An integrated framework based on group collaborative routing algorithm

Abstract

The present application relates to the technical field of drone communication and group collaboration, and in particular to an integrated framework based on a group collaborative routing algorithm. The integrated framework is deployed in a drone cluster and includes: a first middleware deployed in a first drone, for processing the transmitted information when the first drone transmits information to the second drone, and splitting the transmitted information into multiple data packets in a manner corresponding to the transmitted information and transmitting them in sequence to a second middleware deployed in the second drone; a second middleware, for sending the received data packet to a control module in a first manner, a second manner, a third manner, or a fourth manner based on the size of the received data packet and / or the data packet change rate and / or the pre-received indication information of the master drone in the drone cluster regarding the information transmitted from the first drone to the second drone.

Description

Technical Field

[0001] The present application relates to the field of UAV communication and group collaboration technology, and in particular to an integrated framework based on a group collaborative routing algorithm. Background Art

[0002] With the development and maturity of drone swarm technology, its application in a variety of fields, including environmental monitoring, disaster relief, and material delivery, is becoming increasingly widespread. Compared to single drone operations, drone swarms offer higher mission efficiency, stronger environmental adaptability, and improved system fault tolerance. However, the complexity of coordinated communication between multiple nodes in a drone swarm increases significantly. This is especially true in conditions such as frequently changing dynamic network topologies, unstable network connections, and high packet loss rates. Traditional point-to-point communication mechanisms and static routing protocols are no longer able to meet the high reliability, low latency, and high concurrency communication requirements.

[0003] Most existing drone swarm communication frameworks rely on predefined static routes or centralized scheduling based on global path calculation. Frequent topology changes and bandwidth resource fluctuations within the swarm can easily lead to routing failures, packet congestion, and increased latency, impacting the overall collaborative efficiency of the swarm. While some systems have introduced multi-hop relay mechanisms, these generally lack the ability to dynamically process and prioritize different types of service data.

[0004] Taking information transmission between drones as an example, control commands, image data, status reports, and other information have varying requirements for real-time performance and reliability. However, most existing communication mechanisms employ a unified transmission strategy, failing to flexibly adjust protocol parameters or routing paths based on information type and network quality. This results in a struggle to balance transmission efficiency and security. For example, transmitting large amounts of video data in a weak signal area can block subsequent high-priority control commands. Any delay in control signals directly impacts the accuracy and safety of mission execution.

[0005] Furthermore, existing cluster communication solutions often neglect real-time assessment and adaptive feedback mechanisms for inter-node network quality. They lack the ability to perceive and utilize parameters such as RTT (Round-Trip Time) and packet loss rate, making them ineffective for communication optimization. Even if some solutions support QoS (Quality of Service) grading, they struggle to integrate it with network scoring mechanisms for effective scheduling, hindering optimal resource allocation in dynamic environments.

[0006] To address these challenges, recent research has attempted to introduce lightweight communication protocols, such as message queue protocols (such as MQTT) and sensor network protocols (such as CoAP), to improve communication efficiency in resource-constrained environments. However, these technologies often apply the protocols to a single scenario, lacking cross-protocol and multi-dimensional scheduling integration capabilities. Furthermore, a modular middleware framework suitable for drone swarm scenarios has not yet been established. Consequently, practical deployments still face numerous technical bottlenecks, including unclear information splitting and transmission strategies, rigid protocol selection mechanisms, and lengthy data reception and processing procedures. Summary of the Invention

[0007] (1) Technical issues to be resolved

[0008] In view of the above-mentioned shortcomings and deficiencies of the existing technology, the present application provides an integrated framework based on a group collaborative routing algorithm, which solves the technical problem that the current technology does not provide sufficient support for the priority division and QoS (quality of service) guarantee mechanism of data transmitted in drone missions, and it is easy for high-priority instructions (such as emergency obstacle avoidance, control commands) and low-priority data (such as sensor raw data) to share links and compete for bandwidth, which in turn leads to delays or even loss of important information transmission.

