A method and device for charging and switching communication of a drone nest integration

Abstract

The application discloses a kind of unmanned plane nest integrated charging and communication switching control method and device, comprising: when being in charging state and detecting data to be transmitted, initiate data exchange request with unmanned plane, and carry out the data exchange request check, obtain check detection result;According to check result, control duplex communication module to enter invalid level, and maintain predetermined time;After maintaining invalid level in predetermined time, the duplex communication module is switched to low level state, and after the confirmation signal of the unmanned plane is sent, it is switched to data transmission state, and data transmission is started;Wherein, the synchronization message is used to align state with unmanned plane after mode switching.The application compared with prior art, significantly improve the switching reliability of unmanned plane nest charging and communication mode and data transmission efficiency, overcome the poor technical defects of traditional scheme cooperation.

Description

Technical Field

[0001] This invention relates to the field of UAV ground station technology, and more specifically, to a method and apparatus for integrated charging and communication switching control of UAVs. Background Technology

[0002] With the large-scale application of industrial drones in fields such as inspection, surveying, and emergency communication, the drone pods, as a core component of ground infrastructure, have seen their automated operation and maintenance capabilities and data interaction efficiency become crucial factors affecting operational efficiency. Modern mission scenarios require pods to possess comprehensive capabilities such as rapid charging, secure data transmission, and multi-service collaboration. Traditional independent charging and communication modules can no longer meet the demands of high-intensity, high-reliability operations. Integrated intelligent tripods, as the basic carrier for realizing automatic drone return to pods for charging and data interaction, need to solve system-level issues such as charging efficiency, communication security, and smooth mode switching. Their hardware integration, protocol reliability, and anomaly handling capabilities directly determine the operational efficiency and safety of drone swarms.

[0003] While some existing technologies attempt to improve the functionality of drone nests by increasing communication contacts and optimizing charging protocols, existing technologies still suffer from a lack of coordination between charging and communication. This results in drone nests exhibiting insufficient flexibility, weak functional coordination, and low overall operational efficiency in complex application scenarios.

[0004] Therefore, how to provide an integrated charging and communication switching control method for UAVs that can significantly improve the reliability of switching between charging and communication modes and the efficiency of data transmission, and overcome the shortcomings of poor coordination in traditional solutions, has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an integrated charging and communication switching control method for UAVs, which significantly improves the reliability of switching between charging and communication modes and the efficiency of data transmission for UAVs, overcoming the shortcomings of poor coordination in traditional solutions.

[0006] The first technical solution provided by this invention is as follows:

[0007] This invention provides a method for integrated charging and communication switching control of a drone, comprising the following steps: S1 When the drone is in a charging state and data to be transmitted is detected, a data exchange request is initiated with the drone, and the data exchange request is verified to obtain the verification result; S2 Based on the verification result, the duplex communication module is controlled to enter an invalid level and maintained for a predetermined time; S3 After maintaining the invalid level for the predetermined time, the duplex communication module is switched to a low level state, and after sending a synchronization message and receiving confirmation from the drone, the module is switched to the data transmission state to start data transmission; wherein, the synchronization message is used to align the state with the drone after the mode switch.

[0008] Furthermore, in a preferred embodiment of the present invention, step S2 includes:

[0009] The duplex communication module includes: a first channel, a second channel, a third channel, and a fourth channel;

[0010] The first channel is controlled to switch from a high-level state indicating charging control to a 0-level state, where the 0-level state is used to indicate that the bus is invalid.

[0011] Based on the system clock frequency of the duplex communication module, a preset 0-level state duration is established to construct an electrical isolation dead zone, which is used to release the residual charge of the first channel.

[0012] Furthermore, in a preferred embodiment of the present invention, step S3 includes:

[0013] The first channel is switched from the 0 level state to the low level state, and the second channel is set to the high level to indicate that the data transmission mode has been entered;

[0014] The synchronization message is sent to the UAV via the third channel, and a receive monitoring timer is started simultaneously.

[0015] Based on the feedback signal received from the UAV via the fourth channel, if the reception time of the feedback signal is within the preset feedback time of the reception listening timer, it is determined that the UAV has completed synchronization and the data transmission logic is officially activated.

[0016] Furthermore, in a preferred embodiment of the present invention, the method further includes: performing coordinated scheduling management of the transmitted data, specifically:

[0017] Establish a data category database, identify the data category of the transmitted data according to the data category database, mark the data according to the data category, obtain several priority tags, and construct a priority configuration table;

[0018] A preset period is set, which is divided into several time slots, and an initial time slot allocation is performed based on the priority configuration table. The preset period represents the basic time unit for resource scheduling.

[0019] The data accumulation level of each priority data is monitored in real time, and the time slots are dynamically adjusted according to the data accumulation level.

[0020] Furthermore, in a preferred embodiment of the present invention, the step of dynamically adjusting the time slots according to the degree of data accumulation includes:

[0021] Set an initial stacking threshold and an initial time slot interval for each priority data based on historical load information;

[0022] When the data accumulation level of any priority level exceeds the initial accumulation threshold, time slot allocation is performed from low to high based on the data priority and in conjunction with the initial time slot interval to complete dynamic adjustment.

[0023] Furthermore, in a preferred embodiment of the present invention, it further includes:

[0024] The charging state is specifically as follows:

[0025] Obtain drone docking information and send a charging request to the drone. Based on the full-duplex communication module and the charging request, establish a charging connection with the drone and enter the charging state.

