Land communication system and related methods

Abstract

This application discloses a terrestrial communication system and related methods, relating to the field of communication technology. The terrestrial communication system includes: terminal equipment, multiple data acquisition nodes, and multiple flight communication devices. Flight communication devices are installed within a preset range of at least some of the data acquisition nodes. Each flight communication device is equipped with a deployment and retrieval mechanism for physical communication media, and the data acquisition nodes are communicatively connected to each flight communication device within the preset range. The terminal equipment has at least one communication link with each data acquisition node. The communication link includes: the flight communication device and the physical communication media; or, the communication link includes: the flight communication device, the physical communication media, and at least one data acquisition node. This application leverages the mobility of the flight communication devices to enable rapid deployment and modification of the terrestrial communication system.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a terrestrial communication system and related methods. Background Technology

[0002] In complex terrestrial environments (such as jungles and mountains), multiple nodes are distributed. The nodes are responsible for collecting and uploading data from their surroundings. Stable and reliable communication between nodes is the core support for ensuring data transmission. Currently, the communication methods of nodes can include wireless communication, wired communication, and relay communication.

[0003] Wireless communication relies on radio waves and satellite links to enable communication between nodes, wired communication relies on laid fiber optic cables, and relay communication relies on fixed nodes as intermediate communication points. However, all three communication methods depend on a single link structure, such as the fixed base station structure for wireless communication, the fixed location link for wired communication, and the fixed node link for relay communication. If this communication link is broken, communication between nodes will be affected.

[0004] Therefore, how to effectively achieve communication between nodes in a complex terrestrial environment is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] In view of the above problems, this application provides a terrestrial communication system and related methods to achieve effective node communication in complex terrestrial environments. The specific solution is as follows:

[0006] The first aspect of this application provides a land-based communication system, which includes: terminal equipment, multiple data acquisition nodes, and multiple flight communication devices.

[0007] At least some of the data acquisition nodes are equipped with flight communication devices within a preset range, and the data acquisition nodes are connected to each flight communication device within the preset range. The flight communication devices are equipped with a take-up and take-down mechanism for taking up and taking down physical communication media.

[0008] There is at least one communication link between the terminal device and each data acquisition node;

[0009] The communication link includes: flight communication equipment and physical communication medium;

[0010] Alternatively, the communication link may include: flight communication equipment, physical communication medium, and at least one data acquisition node.

[0011] In one possible implementation, at least some of the data acquisition nodes have communication links.

[0012] In one possible implementation, the data acquisition node is wirelessly connected to each flight communication device within a preset range.

[0013] In one possible implementation, in the communication link, one end of the physical communication medium is connected to the flight communication equipment, and the other end of the physical communication medium is connected to the data acquisition node, or the other end of the physical communication medium is connected to another flight communication equipment.

[0014] In one possible implementation, the physical communication medium is optical fiber.

[0015] A second aspect of this application provides a method for establishing a terrestrial communication system, the method comprising:

[0016] Obtain the communication topology of the terrestrial communication system, which includes: terminal equipment and multiple data acquisition nodes;

[0017] According to the communication topology, the flight communication equipment, which is equipped with a take-up and release mechanism for taking up and releasing physical communication media, moves toward the data acquisition node, so that the flight communication equipment releases the physical communication media through the take-up and release mechanism during flight.

[0018] When the flight communication equipment moves to the preset range of the data acquisition node, it establishes a communication connection with the data acquisition node, thereby establishing communication links between the terminal equipment and the data acquisition node, as well as between each data acquisition node.

[0019] The third aspect of this application provides a method for operating a terrestrial communication system, applicable to a terrestrial communication system according to the first aspect or any implementation thereof, the method for operating the terrestrial communication system comprising:

[0020] The data acquisition node collects data and transmits it to the flight communication equipment within a preset range, enabling the flight communication equipment within the preset range to transmit the data to the terminal equipment through a physical communication medium;

[0021] Alternatively, flight communication devices within a preset range can transmit data to other flight communication devices or other data acquisition nodes via physical communication media, and these other flight communication devices or other data acquisition nodes can then transmit the data to the terminal device.

[0022] A fourth aspect of this application provides a communication repair method, applied to a terminal device in a terrestrial communication system according to the first aspect or any implementation thereof, the communication repair method comprising:

[0023] When the terminal device detects a link interruption between data acquisition nodes, it outputs a link restoration suggestion and issues an audible and visual alarm. The link restoration suggestion includes: the location of the link interruption, the data acquisition node to which the backup flight communication equipment belongs, and the movement path and altitude of the backup flight communication equipment.

[0024] In one possible implementation, the process by which the terminal device detects a link interruption between data acquisition nodes includes:

[0025] If the terminal device receives a link disconnection alarm message from the first data acquisition node or the second data acquisition node adjacent to the first data acquisition node, it determines that the link between the first data acquisition node and the second data acquisition node is interrupted.

[0026] One possible implementation also includes:

[0027] When the terminal device detects a link interruption between data acquisition nodes, the data acquisition node that sends the link disconnection alarm signal is identified as the first data acquisition node and the second data acquisition node where the link interruption occurred.

[0028] Select an idle flight communication device of either the first data acquisition node or the second data acquisition node. The idle flight communication device is equipped with a take-up and take-up mechanism for physical communication media. The idle flight communication device has a communication link with the first data acquisition node, or the idle flight communication device has a communication link with the second data acquisition node.

[0029] Control the idle flight communication device to move so that the idle flight communication device establishes a wireless connection with the first data acquisition node, or the idle flight communication device establishes a wireless connection with the second data acquisition node.

