A method, equipment and medium for in-situ detection of stacked UAV nests

Abstract

This invention discloses a method, device, and medium for detecting the presence of stacked drone nests, relating to the field of drone technology. The method includes: responding to a received inventory command by transmitting a radio frequency signal at a preset transmission power via a single RFID antenna located at the bottom of the nest. The preset transmission power is used to limit the effective reading range of the radio frequency signal to the stacking space inside the nest, where multiple drones are vertically stacked; receiving response signals from RFID tags on each drone within the nest via the single RFID antenna; and obtaining a unique identifier for each drone based on each response signal to obtain a list of identifiers for all drones present in the nest. This invention achieves drone quantity counting and identification within a stacked nest with relatively low hardware costs.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, device, and medium for in-situ detection of stacked UAV nests. Background Technology

[0002] In applications such as multi-rotor drone swarm performances, logistics delivery, and inspection, vertically stacked barrel-shaped drone nests serve as the infrastructure for accommodating multiple drones. Accurate counting and individual identification of the drones within the nest are crucial prerequisites for subsequent automated scheduling and full lifecycle management. Furthermore, due to the physical characteristics of the vertically stacked structure, the upper layer of the drone significantly obstructs the view of the lower layer, greatly increasing the difficulty of perception.

[0003] Currently, common visual detection solutions rely on deep learning models, which are prone to occlusion in stacked scenarios, leading to missed detections. Furthermore, these models cannot output unique identification information for drones. While multi-antenna layer-by-layer RFID solutions can read tags layer by layer, each layer requires an independent antenna and sensor, resulting in complex structure and cumbersome wiring. The horizontal architecture is difficult to adapt directly to vertical barrel structures, and additional tags need to be affixed to the drones, increasing deployment workload. Moreover, weight, Hall effect, or infrared sensor solutions suffer from complex force transmission paths, magnetic crosstalk, and alignment difficulties, and similarly cannot achieve identification. These shortcomings mean that in actual operation, operations such as charging scheduling or script matching require manual verification of the number and identity of each drone, consuming significant time and compromising accuracy. Summary of the Invention

[0004] This invention provides a method, device, and medium for detecting the presence of stacked drone nests. The technical problem it aims to solve is: how to provide an effective solution that can accurately count the number of drones in a vertically stacked barrel-shaped drone nest and reliably identify individual drones with low hardware deployment costs.

[0005] In a first aspect, the present invention provides a method for detecting the presence of a stacked unmanned aerial vehicle (UAV) nest, comprising: In response to receiving an inventory command, the drone transmits a radio frequency signal at a preset transmission power through a single RFID antenna located at the bottom of the drone nest. The preset transmission power is used to limit the effective reading range of the radio frequency signal to the stacking space inside the drone nest, which is used to vertically stack multiple drones. The single RFID antenna receives response signals returned by RFID tags mounted on each UAV stacked within the nest, based on the radio frequency signal. Based on each of the response signals, the unique identifier corresponding to each of the drones is obtained, and a list of identifiers of all drones in the nest is obtained.

[0006] Optionally, the step of responding to receiving an inventory command by transmitting a radio frequency signal at a preset transmission power via a single RFID antenna located at the bottom of the rack includes: The target time slot is determined based on the inventory instruction. The target time slot is the time slot in the preset time-sharing scheduling corresponding to the local nest for performing the inventory operation. The time-sharing scheduling is used to instruct multiple nests to perform inventory in different time slots. Determine whether the current time is within the target time slot; If the current time is within the target time slot, the step of transmitting the radio frequency signal is performed through the single RFID antenna at the preset transmission power; If the current time is not within the target time slot, control the single RFID antenna to enter a silent state.

[0007] Optionally, the preset transmission power is obtained by means of: Determine the minimum stable reading power, which is the minimum power required to read the RFID tag on the UAV at the farthest layer from the single RFID antenna within the nest with a first preset success rate; Obtain a power margin, which is used to compensate for the impact of environmental changes on the reading effect; The sum of the minimum stable read power and the power margin is determined as the preset transmit power.

[0008] Optionally, determining the minimum stable read power includes: Use the preset initial power as the target transmission power; An inventory test is performed at the target transmission power of the single RFID antenna to obtain the local nest read success rate and the neighboring nest read success rate. The inventory test includes reading each RFID tag in the nest to obtain the local nest read success rate, and reading RFID tags in adjacent nests to obtain the neighboring nest read success rate. Determine whether the target transmission power simultaneously satisfies the following conditions: the success rate of reading from the local nest is greater than or equal to the preset stable success rate, and the success rate of reading from the neighboring nest is zero. If the target transmission power simultaneously satisfies the following conditions: the success rate of reading from the local nest is greater than or equal to the preset stable success rate, and the success rate of reading from the neighboring nest is zero, then the target transmission power is determined as the minimum stable reading power. If the target transmission power does not simultaneously satisfy the following conditions: the local nest read success rate is greater than or equal to the preset stable success rate, and the neighbor nest read success rate is zero, then the target transmission power is adjusted, and the process proceeds to the step of performing an inventory test under the target transmission power of the single RFID antenna to obtain the local nest read success rate and the neighbor nest read success rate.