[0026] The specific steps to enter charging mode are as follows:

[0027] The first and second channels are controlled to output high levels, and a charging request message is sent to the drone through the third channel;

[0028] The charging response message from the UAV is received via the fourth channel, and the charging response message contains the battery status information of the UAV.

[0029] The battery status information is verified. If the verification passes, a charging connection is successfully established with the drone.

[0030] Based on the charging status, a charging control message is sent to the drone, and the drone's battery status information is received in real time.

[0031] Furthermore, in a preferred embodiment of the present invention, it further includes: an anomaly handling mechanism for real-time detection, specifically:

[0032] When an abnormal state is detected, the first channel is set to 0 level and the second channel is set to low level, interrupting the current control operation;

[0033] Send an exception report message and wait for a preset time. After the wait is completed, identify the exception type and match the corresponding exception handling method according to the exception type. The exception types include, but are not limited to: communication interruption and data error.

[0034] When the identification result indicates that the communication is interrupted: immediately stop data transmission, send a communication interruption notification to the receiver, record the current data transmission node, and wait for communication to be restored before continuing data transmission based on the data transmission node;

[0035] When the identification result indicates that the data is incorrect: the receiving party sends an error report message to the transmitting party and requests that the erroneous part of the data be retransmitted.

[0036] Furthermore, in a preferred embodiment of the present invention, it further includes: multi-level block coding for enhancing the reliability of the transmitted data, specifically:

[0037] The receiver performs continuous sampling based on the fourth channel to obtain a ternary symbol stream composed of +1, 0, and -1;

[0038] The ternary symbol stream is divided into groups of 6 symbols to obtain 6B6T codewords;

[0039] The 6B6T codeword is matched and queried with the pre-stored valid encoding table. If the 6B6T codeword exists in the valid encoding table, the verification passes.

[0040] If the 6B6T codeword does not exist, then mark the current byte transmission as an error.

[0041] The present invention provides a second technical solution as follows:

[0042] The present invention also provides an integrated duplex charging and communication device for unmanned aerial vehicles (UAVs), comprising:

[0043] The charging module includes two charging contacts for providing power to the drone;

[0044] The full-duplex communication module contains four communication contacts for establishing a communication channel with the UAV.

[0045] A switching control module, connected to the full-duplex communication module, is used to control the state switching of the communication channel;

[0046] The reliability assurance module is connected to the full-duplex communication module and is used to implement data verification and error control.

[0047] Furthermore, in a preferred embodiment of the present invention, the duplex communication module includes: a first channel, a second channel, a third channel, and a fourth channel;

[0048] The first channel is specifically a three-state arbitration line, used to identify the working state of the communication channel;

[0049] The second channel is specifically a synchronization line, used to identify the start and stop of data transmission;

[0050] The third channel is specifically a data transmission line, used to encode the generated data into a differential signal and transmit it to the UAV;

[0051] The fourth channel is specifically a data receiving line, used to receive the differential signal returned by the UAV and decode it into raw data.

[0052] This invention provides a method for controlling the integrated charging and communication switching of a drone's nest, comprising: when in a charging state and detecting data to be transmitted, initiating a data exchange request with the drone, verifying the data exchange request, and obtaining the verification result; controlling the full-duplex communication module to enter an invalid level according to the verification result and maintaining it for a predetermined time; switching the full-duplex communication module to a low level after maintaining the invalid level for the predetermined time, and switching to the data transmission state and starting data transmission after receiving a confirmation signal from the drone by sending a synchronization message; wherein, the synchronization message is used to align the state with the drone after the mode switch. Among these features, the handshake mechanism, which proactively initiates and verifies interaction requests during charging, breaks down the logical barriers between independent control of charging and communication in traditional solutions, establishing an interactive bridge between the two and effectively solving the problem of lack of coordination between charging and communication. Secondly, by having the control module enter an invalid level and maintain it for a predetermined time, a critical electrical isolation dead zone is constructed at the physical layer, providing a safe window for charge discharge after high-power charging, preventing interference from high-voltage electricity to low-voltage communication, and significantly enhancing the functional coordination at the hardware level. The use of synchronization messages and acknowledgment signals to achieve state alignment ensures seamless logical layer connection after link switching, avoiding data packet loss and repeated retransmissions caused by timing errors, thereby greatly improving system flexibility and overall operation and maintenance efficiency in complex application scenarios. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A flowchart of the integrated charging and communication switching control method for unmanned aerial vehicles (UAVs) provided in an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of the integrated charging and communication switching control method for unmanned aerial vehicles (UAVs) provided in an embodiment of the present invention.

[0056] Figure 3 A framework diagram of the integrated charging and communication switching control method for unmanned aerial vehicles (UAVs) provided in an embodiment of the present invention;

[0057] Figure 4 This is a timing diagram for mode switching provided in an embodiment of the present invention;

[0058] Figure 5 A timing diagram of the data transmission mode provided in an embodiment of the present invention;

[0059] Figure 6 A timing diagram of the charging mode provided in an embodiment of the present invention;

[0060] Figure 7 A logic diagram for anomaly detection provided in an embodiment of the present invention;

[0061] Figure 8 This is a framework diagram for anomaly detection provided in an embodiment of the present invention.

[0062] Figure 9 A structural diagram of an integrated duplex charging and communication system for drones.

