Portable one-station multi-vertical fixed-wing unmanned aerial vehicle relay communication backpack

Abstract

The invention relates to the technical field of unmanned aerial vehicle communication, and particularly provides a portable one-station multi-vertical fixed-wing unmanned aerial vehicle relay communication backpack, which comprises a backpack body, and a handheld ground station and at least one vertical take-off and landing fixed-wing unmanned aerial vehicle which can be accommodated in the backpack body, wherein a ground end communication module, a router and a bag body power supply are integrated on the bag body; the vertical take-off and landing fixed-wing unmanned aerial vehicle comprises a middle wing and an outer wing which is connected to the outer side of the middle wing and can be quickly disassembled or folded. The handheld ground station is in wireless communication with the ground end communication module through a local area network of the router; the communication mode of the ground end communication module and the task machine comprises a single control mode in which ad hoc network link communication is carried out with the relay machine and the task machine, and a relay mode in which the relay machine is used as a bridge. According to the invention, the problems of inconvenient deployment, insufficient portability, short endurance time and the like of a traditional unmanned aerial vehicle relay communication system are solved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) communication technology, and particularly relates to a portable, multi-vertical take-off and landing (VTOL) fixed-wing UAV relay communication backpack. Background Technology

[0002] With the widespread application of drone technology in emergency rescue, geological exploration, border patrol, and mountain protection, the demand for drone communication that is beyond visual range, long-range, highly reliable, and has long endurance is becoming increasingly urgent. In complex environments (such as mountainous areas, urban building clusters, and disaster sites), direct communication between drones and ground control stations is often interrupted due to terrain obstruction, signal attenuation, or interference, which severely restricts the drone's operating radius and mission effectiveness.

[0003] Currently, the mainstream solution to this problem is to use relay communication. While traditional relay base station deployment can extend communication distance, it is time-consuming, difficult, and lacks mobility, making it difficult to meet the urgent needs for "rapid deployment, rapid deployment, and high reliability" of communication systems in the field or emergency situations. Furthermore, these communication base stations are still essentially fixed-point designs, making it difficult to achieve ultra-long-distance communication extension, and the drone's patrol range is severely limited by the base station's location. In addition, existing multi-drone relay solutions typically require the configuration of multiple independent ground control stations or rely on a complex and extensive ground base station network. Summary of the Invention

[0004] In view of this, the present invention aims to provide a portable one-stop multi-vertical take-off and landing fixed-wing UAV relay communication backpack, which can simultaneously control two vertical take-off and landing fixed-wing UAVs through a handheld ground station to establish a relay communication link, thus solving the problems of inconvenient deployment, insufficient portability, and short battery life of traditional UAV relay communication systems.

[0005] To achieve the above objectives, the technical solution created by this invention is implemented as follows: This invention provides a portable, multi-vertical take-off and landing fixed-wing UAV relay communication backpack, comprising: The package, and the following can be housed within the package: a handheld ground station, and at least one vertical takeoff and landing fixed-wing UAV; The package body integrates a ground communication module, a router, and a package power supply; the handheld ground station communicates wirelessly with the ground communication module through the local area network of the router. Vertical takeoff and landing fixed-wing UAVs include a middle wing and an outer wing that is attached to the outside of the middle wing and can be quickly detached or folded. The communication methods between the ground-based communication module and the vertical takeoff and landing fixed-wing UAV include: Single-control mode: A vertical take-off and landing fixed-wing UAV is provided as the mission machine through a relay communication backpack. The ground communication module communicates with the mission machine through an ad hoc network link, sends control commands to the mission machine to execute the mission, and receives the feedback information from the mission machine. Relay Mode: At least two VTOL fixed-wing UAVs are provided through at least one relay communication backpack, with at least one VTOL fixed-wing UAV serving as the relay unit and at least one VTOL fixed-wing UAV serving as the mission unit; the ground-end communication module establishes a first self-organizing network link communication with the relay unit, and the relay unit establishes a second self-organizing network link communication with the mission unit. Control commands are sent to the mission unit through the relay unit, and the return information from the mission unit is first sent to the ground-end communication module through the relay unit, and then the return information is sent to the handheld ground station through the ground-end communication module.

[0006] Preferably, the package power supply is used to power the ground-side communication module and router, as well as to charge the vertical take-off and landing fixed-wing UAV.