[0009] Optionally, after transmitting the radio frequency signal at a preset transmission power, the method further includes: Obtain the reading success rate and received signal strength indication of each RFID tag in the nest; If the read success rate is lower than a preset success rate threshold or the received signal strength indicator drops more than a preset reference strength indicator by a preset strength threshold, then the power margin is increased by a preset step. If the success rate of reading each RFID tag in N consecutive inventory runs is 100% and the received signal strength indication is higher than the preset baseline strength indication by more than a preset margin threshold, then the power margin is reduced by the preset step, where N is an integer greater than 1.

[0010] Optionally, the step of obtaining a unique identifier corresponding to each UAV based on each response signal to obtain a list of identifiers for all in-situ UAVs within the nest includes: Multiple rounds of inventory operations are performed continuously, each round of inventory operation including transmitting a radio frequency signal into the nest through the single RFID antenna and receiving the response signal; The identity identifiers obtained in the multiple rounds of inventory operations are merged to obtain a merged identity identifier set; The merged identity set is deduplicated, and the deduplicated identity set is used as the identity list.

[0011] Optionally, after obtaining the list of identities, the method further includes: Obtain the expected identity list of the machine nest obtained in the previous round of inventory; The list of identity identifiers is compared with the list of expected identity identifiers to determine whether there are any missing identity identifiers; If the missing identification exists, a directional interrogation signal is transmitted to the RFID tag corresponding to the missing identification via the single RFID antenna in a directional interrogation manner, and it is determined whether a response signal is received; If no response signal is received after K consecutive transmissions of the directional interrogation signal, it is determined that the drone corresponding to the missing identification is in an abandoned state or that the RFID tag corresponding to the missing identification is abnormal, where K is an integer greater than or equal to 2.

[0012] Optionally, after obtaining the list of identities, the method further includes: Obtain the previous round of identity identifier list obtained from the previous round of inventory of the machine nest; Compare the identity identifier list with the previous round of identity identifier list; If a new identity is added to the identity list, an entry event is generated; if a missing identity is found in the identity list, a departure event is generated. The list of identity identifiers, as well as the nest entry event or the nest exit event, are reported to the ground station.

[0013] Secondly, the present invention also provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0014] Thirdly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0015] This invention provides a method, device, and medium for detecting the presence of stacked drone nests. In response to a received inventory command, the nest to be detected is triggered to perform a presence detection operation. A single RFID antenna at the bottom of the nest transmits a radio frequency signal at a preset transmission power. This preset transmission power limits the effective reading range of the radio frequency signal to the stacking space inside the nest. This not only directly adapts to the structure of the nest for vertically stacking multiple drones, but also achieves signal coverage with only a single antenna. By utilizing spatial attenuation to limit the range, it avoids the increased hardware costs associated with adding multiple antennas or shielding structures. Furthermore, the single RFID antenna receives response signals from RFID tags on each drone stacked within the nest, based on the radio frequency signal, achieving centralized reception of all drone tag response signals within the nest. Further, based on each response signal, a unique identifier corresponding to each drone is obtained, resulting in a list of identifiers for all drones present in the nest. This list directly contains the identification information of all present drones, and the length of the list is the number of drones in the nest. The identifier information in the list represents the specific identity of each drone. In summary, this method utilizes a single bottom antenna in conjunction with a preset transmission power to limit the reading range. Without introducing additional hardware, it achieves accurate statistics on the number of drones in a vertically stacked barrel-shaped drone nest and reliable identification of individual drones by constructing an identification list. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a method for detecting the presence of a stacked UAV nest provided in an embodiment of the present invention; Figure 2 This is a schematic block diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0020] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0021] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0022] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0023] Please see Figure 1 This invention provides a method for detecting the presence of stacked drone nests. To achieve this, the invention employs passive ultra-high frequency radio frequency identification (RFID) technology. By attaching unique identification tags to the drone fuselage and setting directional reading antennas at the bottom of the nest, it is possible to determine whether each layer of the nest contains a drone and identify its specific identity without contacting or removing the drones one by one.

[0024] In practice, the drone nest is a vertically stacked barrel structure designed to accommodate multiple multi-rotor drones. The drones fall into the nest through an opening at the top and are then vertically stacked from bottom to top within the nest. This stacking method dictates that the detection system must be able to penetrate and identify tags at different heights layer by layer vertically; therefore, the installation position and beam direction of the subsequent antennas are designed specifically for this scenario. Each drone is fitted with a passive UHF RFID tag on its inner underside at the factory. This tag operates without an internal battery and operates in the 920 MHz to 925 MHz frequency band. The tag stores a unique electronic product code and a unique tag identifier, which together constitute the drone's unique identity for traceability throughout its entire lifecycle. Therefore, by reading the tag information, the specific drone within the nest can be determined, meeting the individual identification requirements in in-situ detection.