[0030] In one possible implementation, controlling the movement of the idle flight communication device includes:

[0031] Calculate the movement path of idle flight communication equipment;

[0032] After controlling the idle flight communication equipment to ascend to the preset altitude, control the idle flight communication equipment to move from the starting point of the path according to the movement path;

[0033] Once the idle flight communication device reaches the end of the path, it is controlled to descend, causing it to fall into the preset range of the first data acquisition node or the preset range of the second data acquisition node.

[0034] One possible implementation also includes:

[0035] If the terminal device detects a new data acquisition node, it outputs a link extension suggestion and updates the data transmission routing table of the data acquisition node. The link extension suggestion includes: at least one adjacent data acquisition node within the preset range of the new data acquisition node, the movement path and movement altitude of an idle flight communication device of each adjacent data acquisition node, and the idle flight communication device is equipped with a take-up and take-down mechanism for taking up and taking down physical communication media.

[0036] One possible implementation also includes:

[0037] If the terminal device does not receive a heartbeat packet from the target data acquisition node within several consecutive cycles, the target data acquisition node is determined to be invalid.

[0038] Remove the target data acquisition node and regenerate the data transmission routing table for the data acquisition node.

[0039] Based on the above technical solution, this application provides a land-based communication system and related methods. The land-based communication system may include: terminal equipment, multiple data acquisition nodes, and multiple flight communication devices. Flight communication devices are installed within a preset range of at least some of the data acquisition nodes, and the data acquisition nodes are communicatively connected to each flight communication device within the preset range. Each terminal equipment has at least one communication link with each data acquisition node. This communication link may include: the flight communication device and a physical communication medium; alternatively, the communication link may include: the flight communication device, the physical communication medium, and at least one data acquisition node.

[0040] This system simulates the root system structure of organisms. The physical transmission medium backbone of the banyan tree system possesses natural physical concealment, making it virtually impossible to detect or intercept remotely. Distributed nodes form communication links in the terrestrial communication system through flight communication equipment, and can even penetrate into other areas to build communication links. Multiple communication links intertwine to form a mesh topology. Even if one communication link is damaged, the terminal equipment and data acquisition nodes can still communicate normally, significantly improving the survivability and security of the communication links. Specifically, when any line or node is damaged, the mobility of the flight communication equipment allows for the rapid re-establishment of the communication link. A stable communication link can be deployed within minutes, enabling autonomous reconstruction and rerouting transmission. It also considers the stability of communication and the need for rapid deployment in dynamic terrestrial environments, achieving local self-healing of the communication system, avoiding global communication paralysis, and effectively reducing the impact of communication link disconnection.

[0041] Furthermore, due to the multi-link redundancy structure consisting of short-range communication between flight communication equipment and data acquisition nodes and long-range transmission through physical communication media, single-point interference cannot paralyze the overall network, and the continuity of core control and data transmission can be maintained even under strong electromagnetic suppression environments. Attached Figure Description

[0042] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0043] Figure 1 This application provides a schematic diagram of the structure of a terrestrial communication system according to an embodiment of the present application.

[0044] Figure 2 A schematic diagram of the structure of another terrestrial communication system provided in this application embodiment;

[0045] Figure 3 A schematic diagram of a communication link in a terrestrial communication system provided in an embodiment of this application;

[0046] Figure 4 A schematic diagram illustrating the movement of a backup flight communication device provided in an embodiment of this application;

[0047] Figure 5 A schematic diagram illustrating the movement of another backup flight communication device provided in this application embodiment;

[0048] Figure 6 This is a schematic diagram illustrating the movement of another backup flight communication equipment group provided in an embodiment of this application. Detailed Implementation

[0049] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0050] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0051] The terms "first," "second," etc., used in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of units is not necessarily limited to those units, but may include other units not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0052] Existing wireless, wired, and relay communication technologies still have several shortcomings in complex terrestrial environments, as detailed below:

[0053] Weak anti-interference capabilities can easily lead to communication link interruptions. For example, radio and satellite links in wireless communication are susceptible to strong electromagnetic interference or directional interference. Once the communication link is interfered with, data transmission will be completely interrupted, directly affecting node communication.

[0054] The architecture lacks flexibility. Wireless, wired, and relay communication methods all rely on a single link structure, such as the fixed base station structure for wireless communication, the fixed location link for wired communication, and the fixed node link for relay communication. None of these can be expanded according to changes in the terrestrial environment.

[0055] The communication link lacks self-healing capability. Once the communication link is destroyed, the overall communication suffers a tree-like break, making it difficult to achieve autonomous self-healing in local areas, resulting in communication paralysis in the destroyed local areas.

[0056] To address the aforementioned problems, this application provides a terrestrial communication system. The terrestrial communication system of this application embodiment will be described in detail below with reference to the accompanying drawings.

[0057] The land-based communication system in this embodiment may include: terminal equipment, multiple data acquisition nodes, and multiple flight communication devices.

[0058] In this context, terminal equipment refers to the core components of a terrestrial communication system that enable centralized control and data management. Terminal equipment can be used for real-time monitoring, fault diagnosis, topology reconfiguration calculations, and command issuance within the terrestrial communication system. It can also maintain a global network topology logical diagram of the terrestrial communication system, used to determine the data transmission paths for each data acquisition node. Each data acquisition node transmits data according to these paths, and the terminal equipment does not directly interfere with the data transmission between the individual data acquisition nodes.

[0059] A data acquisition node can refer to a device responsible for collecting surrounding situational awareness data (such as changes in the surrounding environment, wind direction, and surrounding temperature) and its own operational status data (such as battery level, location, and surrounding interference intensity). In this embodiment, the data acquisition node integrates multiple communication connection methods, which may include optical fiber, wireless local area network (Wi-Fi), wireless cellular network, long-range low-power wireless communication for the Internet of Things (LoRa), spread spectrum communication (frequency hopping), etc. Furthermore, the data acquisition node has built-in multiple communication interfaces to facilitate wireless data interaction, such as short-range robust communication interfaces like Wi-Fi, LoRa, and frequency hopping. These short-range robust communication technologies, through spectrum adaptation, spread spectrum, and beamforming, can resist various types of interference, ensuring stable and reliable short-range communication in complex electromagnetic environments.