[0063] Attached label: 1. Three-state arbitration line; 2. Synchronization line; 3. Data transmission line; 4. Data reception line. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0065] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0066] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "first", "second", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0068] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0069] like Figure 1 and Figure 3 As shown, the UAV integrated charging and communication switching control method provided in this embodiment of the invention includes: S1 When the device is in a charging state and data to be transmitted is detected, a data exchange request with the UAV is initiated, and the data exchange request is verified to obtain the verification result; S2 According to the verification result, the duplex communication module is controlled to enter an invalid level and maintained for a predetermined time; S3 After maintaining the invalid level for the predetermined time, the duplex communication module is switched to a low level state, and after the UAV confirms the signal by sending a synchronization message, it is switched to the data transmission state and data transmission begins; wherein, the synchronization message is used to align the state with the UAV after the mode switch.

[0070] This invention provides a method for controlling the integrated charging and communication switching of a drone, comprising: when the drone is in a charging state and data to be transmitted is detected, initiating a data exchange request with the drone, verifying the data exchange request, and obtaining the verification result; controlling the full-duplex communication module to enter an invalid level according to the verification result and maintaining it for a predetermined time; switching the full-duplex communication module to a low level after maintaining the invalid level for the predetermined time, and switching to the data transmission state after receiving a confirmation signal from the drone by sending a synchronization message, and starting data transmission; wherein, the synchronization message is used to align the state with the drone after the mode switch. Among these features, the handshake mechanism, which actively initiates and verifies interaction requests during charging, breaks down the logical barriers between independent control of charging and communication in traditional solutions, establishing an interactive bridge between the two and effectively solving the problem of lack of coordination between charging and communication. Secondly, by having the control module enter an invalid level and maintain it for a predetermined time, a critical electrical isolation dead zone is constructed at the physical layer, providing a safe window for charge discharge after high-power charging. This prevents interference from high-voltage electricity to low-voltage communication and significantly enhances the functional coordination at the hardware level. Furthermore, by using synchronization messages and acknowledgment signals to achieve state alignment, the link can achieve seamless logical layer connection after switching, avoiding data packet loss and repeated retransmissions caused by timing errors. This greatly improves the system flexibility and overall operation and maintenance efficiency in complex application scenarios.

[0071] In a specific embodiment of the present invention, when data to be transmitted is detected, there are two specific scenarios: First, the nest detects that it has generated data to be transmitted to the drone. At this time, the nest system monitors the data buffer inside the nest in real time through its built-in business data monitoring unit, especially the video encoder output buffer and flight mission data buffer. When the data volume in any buffer reaches a preset trigger threshold, for example, when the video stream data backlog reaches 80% of the total buffer capacity, it is determined that data to be transmitted has been detected. The second scenario is that the drone has data to upload, such as collected sensor data or status reports. Similarly, the data buffer status is monitored, and when it exceeds a set threshold, it is determined that data to be transmitted has been detected. Afterward, once the above trigger conditions are met, the nest or the drone immediately initiates a data exchange request with the drone, through dual... The full-duplex communication module sends a specific mode switching request control message. This message is a structured data frame containing at least the following key fields: Synchronization header: used to identify the start of the message, such as a fixed bit sequence 0xAA55; Command type: clearly indicates that this is a mode switching request, for example, using opcode 0x01; Current status information: contains context information such as the sequence number of the current charging control message, used for subsequent synchronization. Simultaneously with the exchange request, an exchange request verification is triggered to check whether the data sequence number of the sent control request is within the received data reception window. If it is, the verification passes, and an execution message is sent; if it fails, the process is paused, and an alarm is triggered. When the verification passes, the data sender immediately sends a command to the level control circuit, and the full-duplex communication module enters an invalid level. Subsequently, the full-duplex communication module enters a low level to enter data transmission mode.

[0072] The following describes in detail the steps and flow of the integrated charging and communication switching control method for unmanned aerial vehicles (UAVs) with reference to specific embodiments.

[0073] Specifically, in a specific embodiment of the present invention, step S2 includes: the duplex communication module includes: a first channel, a second channel, a third channel and a fourth channel; controlling the first channel to switch from a high-level state to a 0-level state for identifying charging control, the 0-level state being used to identify bus invalidity; based on the system clock frequency of the duplex communication module, a preset 0-level state duration is established to construct an electrical isolation dead zone, the electrical isolation dead zone being used to release residual charge of the first channel.

[0074] In a specific embodiment of the invention, the nest relies on a microcontroller to switch the output drive circuit of the first channel to a high-impedance mode, entering a 0-level state. Since the bus is in a strongly driven high-level state in the charging control mode, directly pulling it down to the low level of the data transmission mode could cause instantaneous logic races or short-circuit currents due to parasitic inductance and capacitance effects on the line, thereby damaging the precision communication port. By forcibly inserting a 0-level dead zone, the driving capability of the power rail is physically cut off, making the bus isolated. This not only provides a physical window for the natural discharge of residual parasitic charges on the line, completely eliminating voltage glitches, but also serves as a clear bus invalid logic identifier, forcing both the transmitting and receiving parties to reset their state machines, ensuring that subsequent data transmission can start in a clean, interference-free electrical environment.

[0075] Specifically, such as Figure 4 and Figure 5 As shown, in a specific embodiment of the present invention, step S3 includes: switching the first channel from the 0-level state to the low-level state, and controlling the second channel to be set to the high level to identify entering the data transmission mode; sending the synchronization message to the UAV based on the third channel, and synchronously starting the receive listening timer; receiving the feedback signal from the UAV based on the fourth channel, and if the reception time of the feedback signal is within the preset feedback time of the receive listening timer, then it is determined that the UAV has completed synchronization and the data transmission logic is officially activated.