[0007] Preferably, the vertical takeoff and landing fixed-wing UAV includes: a flight control module, a communication module, and an airborne antenna; When performing missions, vertical takeoff and landing fixed-wing UAVs carry detachable visual payloads.

[0008] Preferably, it also includes an outer skin assembly, which is detachably wrapped around the outside of the package body, the package body including a package body main body and a top cover fastened to the top of the package body main body.

[0009] Preferably, the ground communication module connects to the router via an RJ45 network interface.

[0010] Preferably, in the single-control mode, the handheld ground station senses the self-organizing network link status between the ground communication module and the mission machine in real time through a preset link quality monitoring mechanism. When the self-organizing network link status between the ground communication module and the mission machine triggers the communication mode switching threshold of the link quality monitoring mechanism, at least one of the relay units is provided to switch to relay mode.

[0011] Preferably, the link quality monitoring mechanism includes: Signal Strength Indicator (RSSI), Bit Error Rate (BER) detection, and heartbeat packet response timeout.

[0012] Preferably, the flight parameters of the mission aircraft can be set via a handheld ground station, and an auxiliary algorithm is built into the handheld ground station to analyze mission environmental factors based on the information returned by the mission aircraft, and to automatically adjust the flight parameters of the mission aircraft through the built-in auxiliary algorithm.

[0013] Preferably, in relay mode, the handheld ground station calculates the minimum safe hovering altitude required for the relay aircraft to perform the relay mission based on the pre-loaded digital elevation model of the mission area, obstacle information, expected signal coverage range and communication line-of-sight requirements, and controls the relay aircraft to fly at an altitude greater than the minimum safe hovering altitude in fixed-wing hovering mode.

[0014] Preferably, in relay mode, the relay aircraft and the mission aircraft are automatically controlled to execute the following commands sequentially by triggering one-key takeoff: The relay aircraft takes off vertically to the target altitude, which is greater than or equal to the minimum safe turning altitude; Once the relay aircraft reaches the target altitude, it switches to fixed-wing hovering mode to verify the stability of the first segment of the self-organizing network link between the relay aircraft and the ground communication module. The mission aircraft takes off vertically to the mission altitude and then switches to fixed-wing mode to perform the mission. Based on continuously acquired position, speed, and heading data of the relay and mission aircraft, the future trajectories of the relay and mission aircraft are predicted. When it is predicted that the distance between the relay and mission aircraft will be less than the safety threshold, a collision avoidance control command is automatically triggered to adjust the target altitude of the relay aircraft in order to maintain a safe distance between the relay and mission aircraft.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: This invention integrates traditionally difficult-to-set-up relay base stations into a dedicated backpack-style bag and uses a detachable vertical take-off and landing fixed-wing UAV to fit the backpack for storage. This allows the entire relay communication system to be carried by a single person, achieving a fundamental shift from fixed facilities to mobile units. It completely solves the problems of heavy equipment, cumbersome setup, and slow deployment in field, emergency, and other scenarios, and has high portability and ease of operation.

[0016] This invention's communication backpack achieves a highly integrated system of handheld control terminal, ground communication terminal, mission drone, and relay unit. Operators only need to operate the handheld ground station to manage multiple drones simultaneously through the integrated network and communication modules within the backpack. This greatly simplifies system composition, reduces dependence on external infrastructure, and significantly streamlines the operation process, reducing reliance on specialized communication engineers. Furthermore, the intelligent algorithms embedded in the backpack's associated control software enable automated multi-drone collaboration, including: intelligent takeoff altitude planning based on digital maps, automatic takeoff sequences ensuring priority relay link establishment, adaptive relay switching based on real-time link quality monitoring, and dynamic collision avoidance based on predictive models. This invention simplifies the complex multi-drone collaborative command and control into a one-click takeoff operation through built-in algorithms, reducing operational complexity while effectively ensuring communication stability.