[0060] Furthermore, the data acquisition node can also be equipped with a built-in electromagnetic interference detection device. For scenarios with strong electromagnetic suppression, "dynamic power adjustment" can be used to achieve anti-interference. Specifically, this electromagnetic interference detection device can detect the interference intensity in real time. When an interference signal is detected, it dynamically changes the transmission power (the stronger the interference signal, the higher the transmission power, and the stronger the signal's penetration ability; the weaker the interference signal, the lower the transmission power, and the weaker the signal's penetration ability), ensuring the signal's penetration ability under different interference conditions.

[0061] Flight communication equipment can refer to a mobile device that assists in communication. This flight communication equipment can be a flightless unmanned platform, such as an aircraft with automatic pathfinding and cable laying capabilities, a ground mobile platform (such as a quadruped robot dog, a tracked unmanned vehicle, etc.), or an amphibious robot, all of which can serve as alternatives to flight communication equipment. In this embodiment, the flight communication equipment can be manually controlled or controlled by a terminal device. Specifically, the flight communication equipment can be equipped with a physical communication medium delivery and reception mechanism, a physical communication medium interface, a wireless communication interface (such as Wi-Fi, LoRa, frequency hopping, etc.), a receiving unit, and various sensors.

[0062] In wired communication, the physical communication medium can refer to the physical line carrier used to carry electrical and optical signals for data transmission, such as optical fibers, optoelectronic composite cables (which facilitate power supply to data acquisition nodes while transmitting data), and long-distance twisted-pair cables. When using optoelectronic composite cables, the weight of the cable must be considered to ensure the flight communication equipment can move smoothly, preventing it from becoming too heavy and immobile. The flight communication equipment's take-up and reel mechanism can store hundreds or even kilometers of physical communication medium for long-span cabling; this mechanism can be a cable reel box or a cable reel. The physical communication medium interface connects to the physical communication medium for wired communication; the wireless communication interface enables wireless communication; the receiving unit receives data from data acquisition nodes; and various sensors are used to collect data.

[0063] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a terrestrial communication system provided in an embodiment of this application. Figure 1 This is merely an example to illustrate the relationship between terminal devices, multiple data acquisition nodes, and multiple flight communication devices in a terrestrial communication system, such as... Figure 1 As shown:

[0064] At least some of the data acquisition nodes are equipped with flight communication devices within a preset range, and the data acquisition nodes are connected to each flight communication device within the preset range. The flight communication devices are equipped with a take-up and take-down mechanism for taking up and taking down physical communication media.

[0065] There is at least one communication link between the terminal device and each data acquisition node;

[0066] The communication link includes: flight communication equipment and physical communication medium;

[0067] Alternatively, the communication link may include: flight communication equipment, physical communication medium, and at least one data acquisition node.

[0068] In this embodiment, communication links can exist between at least some of the data acquisition nodes. Specifically, in the communication links of the land-based communication system, the physical communication medium can have two connection methods. One end of the physical communication medium can be connected to the flight communication equipment, and the other end of the physical communication medium can be connected to the data acquisition node (e.g., Figure 1 (as shown by the dashed rectangle), or, one end of the physical communication medium can be connected to a flight communication device that is wirelessly connected to a data acquisition node, and the other end of the physical communication medium can be connected to another flight communication device that is communicatively connected to another data acquisition node (such as...). Figure 1(The solid-line rectangle shown). The physical communication medium used in this embodiment can be optical fiber.

[0069] The preset range of a data acquisition node can refer to an effective communication range of the data acquisition node, or a short-range range of the data acquisition node. In this embodiment, the preset range can be between 10 meters and 20 meters. The data acquisition node and each flight communication device within the preset range can be wirelessly connected. Within this preset range, the flight communication devices establish wireless communication with the data acquisition node through "non-contact heterogeneous bridging" technology to transmit data. Non-contact heterogeneous bridging technology can refer to a technology that establishes stable communication and data forwarding between heterogeneous systems with different protocols, interfaces, and signal types without physical contact. Multiple flight communication devices can be set up within the preset range of each data acquisition node, and each flight communication device can be wired to another data acquisition node or directly connected to a terminal device.

[0070] Specifically, when the flight communication equipment arrives within the preset range and lands or hovers within that range, its built-in receiving unit automatically scans and locks onto the wireless signal of the data acquisition node, automatically establishing an encrypted, high-bandwidth, short-range wireless link. This avoids the difficulties of physically plugging and unplugging cables in complex terrain, enabling the flight communication equipment to connect immediately upon arrival and significantly improving deployment efficiency. Due to the short wireless connection distance and strong signal strength between the flight communication equipment and the data acquisition node, combined with the flight communication equipment's own frequency hopping and retransmission mechanisms, stable data transmission via the wireless link is achieved.

[0071] Between adjacent data acquisition nodes, at least two communication links, consisting of flight communication equipment and physical communication media, can be established. If one communication link is damaged, communication can be maintained through the other communication link, thereby ensuring the stability and continuity of communication.

[0072] In the communication link between adjacent data acquisition nodes, one end of the physical communication medium can be connected to a flight communication device that is wirelessly connected to a data acquisition node, and the other end of the physical communication medium can be directly wired to an adjacent data acquisition node, or the other end of the physical communication medium can also be wired to a flight communication device that is wirelessly connected to an adjacent data acquisition node.