[0025] Since passive tags typically employ dipole antennas with linear polarization, installation requires ensuring that the tag antenna's electric field vector direction matches the incident wave's direction. The drone's airframe is primarily constructed of non-metallic, non-conductive materials such as engineering plastics, which have a low relative permittivity and excellent transmittance for UHF RFID signals. While carbon fiber composites are not entirely metallic, they are conductive and significantly shield RF signals. To ensure that electromagnetic waves emitted by the bottom antenna reliably reach the tag and are reflected back, the tag is preferably placed on the engineering plastic area of ​​the drone's belly, avoiding direct contact with carbon fiber components, metal parts, and the lithium battery's metal casing. This allows the electromagnetic waves to penetrate the airframe along the shortest path with minimal loss. The tag chip faces downwards, towards the bottom of the nest, to maximize incident energy harvesting efficiency and ensure effective activation even when stacked.

[0026] Understandably, a square ceramic RFID antenna is installed at the center of the bottom of the drone nest to transmit RF signals and receive signals returned by the tags. This antenna uses a ceramic substrate, with its radiating surface facing upwards and parallel to the horizontal plane, thus forming a beam that covers the stacked drones in the vertical direction. The bottom of the antenna is supported and isolated from the nest base plate by nylon pads or absorbing pads, with an air gap of at least 10 mm. This air gap is approximately one-thirtieth of the electromagnetic wave wavelength, and its function is to prevent coupling effects between the antenna near-field and the metal base plate of the nest, preventing antenna impedance shift and pattern distortion. If the air gap is too small, the metal base plate will act as a reflective surface, forming a mirror antenna, resulting in a skewed radiation pattern and the main lobe deviating from the vertical direction, thus preventing the beam from accurately aligning with the upper tags; if the air gap is too large, it will cause severe near-field energy leakage, reducing the tag readability.

[0027] The square ceramic RFID antenna measures 50×50×5 mm and has a gain of 4 dBi in its operating frequency band. Gain is an indicator of an antenna's ability to concentrate and radiate input power. A gain of 4 dBi indicates that the antenna can form a well-directed beam in the vertical direction, concentrating energy onto stacked drones to penetrate multiple layers and sequentially read tags from each layer. The ceramic substrate has a high dielectric constant, which significantly reduces the antenna's physical size, facilitating installation in the limited space at the bottom of the drone housing. Furthermore, the ceramic material exhibits excellent stability under temperature variations, ensuring that the antenna's resonant frequency does not drift over long periods, allowing the detection system to operate stably under different ambient temperatures.

[0028] Specifically, the stacked UAV nest in-situ detection method of the present invention includes the following steps: S1, in response to receiving an inventory command, transmits a radio frequency signal at a preset transmission power through a single RFID antenna set at the bottom of the drone nest. The preset transmission power is used to limit the effective reading range of the radio frequency signal to the stacking space inside the drone nest, which is used to vertically stack multiple drones.

[0029] In practice, the system receives inventory commands from the ground station. The ground station is a higher-level management system used for unified scheduling of the cell array. The inventory command is a trigger signal sent by the ground station to the cell main control system via a local area network or wireless network, which instructs the cell to perform an on-site detection operation.

[0030] Furthermore, in response to receiving the inventory command, the single RFID antenna located at the bottom of the cell transmits an RFID signal at a preset transmission power. The preset transmission power is a power value determined through calibration and testing. Its function is to limit the effective read range of the RFID signal to the stacking space inside the cell, ensuring that the RFID signal can cover all tags within the cell, while simultaneously attenuating the energy to an insufficient level to activate neighboring tags when propagating to adjacent cell locations. This physical basis is further established on the principle that the power density S of ultra-high frequency electromagnetic waves in the far field region attenuates inversely with the square of the distance r, i.e., satisfying the formula: S∝1 / r 2 ; In this formula, S represents power density and r represents distance. The meaning of this formula is that when the distance doubles, the power density at the receiver will decrease to one-quarter of its original value.

[0031] In the link budget design, this embodiment adopts the path loss model of the Ferris transmission formula. The tag at the top layer (i.e., 0.5 m from the antenna) is designated as the receiver. The calculation process is as follows: the transmit power is set to 20 dBm (decibels per milliwatt, a unit representing absolute power), the antenna gain is 4 dBi, subtracting the free space path loss, subtracting the single-layer engineering plastic body penetration loss of 1.5 dB multiplied by 5 layers, and adding the tag antenna gain of 1 dBi.