[0076] In this embodiment, the full-duplex communication module is first driven to complete a physical level switch, that is, the first channel is immediately pulled low from the high-impedance 0-level state to a logic low level, which serves as a hardware identifier for the bus to formally enter the data transmission mode. At the same time, the second channel is set to a high level to notify the UAV receiver to start the synchronization timing. Subsequently, the main control unit constructs a specially formatted synchronization message, which is marked as the highest priority frame at the application layer. Its payload encapsulates the sequence number of the preceding data and the current system timestamp, and it is modulated and sent to the UAV through the third channel. At the moment the transmission is completed, the system synchronously starts a connection. A listening timer is set to a preset feedback time, which is used to limit the effective window period for receiving feedback signals. It is preferably set to 50ms to 100ms. In a specific embodiment of the present invention, the preset feedback time is specifically set to 80ms. During this window period, the listening function of the fourth channel is enabled. If a specific confirmation signal from the UAV is successfully captured before the timer ends, it is determined that the two communicating parties have successfully updated the receiving window based on the sequence number and completed clock alignment. The system then releases the sending restriction, officially activates the business data transmission logic, and begins to process concurrent transmissions such as video streams or task data.

[0077] Specifically, in a specific embodiment of the present invention, the method further includes: performing collaborative scheduling management of transmitted data, specifically: establishing a data category database, identifying the data category of transmitted data according to the data category database, marking the data according to the data category, obtaining several priority tags, and constructing a priority configuration table; setting a preset period, dividing the preset period into several time slots, and allocating initial time slots based on the priority configuration table, wherein the preset period represents the basic time unit for resource scheduling; and monitoring the data accumulation degree of each priority data in real time, and dynamically adjusting the time slots according to the data accumulation degree.

[0078] In a specific embodiment of the present invention, firstly, the data center establishes a data category database in the non-volatile memory of the main control unit. This database is specifically represented by a pre-set service type mapping table. Based on this table, the data type field in the header of the data packet to be transmitted is parsed to identify it as a category such as video stream, infrared image, or location information, and corresponding priority tags are assigned accordingly. For example, video data with the highest real-time requirements is marked as P0 level, geographic location information is marked as P1 level, and ordinary text is marked as P2 level, thereby constructing a runtime priority configuration table. Next, a preset period is set. For example, a 100ms scheduling frame is set as the basic time unit for resource scheduling, and this period is divided into 100 time slots of equal length. The initial time slot allocation is performed based on the priority configuration table. For example, by default, 50 time slots are allocated to P0 level, 30 to P1 level, and 20 to P2 level. During transmission, the scheduler monitors the data accumulation level of each priority sending queue buffer in real time. When the accumulation level of a high-priority (such as P0 level) queue exceeds the preset threshold, dynamic adjustment logic is immediately triggered, thereby achieving adaptive guarantee of the transmission quality of critical services under limited bandwidth.

[0079] More specifically, in this embodiment, the data category database can be established as follows: Historical transmission data and historical load information of the nest during past operating cycles are collected. These raw logs are then deeply analyzed to extract the traffic characteristics of different service flows. For example, "continuous large packet flows" are identified as video or infrared image data, and "periodic small packet flows" are identified as telemetry or positioning data, thereby obtaining several clear data category items. Next, a multi-dimensional importance assessment model is introduced, such as using the analytic hierarchy process (AHP), combining the real-time requirements of the service with packet loss sensitivity to weight the above category items. For example, given the critical importance of video data for flight monitoring, it is assessed as having the highest weight and assigned a P0 priority, while log back data with higher latency tolerance is assigned a P2 priority. Finally, a combined index relationship is established between these classified data category items, the calculated priority markers, and the corresponding historical load status. This mapping relationship is then permanently stored in the non-volatile memory of the nest controller, thereby constructing a data category database that the scheduler can quickly and in real-time access, providing a static benchmark for subsequent millisecond-level time slot allocation.

[0080] Specifically, in a specific embodiment of the present invention, the step of dynamically adjusting the time slots according to the degree of data accumulation includes: setting an initial accumulation threshold and an initial time slot interval for each priority data according to historical load information; when the data accumulation degree of any priority data exceeds the initial accumulation threshold, the time slots are allocated from low to high based on the data priority and in combination with the initial time slot interval to complete the dynamic adjustment.

[0081] In one embodiment of the invention, the most recent historical load information is first loaded, including parameters such as average traffic, peak traffic, and traffic fluctuation period for each priority data. Based on the historical load information, a differentiated backlog threshold is set for each priority level. For example, for P0 priority (e.g., video stream): the threshold is equal to 85% of the historical peak traffic; for P1 priority (e.g., sensor data): the threshold is equal to 120% of the historical average traffic, etc. In a specific embodiment of the invention, for high-throughput P0 level data, the initial backlog threshold is set to 4KB to 8KB, preferably 6KB, based on the statistical median of the video I-frame fragment size in historical data; for low-latency sensitive P1 level data, ... The initial backlog threshold is set to 256 bytes to 1024 bytes, preferably 512 bytes. This value is calculated based on the average length of control instruction packets and burst redundancy in historical data. Furthermore, the threshold setting also considers a 5%-10% safety margin to prevent accidental triggering due to random fluctuations. Based on the historical traffic proportion of each priority level and the business importance weight, an initial time slot interval is allocated, including the maximum and minimum values ​​of the allocated time slots. To ensure the agility and accuracy of dynamic adjustments, in this embodiment, the data backlog level is not simply the instantaneous cache occupancy value, but is calculated using a composite method of "real-time occupancy + trend prediction compensation." The specific calculation formula is as follows:

[0082] ;

[0083] in, The current level of data accumulation. The current real-time data queue length of the receive buffer; This represents the average data write rate within the current time window. This represents the average data transmission rate within the current time window. It represents the net cumulative trend of the data; For the preset prediction time window, The trend weighting coefficient; The settings are also based on regression analysis of historical load data: when it is detected When a non-linear, explosive increase occurs (such as during the instantaneous transmission of a video I-frame), the system automatically adjusts the speed. A value (e.g., 1.2) is used to amplify the impact of the trend term, thereby triggering time slot adjustments earlier and avoiding buffer overflows; when the data flow is stable, The value is set to 1.0. By introducing this prediction compensation mechanism, the lag caused by relying solely on instantaneous values ​​can be eliminated, ensuring that the preemptive allocation of time slot resources is completed within milliseconds before data accumulation occurs. When the data accumulation of any priority level exceeds the initial accumulation threshold, a dynamic adjustment process is triggered. In this embodiment, the dynamic allocation of time slots is as follows: When the highest priority needs to allocate resources, it starts from the lowest priority: ensuring that the time slot of the lowest priority is greater than or equal to the minimum value of the initial time slot interval of this priority, and adopting a gradual adjustment, according to the rule of 5 time slots per step and completed within 5ms, time slots are allocated from low priority (P2→P1) to high priority to complete the dynamic adjustment; when the lowest priority resources are insufficient, the allocation of the second lowest priority resources is initiated, and the time slots obtained by the allocation are allocated to the highest priority to complete the dynamic adjustment. It should be noted that this is an exemplary algorithm, not the only algorithm.

[0084] Specifically, such as Figure 6 As shown, in this embodiment of the invention, the charging state specifically includes: acquiring drone docking information and sending a charging request to the drone; establishing a charging connection with the drone based on the full-duplex communication module and the charging request, and entering the charging state; the specific method of entering the charging state is: controlling the first channel and the second channel to output a high level, and sending a charging request message to the drone through the third channel; receiving a charging response message from the drone based on the fourth channel, the charging response message containing the drone's battery status information; verifying the battery status information, and if the verification passes, successfully establishing a charging connection with the drone; and based on the charging state, sending a charging control message to the drone and receiving the drone's battery status information in real time.

[0085] Specifically, in a specific embodiment of the present invention, when the drone lands on the nest landing gear, the nest acquires the drone's docking information through physical triggering or electrical detection. Detection methods include, for example, detecting the pressing of a microswitch on the landing gear, or detecting the closure of a charging contact circuit, such as detecting the battery-side impedance to ground. The nest drives both the first and second channels to output high levels simultaneously. At this time, the high level of the first channel forcibly locks the bus logic to charging control mode, while the high level of the second channel indicates to the drone that the communication link has been activated, thereby constructing a secure control signaling transmission environment at the physical layer. After stabilization, the nest sends a charging request message to the drone via the third channel. Its application layer payload includes: command type field, synchronization flag bit, and initial safety detection voltage parameters. Subsequently, the nest listens for and receives the charging response message from the drone via the fourth channel. This response message is generated by the drone's battery management system and contains battery status information, specifically: real-time cell voltage, current, remaining power, and battery temperature data. The nest performs multi-dimensional verification on the received battery status information: first, it calculates the CRC16 checksum of the received message to confirm that there are no transmission errors; then, it determines whether the feedback battery temperature is below the safety threshold. If the verification passes, the nest determines that the handshake is successful, controls the power module to close the relay or MOSFET switch, conducts the charging contacts, and officially outputs DC pulse power, thereby successfully establishing a physical and logical charging connection with the UAV. After entering the charging state, the system executes real-time closed-loop control logic: the nest periodically sends charging control messages containing dynamically adjusted parameters through the third channel; at the same time, it receives the latest battery status information from the UAV in real time through the fourth channel. Once an abnormal status is detected, such as communication timeout or excessive temperature, the system will immediately reset the first channel level to cut off charging and ensure operational safety.

[0086] More specifically, in this embodiment, the battery cell sends charging control messages containing dynamically adjusted parameters via a third channel at 500ms intervals. The dynamic parameters are set in stages according to the remaining battery capacity: when the remaining battery capacity is <30%, the charging voltage is 81%~97% of the rated voltage of the lithium battery and the charging current is 50% of the rated capacity of the battery; when the remaining battery capacity is 30%~80%, the charging voltage is 97%~108% of the rated voltage of the lithium battery and the charging current is 30% of the rated capacity of the battery; when the remaining battery capacity is 80%~95%, the charging voltage is 108%~113% of the rated voltage of the lithium battery and the charging current is 10% of the rated capacity of the battery; when the remaining battery capacity is ≥95%, it switches to trickle charging mode, with the charging voltage at 113% of the rated voltage of the lithium battery and the charging current at 5% of the rated capacity of the battery.