[0073] like Figure 2 As shown, in the entire terrestrial communication system, adjacent data acquisition nodes A and B, as well as adjacent data acquisition nodes C and D, can each have at least two communication links consisting of flight communication equipment and physical communication media. Figure 2Within the dashed rectangle shown, there are two communication links between data acquisition node A and data acquisition node B. In each link, one end of the physical communication medium is connected to a flight communication device, which is wirelessly connected to data acquisition node A. The other end of the physical communication medium is directly wired to data acquisition node B. Figure 2 Within the solid-lined rectangle shown, there are two communication links between data acquisition node C and data acquisition node D. In both communication links, one end of the physical communication medium is connected to a flight communication device, which is wirelessly connected to data acquisition node C. The other end of the physical communication medium is wiredly connected to a flight communication device that is wirelessly connected to data acquisition node D. Figure 2 This is just an example to illustrate the setup of flight communication equipment between adjacent data acquisition nodes.

[0074] Each terminal device has at least one communication link with each data acquisition node, ensuring that each data acquisition node can transmit data to the terminal device via the communication link. Specifically, the terminal device transmits data with some data acquisition nodes through a direct communication link consisting of flight communication equipment and physical communication media, while the terminal device transmits data with other data acquisition nodes through an indirect communication link consisting of flight communication equipment, physical communication media, and the data acquisition node itself.

[0075] The data acquisition nodes can be: multiple data acquisition nodes adjacent to the terminal equipment in the topology of the terrestrial communication system, where the distance between these data acquisition nodes and the terminal equipment is less than the distance between other data acquisition nodes and the terminal equipment. In the communication link between the terminal equipment and some data acquisition nodes, one end of the physical communication medium is connected to the flight communication equipment, which is wirelessly connected to the data acquisition nodes, and the other end of the physical communication medium is directly connected to the terminal equipment.

[0076] like Figure 3 As shown, data acquisition node A is adjacent to the terminal device and can directly transmit data to the terminal device through the communication link marked by the dashed line (a direct communication link consisting of flight communication equipment and optical fiber). However, data acquisition node B is not adjacent to the terminal device and needs to transmit data to the terminal device through the communication link marked by the thick solid line (an indirect communication link consisting of flight communication equipment, optical fiber, and intermediate data acquisition node C). Figure 3 This is just an example to illustrate the communication link between the terminal device and the data acquisition node.

[0077] Of course, in another optional embodiment, multiple flight communication devices can also be set within the preset range of the terminal device, and the terminal device can conduct wired communication with the flight communication devices of the data acquisition node through the flight communication devices within its own preset range.

[0078] This application provides a terrestrial communication system, which may include: a terminal device, multiple data acquisition nodes, and multiple flight communication devices. Flight communication devices are installed within a preset range of at least some of the data acquisition nodes, and each data acquisition node is communicatively connected to each flight communication device within the preset range. The terminal device has at least one communication link with each data acquisition node, which may include: the flight communication device and a physical communication medium; alternatively, the communication link may include: the flight communication device, the physical communication medium, and at least one data acquisition node.

[0079] In this system, communication between data acquisition nodes and between data acquisition nodes and terminal devices is achieved through flight communication equipment. The flight communication equipment forms communication links in the terrestrial communication system and can even extend into other areas to build communication links. When a communication link is broken (for example, when any line or node is damaged), the mobility of the flight communication equipment can quickly re-establish the communication link within minutes, realizing local self-healing of the communication system and avoiding global communication paralysis. Furthermore, the deployment and take-off mechanism carried by the flight communication equipment can automatically lay physical communication media during the movement of the flight communication equipment, realizing rapid deployment of communication links and effectively reducing the impact of communication link breakage on communication.

[0080] Furthermore, the distributed data acquisition nodes form a mesh topology of the terrestrial communication system through multi-link interweaving. Even if one communication link is damaged, the terminal equipment and the data acquisition node can still communicate normally, significantly improving the survivability and security of the communication link. Specifically, when any communication link or data acquisition node is damaged, the communication link can be reconstructed, rerouted, and self-healed through flight communication equipment. This balances communication stability with the rapid deployment requirements of dynamic terrestrial environments, achieving local self-healing of the communication system and preventing the terrestrial communication system from paralyzing. Like a banyan tree that continues to grow, the terminal equipment and the data acquisition node can still communicate normally, greatly improving the survivability and security of the communication link.

[0081] Furthermore, in this embodiment, wireless communication is used for short-range data acquisition nodes and flight communication equipment to handle data exchange. This not only avoids the physical limitations of wired cabling in small areas but also confines the susceptible wireless communication to a small range. For long-range terrestrial communication, wired communication is used as the backbone for data transmission. This can handle long-distance, high-capacity data transmission, supporting the core data flow of the communication system and avoiding signal attenuation and interference over long distances. Moreover, simulating the root system structure of an organism, the wired communication medium of the banyan tree system possesses natural physical concealment in complex terrestrial environments, making it difficult to be remotely detected or intercepted. Therefore, the multi-link redundant architecture composed of wired and wireless communication in this embodiment makes it difficult for single-point interference to paralyze the entire terrestrial communication system. Even under strong electromagnetic suppression environments, it can maintain the continuity of core control and data transmission, effectively improving the anti-interference capability of the terrestrial communication system.

[0082] The above describes a land-based communication system provided by an embodiment of this application. The following describes a method for establishing the aforementioned land-based communication system, which can be specifically described as follows:

[0083] Obtain the communication topology of the terrestrial communication system, which includes: terminal equipment and multiple data acquisition nodes;

[0084] According to the communication topology, the flight communication equipment, which is equipped with a take-up and release mechanism for taking up and releasing physical communication media, moves toward the data acquisition node, so that the flight communication equipment releases the physical communication media through the take-up and release mechanism during flight.

[0085] When the flight communication equipment moves to the preset range of the data acquisition node, it establishes a communication connection with the data acquisition node, thereby establishing communication links between the terminal equipment and the data acquisition node, as well as between each data acquisition node.