[0009] (2) Technical solution

[0010] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0011] An integrated framework based on a swarm collaborative routing algorithm, the integrated framework is used to be deployed in a drone swarm and is used to provide routing collaborative support during information transmission between any two drones in the drone swarm. The integrated framework includes:

[0012] The first middleware deployed in the first UAV is configured to process the transmitted information when the first UAV transmits information to the second UAV, and to split the transmitted information into multiple data packets in a manner corresponding to the transmitted information, and to sequentially transmit the data packets to the second middleware deployed in the second UAV;

[0013] Wherein, any two UAVs include a first UAV and a second UAV;

[0014] The second middleware of the second UAV is used to send the received data packet to the control module used to control the second UAV to perform the task in the first method, the second method, the third method or the fourth method based on the size of the received data packet and / or the data packet change rate and / or the pre-received indication information of the master UAV in the UAV cluster regarding the information transmitted from the first UAV to the second UAV.

[0015] Preferably, in some embodiments of the present application, the first middleware includes:

[0016] a sending module, configured to determine, when the first UAV transmits information to the second UAV, whether the size of the transmitted information is greater than a preset first threshold, and if the size is less than or equal to the preset first threshold, send the transmitted information to the Broker router in the first middleware;

[0017] The Broker router is used to split the information received by the Broker router into multiple data packets according to the priority identifier preset in the transmitted information and transmit them in sequence to the second middleware deployed on the second drone using the MQTT QoS level corresponding to the priority identifier.

[0018] Preferably, in some embodiments of the present application, the first middleware further includes: a network quality detection module;

[0019] The network quality detection module is used to detect the network round-trip time and packet loss rate between the first middleware and the second middleware when the size of the information transmitted from the first drone to the second drone is greater than a preset first threshold, and obtain the network score between the first middleware and the second middleware based on the network round-trip time and packet loss rate between the first middleware and the second middleware and the preset maximum allowable delay threshold. When the network score is less than the preset score threshold, the information transmitted from the first drone to the second drone is compressed and sent to the Broker router in the first middleware.

[0020] Preferably, in some embodiments of the present application, the network quality detection module obtains a network score between the first middleware and the second middleware based on the network round-trip time and packet loss rate between the first middleware and the second middleware and a preset maximum allowable delay threshold, specifically including:

[0021] A network quality detection module, which uses a network scoring formula to obtain a network score between the first middleware and the second middleware based on the network round-trip time and packet loss rate between the first middleware and the second middleware and a preset maximum allowable delay threshold;

[0022] The network scoring formula is:

[0023] ;

[0024] Rating the network;

[0025] The network round trip time between the first middleware and the second middleware;

[0026] is the preset maximum allowable delay threshold;

[0027] is the packet loss rate between the first middleware and the second middleware.

[0028] Preferably, in some embodiments of the present application, the priority identifier includes a high priority identifier, a medium priority identifier, and a low priority identifier;

[0029] The MQTT QoS level corresponding to the high priority identifier is QoS2.

[0030] The MQTT QoS level corresponding to the medium priority identifier is QoS1;

[0031] The MQTT QoS level corresponding to the low priority identifier is QoS0.

[0032] Preferably, in some embodiments of the present application, the second middleware includes:

[0033] a receiving module, configured to sequentially receive data packets transmitted by the Broker router in the first middleware, and sequentially determine whether the size of each data packet is greater than a preset second threshold value; if the size of the data packet is greater than the preset second threshold value, then sending the data packet to the control module for controlling the second UAV to perform the task in a first manner;

[0034] The first method is the gRPc multi-routing protocol method.

[0035] Preferably, in some embodiments of the present application, the receiving module is further configured to, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold, determine whether the data packet meets a preset condition; if the preset condition is met, send the data packet to the control module for controlling the second drone to perform the task in a second manner;

[0036] The preset condition is: when i=1, the size of the data packet is greater than a preset third threshold; or when i≥2, the absolute value of the difference between the size of the i-th data packet transmitted by the received Broker router and the size of the i-1-th data packet transmitted by the received Broker router is greater than the preset third threshold;

[0037] The second method is the MQTT QoS1 level protocol method.

[0038] Preferably, in some embodiments of the present application, the preset second threshold is 1MB;

[0039] Presetting the third threshold is the same as presetting the second threshold.

