal wireless transmission methods in the embodiments of the present application. The power supply device is used to supply power to the UAV body to maintain the flight state of the UAV body, and to maintain the operation of the plurality of functional devices.

[0069] Specifically, the shielding layer is made of a high-conductivity material (such as silver-plated fiber, copper foil or conductive paint), and is installed in the skin of the UAV or coated on the skin during the production of the UAV to isolate external electromagnetic interference. When installing the shielding layer, ensure that the surface of the skin is clean and free of corrosion. Then, the shielding layer is connected to the metal part of the UAV body by a grounding wire to form a complete Faraday cage to shield external interference.

[0070] Some of the modules in the device described in the present application can be described in the general context of computer-executable instructions, such as program modules, which are executed by computers. Generally, program modules include routines, programs, objects, components, data structures, classes, and the like, which perform particular tasks or implement particular abstract data types. The present application can also be practiced in a distributed computing environment, in which 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.

[0071] The devices or modules described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described as various modules with functions. In the implementation of the embodiments of the present application, the functions of the modules can be implemented in the same or multiple software and / or hardware. Of course, the modules implementing certain functions can also be implemented by multiple sub-modules or sub-units.

[0072] The methods, apparatuses or modules described in the present application can be implemented in a computer readable program code in any appropriate manner. For example, the controller can take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (for example, software or firmware) executable by the (micro)processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller and an embedded microcontroller. Examples of the controller 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 will also know that, in addition to implementing the controller in a pure computer readable program code manner, the same functions can also be implemented by logically programming the method steps in the form of logic gates, switches, ASICs, programmable logic controllers and embedded microcontrollers. Therefore, such a controller can be considered as a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can even be considered as both a software module for implementing the method and a structure within the hardware component.

[0073] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can exist independently, or two or more modules can be integrated in one module.

[0074] The storage medium described above includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache, a Hard Disk Drive (HDD) or a Memory Card. The memory can be used to store computer program instructions.

[0075] Those skilled in the art can clearly understand the application by the description of the foregoing embodiments. The technical solutions of the application can be implemented by means of software and necessary hardware. Based on such an understanding, the technical solutions of the application can be embodied in the form of a software product or in the form of data migration. The computer software product can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, or an optical disk, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a mobile terminal, a server, or a network device) to execute the methods described in the various embodiments or some parts of the embodiments.

[0076] The various embodiments in the specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment mainly describes the difference from other embodiments. The whole or part of the application can be used in many general or special 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, small computers, large computers, distributed computing environments including any of the above systems or devices, and the like.

[0077] The foregoing embodiments are only used to illustrate the technical solutions of the application, rather than limit the application; although the application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the scope of the technical solutions of the application.

Claims

1. A method for wireless transmission of drone signals, characterized in that: include: According to the system architecture of the drone, functional devices integrated with Bluetooth communication chips are divided into master devices and slave devices to build a Bluetooth communication network, including: integrating Bluetooth communication chips in each functional device of the drone; dividing the core devices in the functional devices into the master devices and the remaining functional devices into the slave devices based on the system architecture of the drone; determining a network topology according to the number of the master devices and the slave devices and the system architecture; and configuring the master devices and the slave devices according to the network topology to build the Bluetooth communication network; Classifying the slave devices into communication levels based on the mission mode of the drone; 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; When the master device receives data from the plurality of slave devices, the master device processes the corresponding data according to the communication levels of the slave devices.

2. The method according to claim 1, characterized in that The determining of the data transmission mode between the slave device and the master device based on the current communication state 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; The corresponding data transmission mode is determined according to the current communication status of each channel; wherein the data transmission mode includes a channel selection mechanism and / or a data segmentation mechanism and / or an anti-interference strategy and / or a master device relay strategy.

3. The method according to claim 2, characterized in that The determining a corresponding data transmission mode according to the current communication state of each channel includes: When the current communication state of the channel is congested, data transmission between the corresponding slave device and the master device is performed through the channel selection mechanism and / or the data segmentation mechanism; and / or, When the current communication state of the channel is a high data frame loss rate or bit error rate, performing data transmission between the corresponding slave device and the master device based on the 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, the master device relay strategy is enabled, and the other master devices except the first master device are used as relay nodes to realize data transmission between the first master device and the slave device through the relay nodes.

4. The method according to claim 3, characterized in that When the current communication state of the channel is congested, performing data transmission between the corresponding slave device and the master device through the channel selection mechanism and / or the data segmentation mechanism includes: 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 by the channel selection mechanism for data transmission; When the signal strength of the channel is greater than or equal to a first threshold, the data throughput is less than a second threshold, and the computing rate of the Bluetooth chip of the master device is less than a third threshold, the data segmentation mechanism is used to segment the data 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, the data is divided 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.

5. The method according to claim 3, characterized in that The data segmentation mechanism includes: The data corresponding to the communication congested channel is divided into multiple data packets according to preset rules; wherein the preset rules include: dividing the data into multiple data packets according to the communication level of the slave device corresponding to the communication congested channel, and the number of the data packets divided by the slave device with a high communication level is less than the number of the data packets divided by the slave device with a low communication level.

6. The method according to claim 3, characterized in that The anti-interference strategy includes: Using a multi-frequency selection mechanism to change the communication channel; 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 monitoring the communication quality of the available Bluetooth frequency bands in real time; determining a target communication channel in the candidate communication frequency bands based on the communication quality; and / or, The slave device with a higher communication level corresponding to the data transmission is preferentially paired with the channel with the best signal, and / or the slave device with a lower communication level compresses the data before transmitting the data; and / or, Enable the error correction coding function and add error correction coding to the data / data packets transmitted in the channel.

7. The method according to claim 1, characterized in that Also includes: Based on a preset trigger condition, the limit of the data transmission flow is increased from a first flow value to a second flow value; wherein the preset trigger condition includes at least one of entering an emergency processing mode, turning on a data segmentation mechanism, and enabling an error correction coding function.

8. The method according to claim 1, characterized in that When the master device receives data from a plurality of slave devices, processing the corresponding data according to the communication level of the slave device includes: The master device takes the time of receiving data from the slave device as the start time; determining, according to the communication level and the start time of the slave device, a processing order of the data received from the slave device by the master device; The master device periodically processes the received data according to the processing order.

9. A drone for implementing a method for wirelessly transmitting drone signals, characterized in that: It includes a drone body, multiple functional devices integrated with Bluetooth communication chips, and power supply equipment; The UAV body includes a skin provided with a shielding layer, and the shielding layer is connected to the metal part of the UAV body via a grounding wire; A plurality of functional devices integrated with Bluetooth communication chips are used to implement the method according to any one of claims 1 to 8; 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.

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