[0086] In this embodiment, the land-based communication system is constructed using a point-line-surface approach. Specifically, it employs a progressive architectural logic of first deploying points, then laying lines, and finally forming a surface. This embodiment first deploys various points within the land-based communication system. Each point may include terminal equipment and multiple data acquisition nodes. Next, communication links are established between these points using flight communication equipment and physical communication media. Ultimately, an interference-resistant communication coverage area is formed. In this embodiment, the location of each point is obtained during deployment, a communication topology is planned based on these locations, and the flight communication equipment is controlled to move according to the communication topology to construct communication links between the points, thus achieving the wiring.

[0087] First, the land-based communication system is deployed, including terminal equipment and multiple data acquisition nodes. Using these data acquisition nodes as the basic communication unit, they are deployed at key locations in the land environment (such as forward positions, command centers, and parking points for in-flight communication equipment) via airdrop or manual transport. After power-on, the data acquisition nodes complete initialization (such as loading communication parameters and activating sensing modules). The terminal equipment records and summarizes the locations of the data acquisition nodes and plans the communication path between itself and the nodes.

[0088] Secondly, communication links between terminal devices and multiple data acquisition nodes are constructed. After the planning of terminal devices and multiple data acquisition nodes is completed, the flight communication equipment is controlled to move to the data acquisition nodes, and a communication connection is established between the flight communication equipment and the data acquisition nodes. The physical communication medium connected to the flight communication equipment forms a mesh topology of the terrestrial communication system, thus completing the construction of communication links between each data acquisition node and between the data acquisition nodes and the terminal devices.

[0089] This embodiment can effectively overcome the limitations of traditional communication systems through the "point → line → surface" progressive architecture design. The "banyan tree-like scalable communication structure" can achieve the core requirements of land communication such as "anti-interference without interruption, dynamic link reconfigurability, and self-healing of node damage", providing stable and reliable communication support for tasks such as collaborative operations, multi-platform collaborative reconnaissance and remote precision control in complex land environments.

[0090] The above describes a method for establishing a terrestrial communication system according to embodiments of this application. The following describes the operation method of the aforementioned terrestrial communication system, which is specifically as follows:

[0091] The data acquisition node collects data and transmits it to the flight communication equipment within a preset range, enabling the flight communication equipment within the preset range to transmit the data to the terminal equipment through a physical communication medium;

[0092] Alternatively, flight communication devices within a preset range can transmit data to other flight communication devices or other data acquisition nodes via physical communication media, and these other flight communication devices or other data acquisition nodes can then transmit the data to the terminal device.

[0093] In this embodiment, the data flow of the land-based communication system can be specifically divided into two types of flow methods.

[0094] When the data acquisition node is adjacent to the terminal device, it acts as a data source, collects data, converts the collected data into wireless signals, and transmits these wireless signals via a wireless link to a flight communication device within its preset range. The flight communication device can act as a wireless-to-wired signal conversion gateway, converting wireless signals (signals transmitted without a physical transmission medium) to wired signals (signals transmitted via a physical transmission medium). In this embodiment, the flight communication device can internally convert wireless signals into optical signals, which are then transmitted to the terminal device via optical fiber, or to other flight communication devices within the terminal device's range, which then wirelessly transmit the data to the terminal device.

[0095] Because the terminal device and its adjacent data acquisition node have a physical communication medium, one end of which is connected to the flight communication device, the flight communication device is wirelessly connected to the data acquisition node, and the other end of the physical communication medium is directly connected to the terminal device (or the flight communication device within the range of the terminal device), there is a direct communication link between such data acquisition nodes and terminal devices, consisting of the flight communication device and the physical communication medium, to transmit data.

[0096] When a data acquisition node is not adjacent to the terminal device, it acts as a data source, collecting data and converting it into a wireless signal. This wireless signal is then transmitted via a wireless link to a flight communication device within its preset range. The flight communication device can act as a wireless-to-wired signal conversion gateway. In this embodiment, the flight communication device internally converts the wireless signal into an optical signal, which is then transmitted via optical fiber to another data acquisition node, or to another flight communication device within the preset range of another data acquisition node. This flight communication device then converts the optical signal back into a wireless signal and wirelessly transmits it to the other data acquisition node. The other data acquisition node, upon receiving the signal, wirelessly transmits it to another flight communication device within its preset range. This flight communication device then converts the wireless signal into an optical signal and transmits it via optical fiber to other data acquisition nodes, or to another flight communication device within the preset range of another data acquisition node. This transmission continues sequentially until the data is transmitted to the terminal device. The data collected by each data acquisition node, through the flight communication device, optical fiber, and intermediate data acquisition nodes, ultimately converges at the terminal device.

[0097] Since the terminal device and such data acquisition nodes are not directly connected through flight communication equipment and physical communication media, there is an indirect communication link between such data acquisition nodes and terminal devices, consisting of flight communication equipment, physical communication media and data acquisition nodes, to transmit data.

[0098] Of course, in another optional embodiment, when an optical signal is transmitted to a flight communication device within a preset range of a data acquisition node, the flight communication device converts the optical signal into a wireless signal. The wireless signal can be transmitted directly to other flight communication devices within the preset range of the data acquisition node without going through a node relay. The other flight communication devices can then transmit the signal to another data acquisition node or to the flight communication device of another data acquisition node.

[0099] The above describes a land-based communication system provided by an embodiment of this application. The following describes a communication repair method using the above-described land-based communication system, which can be specifically described as follows:

[0100] When the terminal device detects a link interruption between data acquisition nodes, it outputs a link restoration suggestion and issues an audible and visual alarm. The link restoration suggestion includes: the location of the link interruption, the data acquisition node to which the backup flight communication equipment belongs, and the movement path and altitude of the backup flight communication equipment.