[0017] The communication method of this invention is compatible with both single-control and relay modes, and can be flexibly adjusted according to different mission conditions. In relay mode, a vertical take-off and landing fixed-wing UAV is used as a relay platform, hovering efficiently in a fixed-wing mode during the relay mission phase. Compared with traditional multi-rotor relay aircraft, the endurance can be increased several times. Furthermore, the backpack power supply can not only maintain the power required for communication, but also replenish the power of the UAV when it is stored in the backpack. The airborne relay link constructed by this backpack system can provide long-term, stable communication coverage, greatly extending the effective operating radius and mission duration of the mission aircraft. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a diagram illustrating the relay system composition of a portable one-stop multi-vertical-takeoff fixed-wing UAV relay communication backpack provided according to an embodiment of the present invention; Figure 2 This is a structural diagram of a portable one-stop multi-vertical-takeoff fixed-wing UAV relay communication backpack provided according to an embodiment of the present invention; Figure 3 This is a schematic diagram of an outer skin assembly provided according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a package for housing a vertical take-off and landing fixed-wing UAV according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the storage sequence of a vertical take-off and landing fixed-wing UAV into a backpack according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a vertical takeoff and landing fixed-wing unmanned aerial vehicle provided according to an embodiment of the present invention; Figure 7 This is a communication diagram in single-control mode provided by an embodiment of the present invention; Figure 8 This is a communication diagram in relay mode provided by an embodiment of the present invention; Figure 9 This is an operation flowchart of a handheld ground station provided according to an embodiment of the present invention; Figure 10 This is a schematic diagram of handheld ground station software after the relay unit and mission unit are connected according to an embodiment of the present invention; Figure 11 This is a diagram of the planning interface of the handheld ground station software for planning tasks according to an embodiment of the present invention. Figure 12This is a flight interface diagram of the handheld ground station software after the relay and mission aircraft upload the mission, according to an embodiment of the present invention. Figure 13 This is a flight interface diagram of the handheld ground station software during mission aircraft return to base, provided by an embodiment of the present invention.

[0019] The reference numerals in the figures include: Package 1, handheld ground station 2, relay unit 3, mission unit 4; Package body 11, top cover 12, ground communication module 13, router 14, package power supply 15, ground antenna 16, outer skin assembly 17; 101. Center wing, 102. Outer wing, 103. Clip, 104. Connecting rod, 105. Flight control module, 106. Communication module, 107. Airborne antenna, 108. Visual load, 109. Quick-release structure; Pocket 171, shoulder strap 172. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and do not constitute a limitation thereof. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the invention. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the invention are not shown or described in the specification. This is to avoid obscuring the core parts of the invention with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined to form various implementations. Furthermore, the order of the steps or actions in the method description can be changed or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this 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, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., 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, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] Please see Figure 1 In one embodiment of the present invention, a portable multi-vertical take-off and landing fixed-wing UAV relay communication backpack is provided, comprising: Package 1, and the following that can be stored in package 1: handheld ground station 2, and at least one vertical take-off and landing fixed-wing UAV; Among them, such as Figure 2 As shown, the package body 1 integrates a ground communication module 13, a router 14, and a package power supply 15; the handheld ground station 2 communicates wirelessly with the ground communication module 13 through the local area network of the router 14. like Figure 4 , 5 As shown in Figure 6, the vertical take-off and landing fixed-wing UAV includes a middle wing 101 and an outer wing 102 connected to the outside of the middle wing 101 and capable of quick detachment or folding. The communication methods between the ground-based communication module 13 and the vertical takeoff and landing fixed-wing UAV include: like Figure 7As shown, in single-control mode: a portable one-stop multi-vertical-takeoff fixed-wing UAV relay communication backpack provides a vertical takeoff and landing fixed-wing UAV as mission machine 4. The ground communication module 13 communicates with mission machine 4 through an ad hoc network link, sends control commands to mission machine 4 to execute the mission, and receives the information returned by mission machine 4. like Figure 8 As shown, in relay mode: at least two vertical take-off and landing (VTOL) fixed-wing UAVs are provided through at least one portable multi-VTOL UAV relay communication backpack, with at least one VTOL fixed-wing UAV serving as relay 3 and at least one VTOL fixed-wing UAV serving as mission UAV 4; the ground communication module 13 establishes a first self-organizing network link communication with the relay 3, and the relay 3 establishes a second self-organizing network link communication with the mission UAV 4. The relay 3 sends control commands to the mission UAV 4, and the relay 3 first sends the feedback information of the mission UAV 4 to the ground communication module 13, and then the ground communication module 13 sends the feedback information to the handheld ground station 2.