[0087] Specifically, such as Figures 7 to 8As shown, in the embodiments of the present invention, it further includes: an anomaly handling mechanism for real-time detection, specifically: when an anomaly is detected, the first channel is set to 0 level, the second channel is set to low level, and the current control operation is interrupted; an anomaly report message is sent, and a standby time is set for a preset period of time. After the standby time is completed, the anomaly type is identified, and the corresponding anomaly handling method is matched according to the anomaly type. The anomaly types include, but are not limited to: communication interruption and data error; when the identification result is communication interruption: data transmission is immediately stopped, a communication interruption notification is sent to the receiver, and the current data transmission node is recorded. After communication is restored, data transmission continues based on the data transmission node; when the identification result is data error: the receiver sends an error report message to the transmitter and requests retransmission of the erroneous data.

[0088] In this embodiment of the invention, the physical and logical states of the communication link are monitored in real time. When an abnormal state is detected, a bus blocking operation is immediately executed to prevent error propagation or hardware damage: the first channel is forcibly switched to 0 level, at which point the bus is in an invalid state; the second channel is pulled low level, and all ongoing control operations are interrupted. This method can physically cut off possible erroneous control loops before software processing logic intervenes, preventing the nacelle from erroneously outputting high-voltage charging pulses due to communication garbled codes, thereby protecting the safety of the drone battery and nacelle circuitry; after executing the safety response, an attempt is made to send abnormal signals through the remaining link capacity or backup logic. A regular report message containing a specific error code is sent. After transmission, a standby preset time is entered. The value of the standby preset time is determined based on the historical operation logs and fault recovery statistics of the full-duplex communication module. Through fitting analysis of the signal oscillation attenuation period and residual charge discharge curve in the historical data, it is determined that a time window of 30ms to 80ms can effectively cover more than 95% of the transient electrical interference elimination requirements. Therefore, in a specific embodiment of the present invention, considering both recovery efficiency and safety redundancy, the standby preset time is specifically set to 50ms. After the standby time ends, the system scans the status again and identifies anomalies. Based on the type, a differentiated recovery strategy is implemented: When the identification result indicates a communication interruption, such as signal loss due to contact micro-movement, the sender immediately stops encapsulating and sending subsequent data, sends a communication interruption notification to the receiver, and records the current data transmission node in local memory. This node is specifically represented by the sequence number of the currently successfully confirmed data packet and its corresponding timestamp. Then, a periodic reconnection scan task is initiated. The sender resends a handshake request to the receiver every preset period, and shortly after sending the detection message, it activates the fourth channel's listening function, waiting for the receiver's response signal. If no response is received within the listening window... If the system determines that the link has not yet been restored, it will remain in a waiting state and enter the next polling cycle. If an acknowledgment signal is successfully received within the listening window, it will determine that the physical link indicators have returned to normal, and both parties will re-handshake and synchronize. The sender will continue to encapsulate and send subsequent data from the point of interruption based on the recorded sequence number, instead of retransmitting from the beginning. When the identification result is a data error: the receiver does not send an acknowledgment signal, but instead constructs an error report message and sends it to the transmitter. This message contains the sequence number and error type of the erroneous data packet. After receiving the error report, the transmitter extracts the corresponding sequence number, retrieves the original data segment from the sending buffer, and re-encodes and retransmits it.

[0089] Specifically, in a specific embodiment of the present invention, it further includes: multi-level block encoding for enhancing the reliability of transmitted data, specifically: the receiver performs continuous sampling based on the fourth channel to obtain a ternary symbol stream composed of +1, 0, and -1; the ternary symbol stream is divided into groups of 6 symbols to obtain 6B6T codewords; the 6B6T codewords are matched and queried with a pre-stored valid encoding table; if the 6B6T codewords exist in the valid encoding table, the verification passes; if the 6B6T codewords do not exist, the current byte transmission is marked as faulty.

[0090] In a specific embodiment of the present invention, the receiver receives the differential analog signal from the sender through a fourth channel. Specifically, the receiver continuously samples the voltage level on the fourth channel based on the effective edge of the system master clock, and compares the voltage signal collected with two preset voltage decision thresholds in real time. In this embodiment, +0.8V and -0.8V can be used as the decision thresholds. If the sampled voltage is greater than the maximum value of the voltage decision threshold, it is determined as logic +1; if the sampled voltage is less than the minimum value of the voltage decision threshold, it is determined as logic -1; and if the sampled voltage is between the two, it is determined as logic 0. Thus, the continuous voltage waveform is converted into a discrete ternary symbol stream composed of +1, 0, and -1; the system internally maintains a shift register or buffer of length 6. Upon receiving a new ternary symbol, it is pushed into the buffer. Based on the high-level start signal of the second channel, the start time of the data stream is determined. Using this as a reference, every six ternary symbols received are extracted as an independent transmission unit to form a 6B6T codeword, i.e., a vector containing six ternary states. Simultaneously, to verify the correctness of the transmitted data, the inherent redundancy of 8B6T encoding is used for checking. A pre-stored valid encoding table is used, which is predefined during the equipment manufacturing stage based on the hardware characteristics of the full-duplex communication module, anti-interference design rules, and the requirement for complete 8-bit data coverage, and is a static mapping table fixed in the non-volatile memory of the receiver and the UAV. In a preferred embodiment of the invention, the pre-stored valid encoding table is not randomly generated, but rather selected from 3... 6From 729 possible ternary combinations, a set of 256 orthogonal codewords that satisfy the electrical transmission characteristics were selected. The specific screening and construction rules are as follows: 1. DC balance principle: Prioritize combinations where the algebraic sum of elements within the codeword is 0 (e.g., [+1, -1, 0, 0, +1, -1]) to ensure that the DC component of the line is minimized; 2. Maximum run length limit: Eliminate combinations with more than 4 consecutive identical symbols (e.g., [0, 0, 0, 0, 0, +1]) to ensure that the receiving end can extract the synchronization clock from frequent level transitions; Based on the above rules, a specific embodiment of the effective encoding table is as follows: When the input data byte is 0x00, the mapped codeword is [+1, -1, 0, 0, +1, -1]; when the input data byte is 0x55, the mapped codeword is [0, +1, -1, +1, -1, 0]; when the input data byte is 0xFF, the mapped codeword is [+1, 0, -1, +1, 0, -1]. Conversely, if the received 6B6T codeword is [+1, +1,+1, 0, 0, 0] (algebraic sum of +3, severely biased) or [0, 0, 0, 0, 0, 0] (no transition), since it is not included in the valid encoding table, the system will directly identify it as an illegal codeword and trigger a retransmission mechanism. The receiver uses the currently acquired 6B6T codeword as an index key to traverse or hash-query the valid encoding table. If the current 6B6T codeword exists in the valid encoding table, it indicates that no error causing codeword distortion occurred during transmission. If the current 6B6T codeword does not exist in the valid encoding table, it is determined that interference occurred during transmission, and the current byte is marked as a transmission error. This method can improve bandwidth utilization and simultaneously utilize encoding redundancy space to achieve hardware-level real-time error detection and correction.