[0040] Preferably, in some embodiments of the present application, the receiving module is further configured to, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold value and the data packet does not meet a preset condition, determine whether the receiving module has received in advance an indication information of the information transmitted by the master control drone in the drone cluster to the second drone regarding the first drone, and if no indication information is received in advance, send the data packet to the control module for controlling the second drone to perform the task in a third manner;

[0041] The indication information is information indicating that the information transmitted by the first UAV to the second UAV is an emergency instruction;

[0042] The third method is to use a pre-specified protocol to send the data packet to a control module for controlling the second UAV to perform the task;

[0043] The designated protocol is the MQTT QoS0 level protocol mode, the MQTT QoS1 level protocol mode, or the MQTT QoS2 level protocol mode.

[0044] Preferably, in some embodiments of the present application, the receiving module is further configured to, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold value and the data packet does not meet the preset condition, and when the receiving module has previously received indication information of the information transmitted by the master control drone in the drone cluster to the second drone, send the data packet to the control module for controlling the second drone to perform the task in a fourth manner;

[0045] The fourth method is to use the CoAP protocol to send the data packet to the control module used to control the second drone to perform the task.

[0046] (3) Beneficial effects

[0047] The information transmission middleware framework based on the group collaborative routing algorithm provided by the embodiment of the present application can select the optimal routing path and communication protocol in real time according to the dynamic changes of the nodes within the cluster by introducing a multi-communication protocol support mechanism and a group collaborative control strategy in the communication middleware, thereby significantly improving the information transmission efficiency and network robustness of the drone cluster in complex environments; and by constructing a unified abstract interface and protocol adaptation layer, it can achieve efficient collaboration and protocol compatibility between different types of drones. Even in the case of frequent node changes and unstable links, the continuity of the communication links between nodes and the stability of the middleware scheduling can still be guaranteed, thereby ensuring the reliable execution of cluster tasks and the accuracy of information transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1Schematic diagram of an integrated framework based on a group collaborative routing algorithm according to one embodiment of the present application;

[0049] Figure 2 This is a processing flow chart of a first middleware deployed in a first drone according to one embodiment of the present application;

[0050] Figure 3 The figure is a processing flow chart of the second middleware deployed in the second drone according to one embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to better explain the present application and facilitate understanding, the present application is described in detail below with reference to the accompanying drawings through specific implementation methods.

[0052] In related technologies, there are three main existing solutions for the problem of stable and efficient communication between multiple unmanned systems (such as drone swarms) in dynamic environments:

[0053] The first type involves centralized path allocation schemes based on static routing tables. These schemes pre-plan the network topology and communication paths through a central control node, making them suitable for systems where node locations are fixed or change slowly. However, in multi-unmanned systems, frequent node movement and rapidly changing network topologies prevent static routing tables from being updated in a timely manner, making communication links susceptible to interruption. This results in insufficient robustness and real-time performance, making it difficult to cope with complex dynamic scenarios.

[0054] The second category is distributed routing solutions based on traditional self-organizing networks (such as AODV and DSR). These solutions achieve path discovery and maintenance by broadcasting control messages between nodes, and have a certain degree of topological adaptability. However, in cluster scenarios with increasing node numbers and complex task coordination, broadcast storms and path maintenance overhead increase significantly, communication latency increases, and reliability decreases. Communication performance deteriorates sharply, especially in high-density or high-interference areas.

[0055] The third category involves path planning solutions based on swarm intelligence optimization algorithms (such as ant colonies and particle swarms). These solutions simulate natural swarm behavior and collaboratively seek optimal solutions, exhibiting strong adaptability and parallelism. However, most implementations focus on global path optimization and lack comprehensive consideration of communication protocols and system architecture. This makes them difficult to adapt to heterogeneous communication devices and protocol stacks, limiting their deployment capabilities in actual cluster systems.

[0056] To this end, the present application provides an integrated framework based on a group collaborative routing algorithm, which can achieve efficient information transmission and flexible routing updates among multiple nodes in a cluster in dynamic tasks and communication environments by introducing a data abstraction layer that supports multiple protocols and a dynamic collaborative control mechanism driven by group behavior in the middleware architecture; at the same time, the framework uses a combination of local perception and global collaborative strategies to support autonomous collaboration between nodes to complete path planning and protocol selection, and can maintain the continuity and robustness of communication links in highly dynamic and unstable link scenarios; in addition, through modular integrated design, the framework is compatible with multiple types of unmanned systems and communication protocol stacks, which facilitates deployment and expansion on different platforms, effectively improving the overall adaptability, versatility and engineering deployment capabilities of the system.