[0032] The formula for calculating free space path loss is as follows: FSPL=20·log 10 (4π·0.5·920×10 6 / 3×10 8 )≈25.7dB; In this formula, 20 is a constant coefficient for free-space propagation loss, derived from the characteristics of spherical wave diffusion; log 10 Represents the logarithmic function to base 10; π is pi, approximately 3.14159; 4π is the geometric constant of spherical wave radiation; 0.5 is the distance between the transmitting antenna and the topmost tag, in meters; 920 × 10 6 This refers to the operating frequency of the radio frequency signal, measured in Hz, specifically 920 MHz; 3 × 10 8 The speed of light is expressed in m / s. The physical meaning of this formula is the degree of energy attenuation caused by the spherical diffusion of the wavefront after an electromagnetic wave has traveled a specific distance in free space.

[0033] The calculated received power at the tag end is 20 dBm + 4 dBi - 25.7 dB - 7.5 dB + 1 dBi = -8.2 dBm. The typical activation sensitivity of the tag chip used in this embodiment is -18 dBm, which is the minimum received power at which the tag chip can operate normally. The link margin is (-8.2) - (-18) = 9.8 dB. This link margin indicates that the top-level tag has sufficient power to be stably activated.

[0034] This embodiment further verifies the physical logic of spatial isolation. According to the power density attenuation formula S∝1 / r 2 If the top tag of this nest receives a power of -8.2 dBm at a distance of 50 cm from the antenna, then the nearest tag distance between adjacent nests is 70 cm. The calculated power attenuation ratio of the adjacent nests at this point is approximately (50 / 70). 2 This attenuation rate is approximately 51% of the received power of the top-level tag in this nest. Furthermore, this attenuation rate means that the signal strength received at neighboring tags will be below the activation sensitivity of -18 dBm, thus ensuring that neighboring tags cannot be activated, achieving natural spatial isolation. This physical mechanism ensures that this system does not require additional complex shielding structures; the geometric constraints of the effective readout range can be achieved simply by adjusting the transmit power.

[0035] Furthermore, after transmitting the radio frequency signal, the RFID tags installed on each UAV stacked in the nest are activated by the radio frequency signal and perform backscatter modulation according to the RFID standard protocol (i.e., ISO / IEC 18000-6C standard) to generate their respective response signals. Further, the backscatter modulation refers to a communication method in which the tag modulates its data information onto the electromagnetic waves reflected back to the reader by changing its own antenna impedance.

[0036] In some preferred embodiments, the step of transmitting a radio frequency signal at a preset transmission power via a single RFID antenna located at the bottom of the nest in response to receiving an inventory command includes: determining a target time slot based on the inventory command, wherein the target time slot is the time slot in a preset time-sharing scheduling for performing the inventory operation corresponding to this nest, and the time-sharing scheduling is used to instruct multiple nests to perform inventory in different time slots; determining whether the current time is within the target time slot; if the current time is within the target time slot, performing the step of transmitting the radio frequency signal at the preset transmission power via the single RFID antenna; if the current time is not within the target time slot, controlling the single RFID antenna to enter a silent state.

[0037] In practical implementation, in deployment scenarios where multiple cells are closely arranged to form a cell array, if readers in adjacent cells simultaneously transmit interrogation signals, the signal strength of their transmitted signals, when they reach the local cell antenna after propagating through free space, is much higher than the backscattered response signal returned by the local cell tag. The local cell reader's receiving link will be blocked by the transmitted signals from neighboring cells, resulting in typical near-far effect interference, which prevents the correct demodulation of the local cell tag's response. To solve this problem of simultaneous interference on the same frequency, this embodiment introduces a time-division round-robin scheduling mechanism to limit the time slots for the step of transmitting radio frequency signals at a preset transmit power.

[0038] In specific implementation, an inventory command is received, and a target time slot is determined based on the command. The target time slot is the time slot corresponding to the local nest in a preset time-division multiple access (TDMA) scheduling scheme. This TDMA scheduling is a time-division multiple access (TDMA) scheduling scheme, uniformly configured by the ground station and distributed to each nest. The TDMA scheduling is used to instruct multiple nests to perform inventory in different time slots; that is, only one nest is allowed to perform inventory at any given time, while the readers of the remaining nests remain silent. Furthermore, the inventory time for a single nest is typically less than 1 second; therefore, the polling cycle for N nests is N multiplied by the single nest inventory time, which fully meets the real-time requirements for post-return detection scenarios.