[0091] This invention also provides an integrated duplex charging and communication device for unmanned aerial vehicles (UAVs), including the aforementioned integrated charging and communication switching control method for UAVs, comprising: a charging module with two charging contacts for providing power to the UAV; a duplex communication module with four communication contacts for establishing a communication channel with the UAV; a switching control module connected to the duplex communication module for controlling the state switching of the communication channel; and a reliability assurance module connected to the duplex communication module for implementing data verification and error control.

[0092] Specifically, such as Figure 9As shown, in a specific embodiment of the present invention, the full-duplex communication module includes: a first channel, a second channel, a third channel, and a fourth channel; the first channel is specifically a tri-state arbitration line 1, used to identify the working state of the communication channel; the second channel is specifically a synchronization line 2, used to identify the start and stop of data transmission; the third channel is specifically a data transmission line 3, used to encode the generated data into a differential signal and send it to the UAV; the fourth channel is specifically a data reception line 4, used to receive the differential signal returned by the UAV and decode it into raw data.

[0093] More specifically, based on the above solutions, in actual outdoor environments, dust particles easily adhere to the contact surface or a thin oxide film forms. While traditional high-voltage pulse cleaning is effective, frequent use can burn away the gold plating. Furthermore, if the blockage is due to physical dust, electrical breakdown is ineffective. If the contact is only uneven due to improper docking posture, simple software reconnection cannot solve the physical problem, and manual intervention is usually required.

[0094] To address this issue, in this embodiment, when the identification result indicates a communication interruption or abnormal contact level, the nacelle sends a micro-vibration command to the drone via a backup low-speed channel or broadcast. The backup low-speed channel is not an additional physical connection, but rather a voltage pulse signal transmission channel based on the charging contacts of the charging module. The micro-vibration command frame format includes fields for vibration power percentage, drive timing, and duration. Upon receiving the micro-vibration command, the drone controls its motors to enter an idle vibration state. Preferably, 5% of the drone motor's rated power can be used as the vibration power, alternately driving diagonal motors with a drive switching cycle set to 500ms to avoid prolonged load on a single motor and the generation of tangential friction displacement. The vibration duration is 2 seconds. During vibration, the motor speed is controlled within 10% of the rated speed to ensure no lift sufficient to lift the drone off the ground. After the micro-vibration ends, the drone feeds back the contact resistance detection value to the nacelle via a fourth channel. If an abnormality is still detected, an alarm is triggered.

[0095] This invention innovatively utilizes the drone's own power system to generate high-frequency micro-vibrations, inducing minute tangential frictional displacement at the contact interface. This physical friction generates sufficient shear force to effectively scrape away non-conductive dust particles and oxide films adhering to the gold-plated contact surface. Compared to traditional cleaning methods that rely solely on high-voltage pulses, this avoids contact plating ablation and thermal damage caused by frequent arc discharges, significantly extending the electrical lifespan of precision contacts.

[0096] As described above, the present invention provides an integrated charging and communication switching control method for unmanned aerial vehicles (UAVs), comprising: when in a charging state and detecting data to be transmitted, initiating a data exchange request with the UAV, verifying the data exchange request, and obtaining the verification result; controlling the full-duplex communication module to enter an invalid level according to the verification result and maintaining it for a predetermined time; switching the full-duplex communication module to a low level state after maintaining the invalid level for the predetermined time, and switching to the data transmission state and starting data transmission after receiving a confirmation signal from the UAV by sending a synchronization message; wherein, the synchronization message is used to perform state alignment with the UAV after the mode switch. Among these features, the handshake mechanism, which proactively initiates and verifies interaction requests during charging, breaks down the logical barriers between independent control of charging and communication in traditional solutions, establishing an interactive bridge between the two and effectively solving the problem of lack of coordination between charging and communication. Secondly, by having the control module enter an invalid level and maintain it for a predetermined time, a critical electrical isolation dead zone is constructed at the physical layer, providing a safe window for charge discharge after high-power charging, preventing interference from high-voltage electricity to low-voltage communication, and significantly enhancing the functional coordination at the hardware level. The use of synchronization messages and acknowledgment signals to achieve state alignment ensures seamless logical layer connection after link switching, avoiding data packet loss and repeated retransmissions caused by timing errors, thereby greatly improving system flexibility and overall operation and maintenance efficiency in complex application scenarios.