[0057] To better understand the above technical solutions, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a clearer and more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0058] Figure 1 The figure is a schematic diagram of an integrated framework based on a group collaborative routing algorithm according to an embodiment of the present application. The integrated framework is used to be deployed in a drone cluster and is used to provide routing collaborative support during the information transmission process between any two drones in the drone cluster, such as Figure 1 As shown, the integrated framework includes:

[0059] The first middleware deployed in the first UAV is configured to process the transmitted information when the first UAV transmits information to the second UAV, and to split the transmitted information into multiple data packets in a manner corresponding to the transmitted information, and to sequentially transmit the data packets to the second middleware deployed in the second UAV;

[0060] Wherein, any two UAVs include a first UAV and a second UAV;

[0061] Specifically, the first middleware includes:

[0062] The sending module is used to determine whether the size of the transmitted information is greater than a preset first threshold when the first UAV transmits information to the second UAV. If it is less than or equal to the preset first threshold, the transmitted information is sent to the Broker router in the first middleware. Figure 2 ;

[0063] In practical applications, the volume of transmitted information determines the pressure it places on the transmission link. For example, the data volume and transmission tolerances of high-definition video and control commands are completely different. Therefore, this embodiment first determines and classifies the volume of information to enable targeted subsequent processing. If the transmitted information is too large and sent directly without being split, it is very likely to cause packet loss, delays, and even retransmissions on weak signal links. However, after splitting, each data packet is smaller, making it easier to successfully transmit and confirm on unstable networks, thereby improving the stability and controllability of data transmission.

[0064] It should be noted that when the first UAV transmits information to the second UAV, the transmitted information is a plurality of packets of initial data. In this embodiment, the information to be transmitted specifically refers to each packet of initial data.

[0065] Optionally, in some embodiments of the present application, the first middleware further includes: a network quality detection module;

[0066] The network quality detection module is used to detect the network round-trip time and packet loss rate between the first middleware and the second middleware when the size of the information transmitted from the first drone to the second drone is greater than a preset first threshold, and obtain the network score between the first middleware and the second middleware based on the network round-trip time and packet loss rate between the first middleware and the second middleware and the preset maximum allowable delay threshold. When the network score is less than the preset score threshold, the information transmitted from the first drone to the second drone is compressed and sent to the Broker router in the first middleware.

[0067] In practical applications, when the round-trip time (RTT) and packet loss rate are too high, direct transmission of large data can easily fail or result in multiple retransmissions, leading to communication interruptions. This embodiment uses a network quality detection module to detect the current link status (i.e., the network score between the first and second middleware), thereby determining whether the current link is suitable for large data transmission and avoiding blind transmission. If the score indicates poor link quality, data compression can be immediately initiated to shrink the original information and reduce the required transmission bandwidth. This reduces link occupancy, minimizes the risk of packet loss, and improves the overall data delivery success rate. This ensures communication accessibility and reliability even in weak network conditions.

[0068] Specifically, the network quality detection module obtains a network score between the first middleware and the second middleware based on the network round-trip time and packet loss rate between the first middleware and the second middleware and a preset maximum allowable delay threshold, specifically including:

[0069] A network quality detection module, which uses a network scoring formula to obtain a network score between the first middleware and the second middleware based on the network round-trip time and packet loss rate between the first middleware and the second middleware and a preset maximum allowable delay threshold;

[0070] The network scoring formula is:

[0071] ;

[0072] Rating the network; The network round trip time between the first middleware and the second middleware; is the preset maximum allowable delay threshold; is the packet loss rate between the first middleware and the second middleware.

[0073] In this embodiment, the network scoring formula normalizes two parameters of different dimensions (RTT and packet loss rate) and then weights them together. This avoids the problem of directly comparing incompatible metrics and allows the network status to be represented by a single score. This network scoring formula quantitatively assesses the network status between the first and second middleware. By comparing the round-trip time with a preset maximum latency threshold and normalizing it, combined with the packet loss rate factor, a comprehensive network score is constructed that effectively reflects the real-time performance and reliability of the network.