[0039] Further, after determining the target time slot, it is determined whether the current time is within the target time slot. The current system clock is acquired in real time, and the current time is compared with the time interval of the target time slot. If the current time is within the target time slot, the step of transmitting radio frequency signals is performed through the single RFID antenna at the preset transmission power. Further, if the current time is not within the target time slot, the single RFID antenna is controlled to enter a silent state. The silent state means that the RFID reader completely shuts down its radio frequency transmission function and does not output any radio frequency signals to avoid co-channel interference to the local cell or other cells that are performing inventory. Further, in the silent state, the clock is continuously monitored until the target time slot is reached, and then the transmission action is initiated. After the local cell inventory is completed, the time slot rotates to the next cell, and the local cell reader enters the silent state again, waiting for the next round of inventory instructions.

[0040] Through this time slot allocation mechanism, the ground station issues inventory commands in a time-division round-robin fashion, ensuring that each cell transmits radio frequency only within its corresponding target time slot. This effectively eliminates the blocking interference of neighboring cell reader signals on the receiving link, guaranteeing the accuracy of the identification list reading. Furthermore, this timing isolation mechanism does not rely on any additional hardware shielding; it achieves dynamic multiplexing of physical channels solely through logical-level scheduling.

[0041] In some preferred embodiments, the method for obtaining the preset transmission power includes: determining a minimum stable reading power, wherein the minimum stable reading power is the minimum power required to read the RFID tag on the UAV at the farthest layer from the single RFID antenna within the nest with a first preset success rate; obtaining a power margin, wherein the power margin is used to compensate for the impact of environmental changes on the reading effect; and determining the sum of the minimum stable reading power and the power margin as the preset transmission power.

[0042] In practice, the preset transmission power is the power value used in the actual operation phase. This power value needs to ensure that the effective reading range just covers the inside of the nest, and leave enough safety margin to resist environmental changes.

[0043] First, the minimum stable read power is determined. This minimum stable read power is a calibrated value, defined as the minimum power required to read the RFID tag on the UAV at the furthest layer from the single RFID antenna within the nest with a first preset success rate. The furthest layer is the highest layer in the stacking space. For example, when five UAVs are stacked in the nest, the topmost tag is approximately 0.5m from the antenna. Because this layer experiences the greatest free-space path loss and cumulative penetration loss through the UAV body, the received signal power is the weakest, making it the most unfavorable point in the link budget. Furthermore, the first preset success rate is a pre-defined read success rate, typically set to 99% or higher. This rate is based on the requirement that the topmost tag must be successfully read at least 99 times in 100 consecutive inventory operations to ensure the power value remains stable and reliable.

[0044] Furthermore, a power margin is obtained. This power margin is used to compensate for the impact of environmental changes on the reading performance. Environmental changes include: fluctuations in the reader's power amplifier output due to temperature drift (typically ±1.5dB); individual differences in tag chip activation sensitivity and temperature drift; slight changes in antenna impedance matching with ambient humidity; and slight deviations in the drone's parking position. The combination of these factors may lead to insufficient transmission power during actual operation. Therefore, the power margin provides additional radiated energy reserves to ensure that the top-level tag can still be reliably activated when environmental conditions deteriorate. Furthermore, the initial value of the power margin is determined by drift measurements during the calibration phase, for example, 1dB.

[0045] Furthermore, the sum of the minimum stable readout power and the power margin is determined as the preset transmit power. This preset transmit power is the actual power value used when subsequently performing the step of transmitting radio frequency signals. By precisely controlling the transmit power to a level that only covers the nest, physical isolation is achieved by utilizing the natural spatial attenuation of electromagnetic waves, without the need for additional shielding structures.

[0046] In some preferred embodiments, determining the minimum stable read power includes: using a preset initial power as the target transmit power; performing a readout test at the target transmit power of the single RFID antenna to obtain the local read success rate and the neighboring read success rate; the readout test includes reading each RFID tag in the cell to obtain the local read success rate, and reading RFID tags in adjacent cells to obtain the neighboring read success rate; determining whether the target transmit power simultaneously satisfies: the local read success rate is greater than or equal to the preset stable success rate, and the neighboring read success rate is zero; if the target transmit power simultaneously satisfies: the local read success rate is greater than or equal to the preset stable success rate, and the neighboring read success rate is zero, then the target transmit power is determined as the minimum stable read power; if the target transmit power does not simultaneously satisfy: the local read success rate is greater than or equal to the preset stable success rate, and the neighboring read success rate is zero, then the target transmit power is adjusted, and the process returns to the step of performing a readout test at the target transmit power of the single RFID antenna to obtain the local read success rate and the neighboring read success rate.

[0047] In specific implementation, this embodiment provides a complete calibration process for determining the minimum stable read power in a stacked UAV nest in-situ detection method. This calibration process is completed in one step during the nest deployment phase, aiming to find a power value that simultaneously satisfies the requirement that all tags in the current nest are stably read without activating tags in adjacent nests. The specific implementation method is as follows: First, a preset initial power is used as the target transmit power. This preset initial power is the starting power value set during calibration; a relatively low value is typically chosen to avoid excessive initial power leading to misreading of neighboring tags. The power value currently being tested is defined as the target transmit power.