[0026] like Figure 3 As shown, in this embodiment of the invention, the bag body 1 includes a main body 11, a top cover 12, and an outer skin assembly 17, wherein the outer skin assembly 17 is detachably wrapped around the outside of the main body 11 and the top cover 12. The main body 11 and the top cover 12 are entirely housed within the outer skin assembly 17, which has an opening for inserting or removing the main body 11 and the top cover 12, and the opening is closed by a zipper. A pocket 171 and a shoulder strap 172 are provided on the outer surface of the outer skin assembly 17. The pocket 171 is used to place items, and the shoulder strap 172 facilitates overall carrying. The top cover 12 is fastened to the main body 11. The main body 11 is used to house the handheld ground station 2, the repeater 3, and the mission unit 4, and is equipped with a ground communication module 13, a router 14, a bag power supply 15, and a ground antenna 16. The ground antenna 16 is mounted on the main body 11 via a connecting device and is detachable and adjustable. Ground antenna 16 is connected to ground communication module 13 via antenna feeder for receiving and transmitting link signals. Ground communication module 13 interfaces with router 14 via an RJ45 network interface. Both ground communication module 13 and router 14 are powered by package power supply 15 to maintain power during ground communication. In addition, package power supply 15 also charges handheld ground station 2, repeater 3, and mission device 4 when they are housed inside package body 11. Handheld ground station 2 serves as the command and control center and does not communicate directly with the UAV. It has a built-in rechargeable battery for self-powering and wirelessly connects to ground communication module 13 via the local area network of router 14.

[0027] As an optional embodiment, the main body 11 of the backpack can be provided with at least one space for accommodating the relay unit 3 and at least one space for accommodating the mission unit 4, depending on the design. This design allows for single-control mode communication and relay mode communication using a single portable multi-vertical take-off and landing (VTOL) fixed-wing UAV relay communication backpack. Alternatively, to minimize the size and weight of the portable multi-vertical take-off and landing (VTOL) fixed-wing UAV relay communication backpack, a space can be provided within the main body 11 that can only accommodate one VTOL fixed-wing UAV. In this design, a single-control mode communication can be achieved by providing one VTOL fixed-wing UAV as the mission unit 4 using one portable multi-vertical take-off and landing (VTOL) UAV relay communication backpack; or, by providing two VTOL fixed-wing UAVs using two portable multi-vertical take-off and landing (VTOL) UAV relay communication backpacks, one VTOL fixed-wing UAV can be used as the relay unit 3 and the other as the mission unit 4, thus achieving relay mode communication.

[0028] In this embodiment of the invention, the main body 11 of a portable multi-vertical take-off and landing fixed-wing UAV relay communication backpack is used to illustrate the concept of two vertical take-off and landing fixed-wing UAVs, one of which serves as a relay unit 3 and the other as a mission unit 4. Furthermore, when multiple relay units 3 and multiple mission units 4 are configured, the communication principle is the same as that of a single relay unit 3 and a single mission unit 4. In relay mode, multiple mission communication links can be formed, and multiple relay units 3 can also bridge communication to a single mission unit 4. Specifically, as shown... Figure 6Both the relay unit 3 and the mission unit 4 shown are vertical takeoff and landing (VTOL) fixed-wing UAVs. The fuselage of the VTOL fixed-wing UAV includes a middle wing 101 and an outer wing 102. The outer wing 102 is connected to the middle wing 101 via a quick-release assembly, or the outer wing 102 is connected to the middle wing 101 via a foldable structure, ensuring that the outer wing 102 can be folded together with the middle wing 101 during UAV storage. In this embodiment of the invention, the outer wing 102 is connected to the outside of the middle wing 101 via a buckle 103 and a connecting rod 104. In addition, the VTOL fixed-wing UAV is also equipped with a flight control module 105, a communication module 106, an airborne antenna 107, a visual payload 108, and a quick-release structure 109. The airborne antenna 107 is mounted on the middle wing 101 via a connecting device, and the airborne antenna 107 can be detached from the middle wing 101. The communication module 106 is connected to the airborne antenna 107, which enables signal reception and transmission. The flight control module 105 is used to realize the flight control of the VTOL fixed-wing UAV. The visual payload 108 is connected to the middle wing 101 through the structure 109. The visual payload 108 is used to realize image acquisition. In this embodiment of the invention, the visual payload 108 is a visible light and infrared camera. The handheld ground station 2 realizes self-organizing network control of the VTOL fixed-wing UAV to perform tasks through the end communication module 13 and the communication module 106 of the VTOL fixed-wing UAV. The image information acquired by the visual payload 108 can be viewed on the screen of the handheld ground station. When two VTOL fixed-wing UAVs perform different tasks, both VTOL fixed-wing UAVs are equipped with the detachable visual payload 108; when only the mission aircraft 4 performs the task, the mission aircraft 4 is equipped with the detachable visual payload 108.