[0074] The Broker router is used to split the information received by the Broker router into multiple data packets according to the priority identifier preset in the transmitted information and transmit them in sequence to the second middleware deployed on the second drone using the MQTT QoS level corresponding to the priority identifier.

[0075] It's important to note that MQTT QoS offers three levels (0 - at most once, 1 - at least once, and 2 - exactly once), corresponding to reliability mechanisms ranging from no confirmation, to confirmed retransmission, and finally to two-way confirmation. High-priority tasks are automatically assigned a higher QoS level, increasing their probability of successful delivery. QoS matching is driven by the priority identifier in the transmitted information, eliminating the need for manual intervention and enabling "task-driven communication level configuration," enhancing automatic adaptability.

[0076] In this embodiment, the priority identifier includes a high priority identifier, a medium priority identifier, and a low priority identifier;

[0077] The MQTT QoS level corresponding to the high priority flag is QoS2. QoS2 is the highest level among MQTT QoS levels and provides a four-way handshake mechanism to ensure "only once and reliable delivery" of messages. It is suitable for control data with extremely high reliability requirements (such as emergency return instructions, collision avoidance, etc.).

[0078] The MQTT QoS level corresponding to the medium priority identifier is QoS1. Medium priority tasks (such as real-time image streaming and status monitoring data) are guaranteed to be delivered without wasting resources processing duplicate messages.

[0079] The MQTT QoS level corresponding to the low priority flag is QoS 0. Low-priority tasks (such as log information and redundant status reports) use QoS 0 to minimize network load and improve overall system efficiency.

[0080] Different priority identifiers correspond to different MQTT QoS levels, which enables on-demand resource allocation and avoids network congestion and increased energy consumption caused by all messages using high MQTT QoS levels.

[0081] The second middleware of the second UAV is used to send the received data packet to the control module used to control the second UAV to perform the task in the first method, the second method, the third method or the fourth method based on the size of the received data packet and / or the data packet change rate and / or the pre-received indication information of the master UAV in the UAV cluster regarding the information transmitted from the first UAV to the second UAV.

[0082] Alternatively, in a specific example of this application, see Figure 3 , the second middleware includes:

[0083] a receiving module, configured to sequentially receive data packets transmitted by the Broker router in the first middleware, and sequentially determine whether the size of each data packet is greater than a preset second threshold value; if the size of the data packet is greater than the preset second threshold value, then sending the data packet to the control module for controlling the second UAV to perform the task in a first manner;

[0084] The first method is the gRPc multi-routing protocol method.

[0085] Specifically, the preset second threshold is 1MB;

[0086] That is to say, in an embodiment of the present application, when the data packet is large (such as exceeding 1MB), it automatically switches to the more stable gRPcC protocol that supports streaming transmission for communication; reducing problems such as "packet breakage", "large delay" and "timeout" during the transmission of big data, and ensuring the instruction integrity of key control tasks.

[0087] It should be noted that gRPcC is based on the HTTP / 2 protocol and supports multiplexing, header compression, flow control, and other mechanisms, making it particularly suitable for processing large data streams. In the embodiments of the present application, by providing a receiving module in the second middleware and introducing a protocol selection mechanism based on packet size, it ensures that when a packet is larger than a preset threshold (such as 1MB), it is transmitted to the control module using the gRPcC multi-routing protocol. This technical feature effectively improves the stability and reliability of large data packet transmission, avoiding network congestion and the risk of data loss.

[0088] Optionally, in some embodiments of the present application, the receiving module is further configured to, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold, determine whether the data packet meets a preset condition; if the preset condition is met, send the data packet to the control module for controlling the second drone to perform the task in a second manner;

[0089] The preset condition is: when i=1, the size of the data packet is greater than a preset third threshold; or when i≥2, the absolute value of the difference between the size of the i-th data packet transmitted by the received Broker router and the size of the i-1-th data packet transmitted by the received Broker router is greater than the preset third threshold;

[0090] The second method is the MQTT QoS1 level protocol method.

[0091] Presetting the third threshold is the same as presetting the second threshold.