[0048] Under the target transmit power of the single RFID antenna, a readout test is performed to obtain the local cell readout success rate and the neighboring cell readout success rate. The readout test includes reading each RFID tag within the cell to obtain the local cell readout success rate, and reading RFID tags in adjacent cells to obtain the neighboring cell readout success rate. The local cell readout success rate refers to the ratio of the number of successfully read tags to the total number of tags in the cell at the tested power; this value reflects the activation capability of the current power for tags in the local cell. Further, the neighboring cell readout success rate refers to the ratio of the number of misread tags in adjacent cells (more than 70cm from the local antenna) to the total number of tags at the tested power. To obtain accurate data, the readout test needs to be performed on multiple frequency-hopping channels within the RFID operating frequency band to cover the differences in frequency response and the adverse effects of tag polarization mismatch, and is performed repeatedly to statistically determine the success rate.

[0049] Furthermore, it is determined whether the target transmission power simultaneously satisfies the following conditions: the local nest read success rate is greater than or equal to a preset stable success rate, and the neighbor nest read success rate is zero. The preset stable success rate is a pre-defined indicator, such as 99%. At this success rate, the local nest tag can be considered to be read stably, eliminating missed reads caused by probabilistic activation. Further, if the target transmission power simultaneously satisfies the condition that the local nest read success rate is greater than or equal to the preset stable success rate, and the neighbor nest read success rate is zero, then the target transmission power is determined as the minimum stable read power. At this point, a balance point that satisfies the isolated read condition has been found.

[0050] Furthermore, if the target transmit power does not simultaneously meet the above two conditions, the target transmit power needs to be adjusted, and the process proceeds to the step of performing a readout test at the target transmit power of the single RFID antenna.

[0051] It should be noted that this adjustment is only implemented after eliminating the deadlock state where "the current local nest read success rate equals the preset stable success rate and the neighbor nest read success rate is not zero," a situation that cannot be resolved by adjusting the power. In other deviation scenarios besides this deadlock state, the adjustment methods include increasing the target transmission power and decreasing the target transmission power.

[0052] Specifically, when the local read success rate is less than the preset stable success rate, it indicates that the current target transmit power is too low and cannot provide enough radio frequency energy to activate the tag at the farthest layer from the antenna. At this time, the target transmit power needs to be increased to enhance the signal strength, and then the inventory test is re-executed.

[0053] When the local nest read success rate is greater than or equal to the preset stable success rate and the neighbor nest read success rate is not zero, the target transmit power can be reduced, and the inventory test can be re-executed with the reduced power until a transmit power value that can simultaneously satisfy the local nest read success rate being greater than or equal to the preset stable success rate and the neighbor nest read success rate being zero is found.

[0054] Furthermore, the amount by which the transmission power is adjusted each time can be a preset adjustment step size, which is not specifically limited in this invention.

[0055] However, if a deadlock occurs where "the current local nest read success rate equals the preset stable success rate and the neighboring nest read success rate is not zero," then reducing the target transmission power will cause the local nest read to fail. This physical space attenuation characteristic means that under current conditions, it is impossible to simultaneously satisfy both conditions by adjusting the target transmission power. In this case, a calibration anomaly alarm is triggered, prompting the operator to adjust the nest spacing, replace the antenna, or adjust the preset stable success rate indicator.

[0056] Through the above cyclical tests, the minimum stable read power is finally determined as the optimal power value that satisfies stable reads in the local nest and no response from neighboring nests.

[0057] In some preferred embodiments, after transmitting the radio frequency signal at a preset transmission power, the method further includes: obtaining the read success rate and received signal strength indication of each RFID tag in the nest; if the read success rate is lower than a preset success rate threshold or the received signal strength indication decreases by more than a preset strength threshold compared to a preset reference strength indication, then the power margin is increased by a preset step; if the read success rate of each RFID tag is 100% for N consecutive readouts and the received signal strength indication is higher than the preset reference strength indication by more than a preset margin threshold, then the power margin is decreased by the preset step, where N is an integer greater than 1.

[0058] In practice, during the long-term operation of the data center, environmental conditions such as temperature and humidity continuously change, and the original power margin may no longer meet current needs. By monitoring the reading performance in real time, dynamic closed-loop adjustment of the power margin can be achieved.

[0059] In specific implementation, after transmitting the radio frequency signal at a preset transmission power, the read success rate and received signal strength indication of each RFID tag within the housing are obtained. The received signal strength indication refers to the intensity value of the tag's backscattered signal received by the reader; this value directly reflects the signal-to-noise ratio of the tag's returned signal, and is a physical quantity synchronously detected by the reader during signal demodulation. Furthermore, the read success rate is obtained by calculating the ratio of the number of times each tag was successfully read to the total number of tests after each inventory operation.