[0029] To improve the operational radius and mission efficiency of the UAV during operation, the communication backpack of this invention incorporates two communication methods. Specifically, in ideal or open environments, one method is selected as follows: Figure 7 In the single-control mode shown, the ground communication module 13 serves as the signal command and control center. It establishes and maintains independent two-way communication with both the relay unit 3 and the mission unit 4 via a self-organizing network link. One communication link exists between the relay unit 3 and the ground communication module 13, and another between the mission unit 4 and the ground communication module 13. Control commands are sent to the ground communication module 13 via the handheld ground station 2. The ground communication module 13 then sends control commands to both the relay unit 3 and the mission unit 4 via the two communication links. These control commands include, but are not limited to, flight paths, mission instructions, status parameters, and images, achieving the most direct and lowest-latency transmission path. In single-control mode, the relay unit 3 can perform other tasks, or remain in standby or performing other auxiliary tasks, while maintaining a clear link with the ground communication module 13 to prepare for potential communication interruptions.

[0030] When mission aircraft 4 flies into complex environments such as behind hills, tall buildings, or canyons, or when mission aircraft 4 flies a long distance, the quality of the direct link between mission aircraft 4 and ground communication module 13 will drop sharply until it is interrupted. During this process, handheld ground station 2 uses a preset link quality monitoring mechanism to monitor the status of the self-organizing network link between ground communication module 13 and mission aircraft 4 in real time. When the self-organizing network link status between ground communication module 13 and mission aircraft 4 triggers the communication mode switching threshold of the link quality monitoring mechanism, it switches to a mode such as... Figure 8 The relay mode is shown. The original communication path from mission machine 4 to ground communication module 13 has been reconstructed into two independent and reliable link segments: the "ground communication module 13 to relay machine 3" segment and the "relay machine 3 to mission machine 4" segment.

[0031] As an optional embodiment, the handheld ground station 2 uses a preset link quality monitoring mechanism to perceive the self-organizing network link status between the ground communication module 13 and the mission unit 4 in real time, and automatically and seamlessly switches to relay mode. The link quality monitoring mechanism includes: Signal Strength Indicator (RSSI), Bit Error Rate (BER) detection, and heartbeat packet response timeout.

[0032] As an optional embodiment, in relay mode, the control signal transmission process from handheld ground station 2 to mission device 4 is as follows: The ground communication module 13 and the relay 3 establish the first self-organizing network link communication: the handheld ground station 2 sends control commands to the ground communication module 13, and the ground communication module 13 then sends the control commands to the relay 3, which is in a better communication position and is not blocked by terrain and obstacles, via the self-organizing network link. The relay 3 then sends the control commands to the mission machine 4, thus realizing the transmission of control commands.

[0033] Repeater 3 and mission unit 4 establish a second self-organizing network link for communication: Repeater 3, as a relay signal station, sends the control commands received from ground communication module 13 to mission unit 4 to control mission unit 4.

[0034] As an optional embodiment, in relay mode, the process of transmitting the backhaul signal from mission device 4 to handheld ground station 2 is as follows: Mission aircraft 4 transmits data acquired via the UART interface from its flight control module 105 and the visual payload 108 acquired via the RJ45 interface to relay aircraft 3, which is in a better communication position and is not obstructed by terrain or obstacles, via an ad hoc network link. Upon receiving the data from mission aircraft 4, relay aircraft 3 does not perform complex processing but immediately forwards the data to ground communication module 13 via an independent link that maintains uninterrupted communication between relay aircraft 3 and ground communication module 13. Ground communication module 13 is connected to router 14 via an RJ45 interface. Finally, handheld ground station 2 receives all data via the local area network of router 14.

[0035] As an optional implementation, the handheld ground station 2, acting as the command core, does not communicate directly with the UAV. Instead, it connects to the ground communication module 13 via a local router 14. This architecture forms a small local area network, enabling the handheld ground station 2 to flexibly and stably send commands to and receive data from the target. The ground communication module 13 simultaneously establishes independent bidirectional data links with the relay unit 3 and the onboard communication module 106 on the mission unit 4. This allows the operator to simultaneously monitor the status (such as battery, GPS positioning, and attitude) of two vertical takeoff and landing fixed-wing UAVs and send control commands on a single interface of the handheld ground station 2.