[0101] Among them, backup flight communication equipment can refer to: flight communication equipment that is in a terrestrial communication system but does not transmit data, or new flight communication equipment parked around the data acquisition node.

[0102] A link interruption between data acquisition nodes can be interpreted as the inability to transmit data between them. In this case, the data acquisition nodes send a link disconnection alarm message to the terminal device via another communication link, allowing the terminal device to identify the two data acquisition nodes where the link interruption occurred. Specifically, in this embodiment, when the terminal device receives a link disconnection alarm message from either the first data acquisition node or a second data acquisition node adjacent to the first data acquisition node, it determines that the link between the first and second data acquisition nodes is interrupted.

[0103] Furthermore, the data transmission path of the first data acquisition node can include the second data acquisition node, and similarly, the data transmission path of the second data acquisition node can include the first data acquisition node. The first and second data acquisition nodes can be upstream and downstream nodes for each other. When either the first or second data acquisition node fails to receive data from the upstream node within a certain time or is unable to transmit data to the downstream node, it can determine that there is a problem with the communication link and send a link disconnection alarm message to the terminal device through other communication links.

[0104] Link restoration suggestions can refer to: task instructions output to operators, such as, if an AB link interruption is detected, suggesting that the backup flight communication equipment be called from data acquisition node C to fly to data acquisition nodes A and B, displaying the planned movement path on the display screen, and suggesting a flight altitude of 15 meters.

[0105] When the terminal device detects a link interruption between data acquisition nodes, it identifies the data acquisition node that issued the link disconnection alarm signal as the first data acquisition node and the second data acquisition node where the link interruption occurred.

[0106] Since each data acquisition node can have multiple flight communication devices, an idle flight communication device is selected from either the first or second data acquisition node. An idle flight communication device refers to a flight communication device that is not transmitting data, and this device can be configured with a take-up and drop-off mechanism for the physical communication medium. The selected idle flight communication device can be a newly added flight communication device in the terrestrial communication system, or it can be an existing flight communication device within the terrestrial communication system.

[0107] An idle flight communication device has a communication link with either the first or second data acquisition node. This idle flight communication device is designated as a backup device, and the location of the data acquisition node to which it belongs is determined. Based on the three-dimensional record of the deployed communication topology, a movement altitude is assigned to the backup flight communication device, and its movement path is calculated to prevent physical entanglement between the optical fibers carried by the backup device and those of other flight communication devices during movement. When selecting the data acquisition node to which the backup flight communication device belongs, either one of the data acquisition nodes experiencing a link interruption can be directly selected, or other data acquisition nodes besides the one with the broken link can be selected.

[0108] Of course, in another optional embodiment, when there are operators around a data acquisition node, the data acquisition node can be directly selected, and the operator of the data acquisition node can connect the optical fiber to the data acquisition node, or connect it to a flight communication device of the data acquisition node. The backup flight communication device, which is equipped with a take-up and drop mechanism for taking up and dropping physical communication media, is controlled from the data acquisition node to move to one of the data acquisition nodes where the link has been interrupted. During the movement, optical fibers are laid to move the backup flight communication device to one of the data acquisition nodes where the link has been interrupted and establish a wireless connection.

[0109] like Figure 4 As shown, the communication link between data acquisition node C and data acquisition node D is interrupted (e.g., Figure 4 The crossing shown is on the line where the data acquisition node C has a newly added backup flight communication device (in Figure 4 (marked with a thick line in the middle), move the backup flight communication equipment to data acquisition node D and wirelessly connect it to data acquisition node D.

[0110] like Figure 5 As shown, the communication link between data acquisition node C and data acquisition node D is interrupted (e.g., Figure 5 (The line where the intersection is shown), when data acquisition node C has an idle flight communication device (such as...) in the terrestrial communication system. Figure 5 (as shown by the dashed box), use the idle flight communication device as a backup flight communication device, move the backup flight communication device to data acquisition node D, and wirelessly connect it to data acquisition node D (e.g., Figure 5 The solid-lined box shown.

[0111] In another optional embodiment, in addition to moving the standby flight communication equipment separately, a group of standby flight communication equipment between data acquisition nodes can also be moved, including two flight communication equipment that are fiber-optically connected, and the group of standby flight communication equipment can be moved together to the space between the first data acquisition node and the second data acquisition node, so that one standby flight communication equipment in the group is wirelessly connected to the first data acquisition node, and the other standby flight communication equipment in the group is wirelessly connected to the second data acquisition node.

[0112] like Figure 6 As shown, the communication link between data acquisition node C and data acquisition node D is interrupted (e.g., Figure 6 (as shown in the diagram of the crossing line), at this time, data acquisition node E has a backup flight communication equipment group (such as...) Figure 6 (as shown in the dashed box), move the backup flight communication equipment group between data acquisition node D and data acquisition node C. One backup flight communication device in the backup flight communication equipment group is wirelessly connected to data acquisition node C, and the other backup flight communication device in the backup flight communication equipment group is wirelessly connected to data acquisition node D (e.g., ...). Figure 6 The solid-lined box shown.

[0113] Once the terminal device identifies the first and second data acquisition nodes where the link interruption occurred, it outputs the link interruption location, the data acquisition node to which the backup flight communication equipment belongs, and the movement path and altitude of the backup flight communication equipment to the operator, and issues an audible and visual alarm to alert the operator. The operator then controls the backup flight communication equipment to fly according to the link recovery suggestions output by the terminal device via interference-resistant FPV (First Person View) image transmission.