[0060] The read success rate is compared with a preset success rate threshold, and the received signal strength indication is compared with a preset reference strength indication. The preset success rate threshold is the minimum read success rate that the tag must achieve, for example, 99%. The preset reference strength indication is a reference value for the tag's returned signal strength recorded during the deployment and calibration phase. The change in the current received signal strength indication relative to the preset reference strength indication is calculated, and it is determined whether the change exceeds the preset strength threshold. The preset strength threshold is the allowable decrease, for example, 3 dB.

[0061] Furthermore, if the read success rate is lower than the preset success rate threshold, or if the received signal strength indicator drops below the preset reference strength indicator by more than the preset strength threshold, it indicates that the current power margin is insufficient and cannot guarantee stable reading of all tags in all environments. In this case, the power margin is increased by a preset step. The preset step is a set minimum adjustment unit, for example, 0.2 dB. Increasing the power margin will correspondingly increase the preset transmit power to offset the effects of environmental degradation and restore stable reading.

[0062] Furthermore, if the success rate of reading each of the aforementioned RFID tags in N consecutive read operations is 100%, and the received signal strength indication is higher than the preset reference strength indication exceeding a preset margin threshold, then it is determined that the current power margin is too large, potentially increasing the risk of cross-reading between neighboring tags. N is an integer greater than 1. In this case, the power margin is reduced by the preset step. The preset step can be set by those skilled in the art, and is not specifically limited in this invention.

[0063] S2, receiving response signals returned by the radio frequency signals from the RFID tags installed on each UAV stacked in the nest through the single RFID antenna.

[0064] In practice, the single RFID antenna receives these response signals and converts the received electromagnetic signals into electrical signals, which are then transmitted to the RFID read / write control module connected to the antenna. The RFID read / write control module is a control module integrating RF transceiver circuitry and baseband processing circuitry. Its main control chip supports the ISO / IEC 18000-6C protocol and can execute a time-slot-based ALOHA anti-collision algorithm, allocating multiple simultaneously responding tag signals to different time slices, thereby simultaneously demodulating the response signals of multiple tags in one round of disk storage.

[0065] S3. Based on each of the response signals, obtain the unique identifier corresponding to each of the drones to obtain a list of identifiers of all drones in the nest.

[0066] In specific implementation, the RFID read / write control module extracts the unique identifier carried in each response signal. The unique identifier is the electronic product code or unique tag identifier in the tag. Further, the RFID read / write control module combines the extracted unique identifiers into an identity data set and transmits it to the main control system-on-a-chip (MSA) via a communication interface. The MSA is the control core of the drone nest, responsible for scheduling the inventory process, executing deduplication logic, performing data comparison, and reporting results. Further, based on the received identity data set, the MSA deduplicates repeatedly read unique identifiers, thereby constructing a list of identifiers for all drones currently in the nest. Further, each identifier in the identifier list precisely corresponds to a specific drone, and the length of this list is the number of drones currently stored in the nest.

[0067] The technical solution of this embodiment uses a bottom-mounted single-antenna structure to achieve accurate counting and identification of multiple drones in a vertically stacked space. By precisely setting the transmission power and utilizing the physical characteristics of natural attenuation of electromagnetic waves, the effective reading range can cover the stacking height of the drone nests, while simultaneously achieving physical isolation between the current drone nest and adjacent nests. Furthermore, since the RFID tags pre-installed on the drones are directly reused, there are zero modifications to the drone end, and the hardware consists of only a single antenna and a single read / write module. This significantly simplifies the structural design, wiring complexity, and assembly process of the drone nests, providing a highly reliable automated identification foundation for subsequent charging scheduling and script allocation.

[0068] In some preferred embodiments, obtaining a unique identifier for each UAV based on each response signal to obtain a list of identifiers for all in-situ UAVs within the nest includes: continuously performing multiple rounds of inventory operations, each round of inventory operations including transmitting a radio frequency signal into the nest via the single RFID antenna and receiving the response signal; merging the identifiers obtained in the multiple rounds of inventory operations to obtain a merged identifier set; performing deduplication processing on the merged identifier set, and using the deduplicated identifier set as the identifier list.

[0069] In practice, since the tag response is probabilistic, a single inventory may result in missed reads, and the reader may repeatedly read the same tag. Therefore, this embodiment adopts a multi-round inventory, merging, and deduplication strategy.

[0070] In practice, multiple rounds of inventory operations are executed continuously. Each round of inventory operation includes transmitting an RFID signal into the housing via a single RFID antenna and receiving the response signal. Multiple rounds of inventory refer to the continuous execution of multiple independent inventory reading cycles, such as three consecutive rounds of inventory. Each round of inventory operation is an independent and complete RFID inventory process, in which the reader transmits an interrogation signal, activates all tags, and receives the response signals returned by each tag. Due to the randomness of electromagnetic wave propagation, some tags may not respond in one round of inventory due to signal attenuation or momentary interference, but they are highly likely to be successfully read in other rounds.