[0097] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for integrated charging and communication switching control of a drone nest, characterized in that, The method comprises: S1, when in a charging state and detecting to-be-transmitted data, initiating a data exchange request with a UAV and performing the data exchange request verification to obtain a verification detection result; S2, controlling the duplex communication module to enter an invalid level according to the verification result and maintaining for a predetermined time; S3, switching the duplex communication module to a low level state after maintaining the invalid level for the predetermined time, sending a synchronization message, switching to a data transmission state after a confirmation signal from the UAV, and starting data transmission; The synchronization message is used to align the state with the UAV after mode switching. The duplex communication module comprises a first channel, a second channel, a third channel, and a fourth channel. The first channel is switched from a high level state indicating charging control to a 0 level state indicating that the bus is invalid. Based on the system clock frequency of the duplex communication module, a 0 level state maintenance time is preset to build an electrical isolation dead zone for releasing residual charge of the first channel. 2.The method of claim 1, wherein, Step S3 comprises: The first channel is switched from the 0 level state to a low level state, and the second channel is controlled to be high to indicate that the data transmission mode is entered; The synchronization message is sent to the UAV based on the third channel, and a receiving listening timer is started synchronously; The feedback signal from the UAV is received based on the fourth channel. If the receiving time of the feedback signal is within the preset feedback time of the receiving listening timer, it is determined that the UAV synchronization is completed, and the data transmission logic is activated formally. 3.The method of claim 1, wherein, Further comprising: cooperative scheduling management of transmission data, specifically: A data category database is established, the data category of the transmission data is identified according to the data category database, and the data category is marked according to the data category to obtain a plurality of priority marks to build a priority configuration table; A preset period is set, the preset period is divided into a plurality of time slots, and initial time slot allocation is performed based on the priority configuration table. The preset period represents the basic time unit for resource scheduling; The data accumulation degree of each priority data is monitored in real time, and the time slot is dynamically adjusted according to the data accumulation degree. 4.The method of claim 3, wherein, Step S3 comprises: An initial accumulation threshold and an initial time slot interval are set for each priority data according to historical load information; When the data accumulation degree of any one priority data exceeds the initial accumulation threshold, the time slot is allocated from low to high based on the data priority and the initial time slot interval to complete dynamic adjustment.

5. The UAV nest integrated charging and communication switching control method of claim 1, wherein The charging state specifically comprises: obtaining UAV parking information, sending a charging request to the UAV, establishing a charging connection with the UAV based on the duplex communication module and combining the charging request and the UAV, and entering the charging state; The specific way of entering the charging state is: controlling the first channel and the second channel to output a high level, and sending a charging request message to the UAV through the third channel. receiving a charging response message from the UAV based on the fourth channel, the charging response message containing battery status information of the UAV; checking the battery status information, and if the checking is passed, successfully establishing a charging connection with the UAV; based on the charging status, sending a charging control message to the UAV and receiving battery status information of the UAV in real time. 6.The method of claim 1, wherein, The method further comprises: an abnormality processing mechanism for real-time detection; When an abnormal state is detected, the first channel is set to 0 level, the second channel is set to low level, and the current control operation is interrupted; an abnormality report message is sent, and after waiting for a preset time, an abnormality type is identified, a corresponding abnormality processing mode is matched according to the abnormality type, and the abnormality type includes: communication interruption, data error; When the identification result is the communication interruption, the data transmission is immediately stopped, a communication interruption notification is sent to the receiving party, and the current data transmission node is recorded, and after the communication is recovered, the data transmission is continued based on the data transmission node; When the identification result is the data error, an error report message is sent to the transmission party, and a request for re-sending the error part data is sent. 7.The method of claim 1, wherein, Further comprising: a multi-ary block coding for reliability enhancement of the transmission data, specifically: the receiving party performs continuous sampling based on the fourth channel to obtain a ternary symbol stream composed of +1, 0 and -1; the ternary symbol stream is segmented based on 6 symbols per group to obtain a 6B6T code word; the 6B6T code word is matched and queried with a pre-stored valid code table, and if the 6B6T code word exists in the valid code table, the checking is passed; if the 6B6T code word does not exist, the current byte transmission error is marked.

8. A UAV nest integrated dual charging and communication device, characterized in that, The device is used to execute the UAV nest integrated charging and communication switching control method in any one of claims 1-7, comprising: a charging module containing two charging contacts for providing power for the UAV; a duplex communication module containing four communication contacts for establishing a communication channel with the UAV; a switching control module connected with the duplex communication module for controlling the state switching of the communication channel; a reliability guarantee module connected with the duplex communication module for realizing data checking and error control; the duplex communication module comprises: a first channel, a second channel, a third channel and a fourth channel; the first channel is specifically: a tri-state arbitration line (1) for identifying the working state of the communication channel; the second channel is specifically: a synchronization line (2) for identifying the start and stop of data transmission; the third channel is specifically: a data sending line (3) for encoding the generated data into a differential signal and sending it to the UAV; the fourth channel is specifically: a data receiving line (4) for receiving the differential signal returned by the UAV and decoding it into original data.

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