[0036] During the mission, firstly, the link address is configured via handheld ground station 2. After configuration, the relay unit 3 and the mission unit 4 are connected via ground communication module 13. Based on the mission, the flight path of the mission unit 4 is planned via handheld ground station 2 and uploaded. Then, the system switches to relay unit 3 to set the hovering altitude. The drone's altitude setting is not simply done manually by the operator; instead, an auxiliary algorithm built into handheld ground station 2 assists in setting the drone's vertical takeoff altitude based on mission environmental factors. Specifically, the built-in algorithm calculates the minimum safe hovering altitude and minimum hovering radius required by relay unit 3 using a pre-loaded digital elevation model of the mission area, obstacle information, expected signal coverage, and communication line-of-sight requirements. Based on the minimum safe hovering altitude and minimum hovering radius calculated by the built-in algorithm, these are manually adjusted to determine the target vertical takeoff altitude of relay unit 3, which must be greater than or equal to the minimum safe hovering altitude. Alternatively, the parameters for the entire flight path can be directly uploaded. Then, it is determined whether the mission flight path of mission drone 4 needs to be adjusted. If adjustment is confirmed, the mission flight path of mission drone 4 is replanned and uploaded, and the minimum safe turning altitude and minimum turning radius are recalculated using the built-in algorithm. If no adjustment is needed, the operator triggers a one-key takeoff to unlock all drones. After the control command is issued, relay drone 3 and mission drone 4 do not act simultaneously, but rather in an automated sequence controlled by the system firmware. Specifically, in relay mode, by triggering one-key takeoff, relay drone 3 and mission drone 4 are automatically controlled to execute the following commands sequentially: The first stage is the takeoff of relay aircraft 3: A takeoff command is first sent to relay aircraft 3, which then takes off vertically in multi-rotor mode to the preset target altitude. The second stage is the transition of relay aircraft 3 to fixed-wing hovering mode: Upon reaching the target altitude, relay aircraft 3 automatically transitions from rotor vertical takeoff mode to fixed-wing hovering mode, entering an automatic hovering standby state at a preset coordinate point at that altitude, and verifying the stability of the first segment of the self-organizing network link between relay aircraft 3 and the ground communication module 13. The third stage is the takeoff of mission aircraft 4: After confirming that relay aircraft 3 has hovered stably and that the communication link is of good quality, a takeoff command is automatically sent to mission aircraft 4. Mission aircraft 4 then takes off vertically to its mission altitude and transitions to fixed-wing mode to perform mission operations, including inspection and mapping. After both relay aircraft 3 and mission aircraft 4 have taken off, a dynamic collision avoidance algorithm ensures that a safe distance is maintained between them at all times. Specifically, the handheld ground station 2 continuously receives real-time high-precision position, velocity, and heading data transmitted back by the relay unit 3 and the mission unit 4 via data link, and periodically calculates the three-dimensional spatial distance between the relay unit 3 and the mission unit 4. Once it is predicted that the future trajectories of the relay unit 3 and the mission unit 4 will cause the distance to be less than the safety threshold, it will immediately trigger a collision avoidance action, control the relay unit 3 to change its hovering altitude, maintain a safe distance between the relay unit 3 and the mission unit 4, and ensure that the relay unit 3 and the mission unit 4 are always in an efficient and safe cooperative state throughout the entire operation.

[0037] During mission operations, relay aircraft 3, being a dual-wing vertical takeoff and landing fixed-wing UAV, flies in a fixed-wing hovering mode while mission aircraft 4 is performing its mission, resulting in a significantly increased endurance compared to traditional rotary-wing UAVs. Furthermore, during mission aircraft 4's operations, flight parameters can be set via handheld ground station 2, and mission environmental factors can be analyzed based on the information transmitted back by mission aircraft 4. Built-in auxiliary algorithms can then automatically adjust the flight parameters of mission aircraft 4 in real time.