[0092] In this embodiment, the specific content is: when the size of the i-th data packet is less than or equal to the second threshold (such as 1MB), proceed to the next step of judgment:

[0093] If i=1, determine whether its size is greater than the third threshold;

[0094] If i ≥ 2, determine whether the difference between its size and the size of the previous data packet is greater than a third threshold;

[0095] If these pre-conditions are met, the second method is used: MQTT QoS1 protocol (at least once delivery); wherein the second and third thresholds are the same.

[0096] In this embodiment of the application, the second middleware dynamically detects and judges data packets transmitted via MQTT, intelligently selecting whether to adopt the more reliable QoS1 protocol based on the index position and size mutation of the packet. This mechanism ensures the reliable transmission of critical small data packets while avoiding the waste of communication resources caused by uniformly upgrading the transmission level of all small packets. This effectively improves communication stability, responsiveness, and overall bandwidth utilization efficiency, and possesses strong practical and intelligent advantages.

[0097] In this embodiment, the receiving module is further configured to, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold value and the data packet does not meet a preset condition, determine whether the receiving module has received in advance an indication information of the information transmitted by the master control drone in the drone cluster regarding the first drone to the second drone; if no indication information is received in advance, send the data packet to the control module for controlling the second drone to perform the task in a third manner;

[0098] The indication information is information indicating that the information transmitted by the first UAV to the second UAV is an emergency instruction;

[0099] The third method is to use a pre-specified protocol to send the data packet to a control module for controlling the second UAV to perform the task;

[0100] The designated protocol is the MQTT QoS0 level protocol mode, the MQTT QoS1 level protocol mode, or the MQTT QoS2 level protocol mode.

[0101] For example, in the actual application of this embodiment, when all the following conditions are met:

[0102] The size of the i-th data packet is ≤ the second threshold (e.g., 1MB);

[0103] Failure to meet the preset conditions (such as sudden size changes);

[0104] The "emergency command" indicator (i.e., the indication information from the master UAV in the UAV cluster regarding the information transmitted from the first UAV to the second UAV (information indicating that the information transmitted from the first UAV to the second UAV is an emergency command)) sent by the master UAV is not received;

[0105] The third method (preset protocol, such as MQTT QoS0 / QoS1 / QoS2) is used for sending.

[0106] In addition, in this embodiment, the receiving module is further configured to, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold value and the data packet does not meet the preset condition, and when the receiving module has previously received indication information of the information transmitted by the master control drone in the drone cluster to the second drone, send the data packet to the control module for controlling the second drone to perform the task in a fourth manner;

[0107] The fourth method is to use the CoAP protocol to send the data packet to the control module used to control the second drone to perform the task.

[0108] Specifically, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold, and the data packet does not meet the preset conditions, when the receiving module pre-receives the instruction information of the master drone in the drone cluster regarding the information transmitted from the first drone to the second drone, even if the data packet is small, the protocol that is more suitable for command communication, that is, the CoAP protocol, is used first, which can avoid the risk of delay or packet loss of low-priority protocols (such as MQTT QoS0) in emergency tasks.

[0109] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0110] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0111] In this application, unless otherwise expressly specified or limited, when a first feature is “on” or “below” a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above”, or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is “below”, “below”, or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0112] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0113] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An integrated framework based on group collaborative routing algorithm, characterized by: The integrated framework is used to be deployed in a drone cluster and to provide routing coordination support during information transmission between any two drones in the drone cluster. The integrated framework includes: The first middleware deployed in the first UAV is configured to process the transmitted information when the first UAV transmits information to the second UAV, and to split the transmitted information into multiple data packets in a manner corresponding to the transmitted information, and to sequentially transmit the data packets to the second middleware deployed in the second UAV; Wherein, any two UAVs include a first UAV and a second UAV; The second middleware of the second UAV is configured to send the received data packet to a control module for controlling the second UAV to perform a task using the first method, the second method, the third method, or the fourth method based on the size of the received data packet and / or the rate of change of the data packet and / or pre-received instruction information from the master UAV in the UAV cluster regarding the information transmitted from the first UAV to the second UAV; The first middleware further includes: a network quality detection module; the network quality detection module is configured to detect the network round-trip time and packet loss rate between the first middleware and the second middleware when the size of the information transmitted from the first drone to the second drone is greater than a preset first threshold, and obtain a network score between the first middleware and the second middleware based on the network round-trip time and packet loss rate between the first middleware and the second middleware and a preset maximum allowable delay threshold, and when the network score is less than the preset score threshold, compress the information transmitted from the first drone to the second drone and send it to the Broker router in the first middleware; The network quality detection module obtains a network score between the first middleware and the second middleware based on the network round-trip time, packet loss rate, and a preset maximum allowable delay threshold between the first middleware and the second middleware. Specifically, the network quality detection module obtains a network score between the first middleware and the second middleware using a network scoring formula based on the network round-trip time, packet loss rate, and a preset maximum allowable delay threshold between the first middleware and the second middleware. The network scoring formula is: ； Rating the network; The network round trip time between the first middleware and the second middleware; is the preset maximum allowable delay threshold; is the packet loss rate between the first middleware and the second middleware.