[0114] Specifically, the operator issues control commands through anti-interference FPV goggles. The backup flight communication device receives these commands and moves accordingly. Equipped with an FPV camera, the backup device captures real-time flight footage and transmits it back to the anti-interference FPV goggles. The footage is displayed on a micro-screen within the goggles. Based on this micro-screen display, the operator determines the backup device's position and adjusts its flight path accordingly. The anti-interference FPV goggles can be defined as a device used for first-person perspective (FPV) flight that reduces interference from external signals, providing the operator with stable and clear image transmission.

[0115] Since each data acquisition node in this embodiment is equipped with a visual beacon on its top—specifically, the visual beacon can be an infrared or visible light strobe beacon of a specific frequency, or a high-contrast visual marker in the surrounding environment—the operator can use the visual beacon to pinpoint the first and second data acquisition nodes, move the backup flight communication equipment, and re-establish a wireless connection with either the first or second data acquisition node, thus restoring the communication link.

[0116] In this embodiment, the entire process of repairing the communication link is carried out through the flight cabling of the flight communication equipment and the non-contact wireless connection between the flight communication equipment and the data acquisition node, which greatly reduces the exposure risk and operational complexity of operators in hazardous environments.

[0117] Of course, in another alternative embodiment, the automatic repair of the communication link can also be implemented by the terminal device, and the automatic repair process can be as follows:

[0118] When the terminal device detects a link interruption between data acquisition nodes, it selects an idle flight communication device from either the first or second data acquisition node. This idle flight communication device may be configured with a take-up and take-down mechanism for physical communication media. The idle flight communication device has a communication link with the first or second data acquisition node. The terminal device is then controlled to move, thereby establishing a wireless connection between the idle flight communication device and the first or second data acquisition node.

[0119] Specifically, the process of selecting an idle flight communication device for movement can be described as follows: Steps one through three:

[0120] Step 1: Calculate the movement path of the idle flight communication device;

[0121] Step 2: After controlling the idle flight communication device to ascend to the preset altitude, control the idle flight communication device to move from the starting point of the path according to the movement path; to prevent the optical fiber carried by the idle flight communication device from becoming physically entangled with the optical fiber of other flight communication devices during subsequent ascent and movement;

[0122] Step 3: After the idle flight communication device moves to the end of the path, control the idle flight communication device to descend, so that the idle flight communication device falls into the preset range of the first data acquisition node, or the idle flight communication device falls into the preset range of the second data acquisition node.

[0123] Of course, in another alternative embodiment, besides directly replacing and repairing the disconnected communication link by moving other flight communication equipment, the terminal device can also recalculate a new path scheme for repairing the communication based on the principles of "minimum number of data acquisition nodes" or "optimal link quality". Following this path scheme, idle flight communication equipment of other data acquisition nodes is moved to construct a new communication link different from the one before the disconnection, enabling the first and second data acquisition nodes that experienced the link interruption to transmit data to the terminal device through the repaired new communication link.

[0124] Furthermore, when there are failed nodes in the terrestrial communication system, this embodiment can achieve self-healing of the terrestrial communication system by updating the data transmission routing table.

[0125] In the land-based communication system of this embodiment, all data acquisition nodes send a "heartbeat packet" to the terminal device every preset time interval (e.g., 1 second). The terminal device can determine whether the data acquisition node has failed based on the "heartbeat packet".

[0126] If the terminal device does not receive heartbeat packets from the target data acquisition node for several consecutive cycles, the target data acquisition node is determined to be invalid. This node can be removed from the list. Based on the currently valid data acquisition nodes and available communication links, a standard shortest path algorithm (such as Dijkstra's algorithm or breadth-first search) is used to recalculate the next-hop address from each data acquisition node to the terminal device, and a new data transmission routing table is generated for each data acquisition node. This routing table can include the optimal data transmission path for each data acquisition node, defined as the path with the fewest transmission steps when data is transmitted from the data acquisition node to the terminal device. The terminal device broadcasts the regenerated data transmission routing table to all valid data acquisition nodes through available communication links. Upon receiving the regenerated routing table, each valid data acquisition node updates its locally stored routing table, and subsequent data transmission follows the regenerated routing table, bypassing the invalid data acquisition node and achieving self-healing of the terrestrial communication system.

[0127] When a new data acquisition node needs to be added to a terrestrial communication system, this embodiment can achieve the expansion of the terrestrial communication system by constructing communication links, as shown below:

[0128] When a new data acquisition node is added to a terrestrial communication system (such as a temporarily deployed reconnaissance robot), if the terminal device detects the new data acquisition node, it outputs a link extension suggestion and updates the data transmission routing table of the data acquisition node. The link extension suggestion includes: at least one adjacent data acquisition node within a preset range of the new data acquisition node, and the movement path and altitude of an idle flight communication device for each adjacent data acquisition node. This idle flight communication device can be configured with a deployment and retrieval mechanism for physical communication media. The link extension suggestion allows operators to control the movement of the flight communication device based on the suggestion, and the flight communication device wirelessly connects with the new data acquisition node, enabling the new data acquisition node to access the system.

[0129] In one embodiment, after a new data acquisition node is added, it can send a signal to the terminal device, enabling the terminal device to recognize the new data acquisition node. Alternatively, after adding a new data acquisition node, the operator can first select an idle flight communication device from at least one adjacent data acquisition node within a preset range of the new data acquisition node and move it towards the new data acquisition node to establish a communication link between the new data acquisition node and its adjacent data acquisition nodes. The new data acquisition node then sends information to the terminal device through this communication link, allowing the terminal device to recognize the new data acquisition node.

[0130] Of course, in another alternative embodiment, the terminal device can automatically control the flight communication device of a data acquisition node to move, so that the flight communication device can wirelessly connect with the new data acquisition node, thereby realizing the access of the new data acquisition node.