[0038] As an optional implementation, the software control method built into the handheld ground station 2 abandons the traditional "one ground station controls one UAV" model, creating a system where a single software platform simultaneously manages, monitors, and commands two vertical takeoff and landing fixed-wing UAVs: relay aircraft 3 and mission aircraft 4. The operational procedures (such as taking off the relay aircraft first, then the mission aircraft, and maintaining a safe distance) are solidified into automated logic within the software. This design greatly reduces control complexity; the operator only needs to focus on the mission itself, while the specific takeoff sequence, link switching, and safety avoidance are all automatically executed by the handheld ground station 2. Figure 10As shown, the handheld ground station 2 provides the operator with an integrated global situational awareness interface, displaying key elements such as the positions, communication link status, and aircraft status information of relay 3 and mission 4 on the same electronic map. It incorporates multiple algorithm modules (such as takeoff altitude calculation, safe distance maintenance, and communication link assessment), making the handheld ground station 2 not just a control terminal but a decision support system capable of proactively preventing risks and efficiently executing tasks. The handheld ground station software can distinguish data packets from different UAVs and distribute them to other processing modules within the software. Multi-threading technology ensures that data reception and transmission on the two data links do not block each other. An integrated link quality monitoring mechanism submodule calculates RSSI, BER, and heartbeat packet response timeout in real time, providing decision-making basis for communication relay switching. The handheld ground station 2 acquires the real-time coordinates of the two UAVs at a frequency of 10Hz and calculates the three-dimensional spatial distance. When the distance is less than the safe threshold, a visual warning is issued on the handheld ground station 2 interface. When a future flight path is predicted to have a distance less than the safe threshold, the built-in algorithm of the handheld ground station 2 proactively intervenes in the control, controlling the relay 3 to change its hovering altitude.

[0039] like Figure 9 As shown, the following describes the interaction process between the operator and the handheld ground station 2, using a typical vertical take-off and landing fixed-wing UAV flight path scenario in relay mode: After the operator starts the software on the handheld ground station 2 and configures the link address, it automatically connects to the ground communication module 13 via router 14. For example... Figure 10 As shown, the instrument panel areas of the connected relay aircraft 3 and mission aircraft 4 appear on the interface of the handheld ground station 2. The instrument panel area displays the parameter information of each aircraft. The flight mode of the UAV can be switched by using the mode switching button. Meanwhile, the rest of the page displays the detailed status information of mission aircraft 4 by default, and the view of relay aircraft 3 can be switched by using the UAV switching button.

[0040] The operator clicks the planning button to enter the planning page, such as... Figure 11 As shown, click to select a waypoint on the electronic map, set the waypoint parameters and type in the waypoint list, click the upload task button to upload the task to task drone 4, and then click the flight button to return to the flight page. Switch to the view of relay drone 3 using the drone switching button. The handheld ground station 2 will calculate and output an optimal hovering point altitude and hovering radius for relay drone 3 based on the flight task of task drone 4. The operator can also manually fine-tune these parameters and then upload them to relay drone 3. When it is necessary to change the flight path task, switch to the corresponding drone using the drone switching button. The ground communication module 13 will automatically load all waypoints of the corresponding drone. Only the waypoints need to be modified and the task re-uploaded.

[0041] After the user confirms that the route is correct, Figure 10 and Figure 12 As shown, after clicking the "Unlock All Drones" button, click the "Confirm Unlock All Drones" anti-accidental touch button again. The handheld ground station 2 will then automatically control the relay drone to take off vertically and switch to fixed-wing mode to fly to the hovering point. At this time, the dynamic information of the two drones can be viewed in real time on the interface map. When the relay drone 3 changes to fixed-wing hovering mode and the communication link is stable, the takeoff command of the mission drone 4 is automatically triggered, controlling the mission drone 4 to take off and execute the mission. The real-time image transmitted by the visual payload 108 of the mission drone 4 can be observed in the video window of the handheld ground station 2.

[0042] After task machine 4 completes its task, such as Figure 13 As shown, it will automatically switch to fixed-wing return mode and land vertically in rotor attitude. Then, the handheld ground station 2 controls the relay 3 to end the hovering and return to land. The operator can also manually click the return button to control the drone to return to home in advance.

[0043] In summary, the above description is merely a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