2. The integrated framework based on group collaborative routing algorithm according to claim 1, characterized in that: The first middleware includes: a sending module, configured to determine, when the first UAV transmits information to the second UAV, whether the size of the transmitted information is greater than a preset first threshold, and if the size is less than or equal to the preset first threshold, send the transmitted information to the Broker router in the first middleware; The Broker router is used to split the information received by the Broker router into multiple data packets according to the priority identifier preset in the transmitted information and transmit them in sequence to the second middleware deployed on the second drone using the MQTT QoS level corresponding to the priority identifier.

3. The integrated framework based on group collaborative routing algorithm according to claim 2, characterized in that: The priority identifier includes a high priority identifier, a medium priority identifier, and a low priority identifier; The MQTT QoS level corresponding to the high priority identifier is QoS2. The MQTT QoS level corresponding to the medium priority identifier is QoS1; The MQTT QoS level corresponding to the low priority identifier is QoS0.

4. The integrated framework based on group collaborative routing algorithm according to claim 3, characterized in that: The second middleware includes: a receiving module, configured to sequentially receive data packets transmitted by the Broker router in the first middleware, and sequentially determine whether the size of each data packet is greater than a preset second threshold value; if the size of the data packet is greater than the preset second threshold value, then sending the data packet to the control module for controlling the second UAV to perform the task in a first manner; The first method is the gRPc multi-routing protocol method.

5. The integrated framework based on group collaborative routing algorithm according to claim 4, characterized in that: The receiving module is further configured to determine whether the data packet meets a preset condition when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold value, and if so, to send the data packet to the control module for controlling the second UAV to perform the task in a second manner; The preset condition is: when i=1, the size of the data packet is greater than a preset third threshold; or when i≥2, the absolute value of the difference between the size of the i-th data packet transmitted by the received Broker router and the size of the i-1-th data packet transmitted by the received Broker router is greater than the preset third threshold; The second method is the MQTT QoS1 level protocol method.

6. The integrated framework based on group collaborative routing algorithm according to claim 5, characterized in that: The second threshold is preset to be 1MB; Presetting the third threshold is the same as presetting the second threshold.

7. The integrated framework based on group collaborative routing algorithm according to claim 6, characterized in that: The receiving module is further configured to, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold value and the data packet does not meet a preset condition, determine whether the receiving module has received in advance an indication information of the information transmitted by the master control drone in the drone cluster to the second drone for the first drone to the second drone; if no indication information is received in advance, send the data packet to the control module for controlling the second drone to perform the task in a third manner; The indication information is information indicating that the information transmitted by the first UAV to the second UAV is an emergency instruction; The third method is to use a pre-specified protocol to send the data packet to a control module for controlling the second UAV to perform the task; The designated protocol is the MQTT QoS0 level protocol mode, the MQTT QoS1 level protocol mode, or the MQTT QoS2 level protocol mode.

8. The integrated framework based on group collaborative routing algorithm according to claim 7, characterized in that: The receiving module is further configured to, when the size of the i-th data packet transmitted by the received Broker router is less than or equal to a preset second threshold value and the data packet does not meet the preset condition, and when the receiving module has previously received indication information from the master control drone in the drone cluster regarding the information transmitted from the first drone to the second drone, send the data packet to the control module for controlling the second drone to perform the task in a fourth manner; The fourth method is to use the CoAP protocol to send the data packet to the control module used to control the second drone to perform the task.

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