[0131] When a new data acquisition node is connected, the terminal device needs to update the data transmission routing table of each data acquisition node in the terrestrial communication system. When updating the data transmission routing table of the data acquisition node, the optimal data transmission path between each data acquisition node and the terminal device after the addition of the new data acquisition node can be calculated.

[0132] In this embodiment, the terminal device can monitor the status of data acquisition nodes and communication links in real time, and trigger communication link repair, self-healing, route updates, etc. according to different situations. It can also dynamically expand and supplement the terrestrial communication system in real time based on new data acquisition nodes to maintain network stability.

[0133] This embodiment provides a communication repair method. When a communication link is interrupted, the method can output a link recovery suggestion and issue an audible and visual alarm. By moving the backup flight communication equipment, the communication link can be repaired, which can effectively reduce the impact of communication link interruption on node communication.

[0134] It should also be noted that the embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0135] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0136] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0137] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A terrestrial communication system, characterized in that, The land-based communication system includes: terminal equipment, multiple data acquisition nodes, and multiple flight communication devices. At least some of the data acquisition nodes are equipped with flight communication devices within a preset range, and the data acquisition nodes are communicatively connected to each flight communication device within the preset range. The flight communication devices are equipped with a take-up and take-down mechanism for taking up and taking down physical communication media. The terminal device has at least one communication link with each data acquisition node; The communication link includes: the flight communication equipment and the physical communication medium; Alternatively, the communication link may include: the flight communication device, the physical communication medium, and at least one data acquisition node.

2. The terrestrial communication system according to claim 1, characterized in that, At least some of the data acquisition nodes have the aforementioned communication link.

3. The terrestrial communication system according to claim 1, characterized in that, The data acquisition node is wirelessly connected to each flight communication device within the preset range.

4. The terrestrial communication system according to claim 1, characterized in that, In the communication link, one end of the physical communication medium is connected to the flight communication device, and the other end of the physical communication medium is connected to the data acquisition node, or the other end of the physical communication medium is connected to another flight communication device.

5. The terrestrial communication system according to claim 1, characterized in that, The physical communication medium is optical fiber.

6. A method for establishing a terrestrial communication system, characterized in that, The method for establishing the land-based communication system includes: Obtain the communication topology of a land-based communication system, wherein the communication topology includes: terminal equipment and multiple data acquisition nodes; According to the communication topology, the flight communication device, which is equipped with a take-up and release mechanism for taking up and releasing physical communication media, moves toward the data acquisition node, so that the flight communication device releases the physical communication media through the take-up and release mechanism during flight. When the flight communication device moves to a preset range of the data acquisition node, it establishes a communication connection with the data acquisition node, thereby establishing a communication link between the terminal device and the data acquisition node, as well as between each data acquisition node.

7. A method for operating a terrestrial communication system, characterized in that, The method of operating the land-based communication system described in any one of claims 1 to 5 includes: The data acquisition node collects data and transmits the data to flight communication devices within a preset range, so that the flight communication devices within the preset range transmit the data to the terminal device through a physical communication medium; Alternatively, the flight communication devices within the preset range may transmit the data to other flight communication devices or other data acquisition nodes via a physical communication medium, and the other flight communication devices or other data acquisition nodes may then transmit the data to the terminal device.

8. A communication repair method, characterized in that, The communication repair method, applied to a terminal device in any one of claims 1 to 5, comprises: When the terminal device detects a link interruption between data acquisition nodes, it outputs a link recovery suggestion and issues an audible and visual alarm. The link recovery suggestion includes: the location of the link interruption, the data acquisition node to which the backup flight communication device belongs, and the movement path and altitude of the backup flight communication device.

9. The communication repair method according to claim 8, characterized in that, The process by which the terminal device detects a link interruption between data acquisition nodes includes: If the terminal device receives a link disconnection alarm message from the first data acquisition node or the second data acquisition node adjacent to the first data acquisition node, it determines that the link between the first data acquisition node and the second data acquisition node is interrupted.

10. The communication repair method according to claim 8, characterized in that, Also includes: When the terminal device detects a link interruption between data acquisition nodes, it identifies the data acquisition node that issued the link disconnection alarm signal as the first data acquisition node and the second data acquisition node where the link interruption occurred. Select an idle flight communication device of either the first data acquisition node or the second data acquisition node. The idle flight communication device is equipped with a take-up and take-up mechanism for physical communication media. The idle flight communication device has a communication link with the first data acquisition node, or the idle flight communication device has a communication link with the second data acquisition node. Control the idle flight communication device to move so that the idle flight communication device establishes a wireless connection with the first data acquisition node, or the idle flight communication device establishes a wireless connection with the second data acquisition node.

11. The communication repair method according to claim 10, characterized in that, The control of the idle flight communication device to move includes: Calculate the movement path of the idle flight communication device; After controlling the idle flight communication device to ascend to a preset altitude, control the idle flight communication device to move from the starting point of the path according to the movement path; When the idle flight communication device moves to the end of the path, the idle flight communication device is controlled to descend, so that the idle flight communication device falls into the preset range of the first data acquisition node, or the idle flight communication device falls into the preset range of the second data acquisition node.

12. The communication repair method according to claim 8, characterized in that, Also includes: If the terminal device detects a new data acquisition node, it outputs a link extension suggestion and updates the data transmission routing table of the data acquisition node. The link extension suggestion includes: at least one adjacent data acquisition node within a preset range of the new data acquisition node, the movement path and movement altitude of an idle flight communication device of each adjacent data acquisition node, and the idle flight communication device is equipped with a take-up and take-down mechanism for taking up and down physical communication media.

13. The communication repair method according to claim 8, characterized in that, Also includes: If the terminal device does not receive a heartbeat packet from the target data acquisition node within multiple consecutive cycles, the target data acquisition node is determined to be invalid. Remove the target data acquisition node and regenerate the data transmission routing table for the data acquisition node.

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