[0044] The systems, apparatuses, modules, or units described in one or more of the above embodiments may be implemented by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer. Specifically, a computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0045] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A portable one-hop multi-vertical take-off fixed-wing unmanned aerial vehicle relay communication backpack, characterized in that, The package body and the handheld ground station and at least one vertical take-off and landing fixed-wing unmanned aerial vehicle accommodated in the package body; The ground end communication module, the router and the package body power supply are integrated on the package body; the handheld ground station communicates wirelessly with the ground end communication module through the local area network of the router; The vertical take-off and landing fixed-wing unmanned aerial vehicle comprises a middle wing and an outer wing connected to the outside of the middle wing and capable of being quickly detached or folded; The communication mode of the ground end communication module and the vertical take-off and landing fixed-wing unmanned aerial vehicle comprises: Single control mode: one relay communication backpack is used to provide one vertical take-off and landing fixed-wing unmanned aerial vehicle as a task machine; the ground end communication module communicates with the task machine through a self-organizing network link, sends control instructions to the task machine to execute a task, and receives the backhaul information of the task machine; Relay mode: at least one relay communication backpack is used to provide at least two vertical take-off and landing fixed-wing unmanned aerial vehicles, at least one of which is used as a relay machine, and at least one of which is used as a task machine; the ground end communication module communicates with the relay machine through a first self-organizing network link, the relay machine communicates with the task machine through a second self-organizing network link, control instructions are sent to the task machine through the relay machine, and the backhaul information of the task machine is first sent to the ground end communication module through the relay machine, and then sent to the handheld ground station through the ground end communication module. The package body power supply is used to power the ground end communication module and the router, and to charge the vertical take-off and landing fixed-wing unmanned aerial vehicle.

2. The portable one-hop multi-vertical take-off fixed-wing unmanned aerial vehicle relay communication backpack according to claim 1, characterized in that, The vertical take-off and landing fixed-wing unmanned aerial vehicle comprises a flight control module, a communication module and an on-board antenna; 3. The portable one-hop multi-vertical take-off fixed-wing UAV relay communication backpack of claim 1, wherein, When the vertical take-off and landing fixed-wing unmanned aerial vehicle executes a task, the vertical take-off and landing fixed-wing unmanned aerial vehicle is hung with a detachable visual load. An outer skin assembly is further included, which is detachably wrapped on the outside of the package body, and the package body comprises a package body main body and an upper cover buckled on the top of the package body main body.

4. The portable one-hop multi-vertical take-off fixed-wing UAV relay communication backpack of claim 1, wherein, The ground end communication module is connected to the router through an RJ45 network interface.

5. The portable one-hop multi-vertical take-off fixed-wing UAV relay communication backpack of claim 1, wherein, In the single control mode, the handheld ground station senses the self-organizing network link state between the ground end communication module and the task machine in real time through a preset link quality monitoring mechanism, and at least one relay machine is switched to the relay mode when the self-organizing network link state between the ground end communication module and the task machine triggers the communication mode switching threshold of the link quality monitoring mechanism.

6. The portable one-hop multi-vertical take-off fixed-wing unmanned aerial vehicle relay communication backpack according to claim 1, characterized in that, The link quality monitoring mechanism comprises signal strength indication RSSI, bit error rate BER detection and heartbeat packet response timeout.

7. The portable one-hop multi-vertical take-off fixed-wing UAV relay communication backpack of claim 1, wherein, The flight parameters of the task machine can be set through the handheld ground station, and an auxiliary algorithm is built in the handheld ground station to analyze the task environment factors according to the backhaul information of the task machine, and the flight parameters of the task machine are automatically adjusted through the built-in auxiliary algorithm.

8. The portable one-hop multi-vertical take-off fixed-wing UAV relay communication backpack of claim 1, wherein, ​ 9. The portable one-hop multi-vertical take-off fixed-wing UAV relay communication backpack of claim 8, wherein, In the relay mode, the handheld ground station calculates the minimum safe hovering height required for the relay aircraft to perform the relay task based on the preloaded task area digital elevation model, obstacle information, expected signal coverage, and communication line-of-sight requirements through an embedded auxiliary algorithm, and controls the height at which the relay aircraft flies in the fixed-wing hovering mode to be greater than the minimum safe hovering height.

10. The portable one-hop multi-vertical take-off fixed-wing UAV relay communication backpack of claim 9, wherein, In the relay mode, the following instructions are executed by the relay aircraft and the task aircraft in sequence through automatic control triggered by a one-key takeoff: The relay aircraft takes off vertically to a target height, which is greater than or equal to the minimum safe hovering height; The relay aircraft converts to a fixed-wing hovering mode when it reaches the target height, and checks the stability of the first segment of the ad hoc network link communication between the relay aircraft and the ground terminal communication module; The task aircraft takes off vertically to a task height, and converts to a fixed-wing mode to perform task operations; Based on the continuously acquired position, speed, and heading data of the relay aircraft and the task aircraft, the future trajectories of the relay aircraft and the task aircraft are predicted. When it is predicted that the distance between the relay aircraft and the task aircraft will be less than a safety threshold, a collision avoidance control instruction is automatically triggered to adjust the target height of the relay aircraft to maintain a safe separation between the relay aircraft and the task aircraft.

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