[0071] Furthermore, the identity identifiers obtained in the multiple rounds of inventory operations are merged to obtain a merged identity identifier set. The merging operation involves centralizing all identifiers read in multiple rounds into a common data container, forming a set containing all read results. This set may contain a large number of duplicate identifier entries.

[0072] Furthermore, the merged identity set is deduplicated, and the deduplicated identity set serves as the identity list. The deduplication process uses the unique identifier of each identity as the key, and employs data structures such as hash tables to record each read identifier as a key-value pair. When the same identifier is read again subsequently, the duplicate is ignored. In the deduplicated identity set, each identity appears only once, and this set constitutes the final identity list.

[0073] This embodiment achieves dual protection against missed reads and duplicate reads through multiple rounds of disk union and deduplication. The multiple rounds of union reduce the probability of a single tag being missed due to occasional non-response to an extremely low level; the deduplication operation ensures that the count is not artificially inflated due to repeated readings.

[0074] In some preferred embodiments, the method further includes: obtaining a list of expected identifiers obtained from the previous inventory of the drone nest; comparing the identifier list with the list of expected identifiers to determine whether there are any missing identifiers; if there are any missing identifiers, transmitting a directional interrogation signal to the RFID tag corresponding to the missing identifier through the single RFID antenna in a directional interrogation manner to determine whether a response signal is received; if no response signal is received after transmitting the directional interrogation signal K times consecutively, it is determined that the drone corresponding to the missing identifier is in a state of being away from the nest or that the RFID tag corresponding to the missing identifier is abnormal, where K is an integer greater than or equal to 2.

[0075] In practice, after obtaining the current list of identifiers, missing tags are identified by comparing them with the results of the previous inventory, and the drone status is further confirmed through targeted supplementary reading.

[0076] In practice, the expected identification list of the drones in the nest, obtained from the previous inventory count, is retrieved. This expected identification list is the list of in-situ drone identifications determined at the end of the previous inventory count, serving as a reference benchmark for the current inventory count. This list reflects the storage status of drones within the nest during the previous inventory cycle.

[0077] Furthermore, the list of identity identifiers is compared with the expected list of identity identifiers to determine if any identity identifiers are missing. The comparison operation involves performing a set operation on the identifiers in both lists to identify identifiers that exist in the expected list but are not currently present in the list. If any of these missing identity identifiers exist, it indicates that the current inventory count failed to retrieve the labels that should have been present.

[0078] Furthermore, a directional interrogation signal is transmitted via the single RFID antenna to the RFID tag corresponding to the missing identification, and it is determined whether a response signal is received. The directional interrogation method is based on the selection command in the RFID protocol. This selection command is a filtering instruction in the RFID standard, which sets a specific electronic product code prefix or mask to ensure that the reader only initiates inventory checks on specific tags. Furthermore, this method can concentrate the transmission energy on a specific tag, effectively increasing the tag's response probability and avoiding missed reads caused by tag collisions in broadcast inventory.

[0079] Furthermore, if no response signal is received after K consecutive transmissions of the directional interrogation signal, it is determined that the drone corresponding to the missing identity identifier is in a state of being away from its nest, or that the RFID tag corresponding to the missing identity identifier is abnormal, where K is an integer greater than or equal to 2. Furthermore, the failure of K consecutive directional interrogations eliminates the possibility of a single, occasional missed read, ensuring the accuracy of the status determination result. If a response is received during the directional supplementary reading process, the corresponding identifier is added back to the identity identifier list.

[0080] This embodiment further reduces the probability of missed readings through expected list comparison and targeted supplementary reading mechanisms, effectively distinguishing between occasional missed readings caused by environmental fluctuations and genuine drone departures or tag damage, providing a highly reliable basis for status change events.

[0081] In some preferred embodiments, after obtaining the identification list, the method further includes: obtaining the previous identification list obtained by the nest in the previous inventory; comparing the identification list with the previous identification list; if there are newly added identifications in the identification list, generating an entry event; if there are missing identifications in the identification list, generating a departure event; and reporting the identification list, as well as the entry event or the departure event, to the ground station.

[0082] In practice, after obtaining the current list of identifiers, it is necessary to identify the changes in the entry and exit of drones in the nest and report the results to the ground station for use by the background management system.

[0083] In practice, the system retrieves the previous round of identification list from the previous inventory round. This list is a set of identifications of currently in-situ drones recorded in the previous inventory cycle, used for comparison with the results of the current round.

[0084] Further, the identity identifier list is compared with the previous round's identity identifier list. This comparison operation is implemented through set operations, comparing the current set with the historical set to identify differences. If a new identity identifier is added to the identity identifier list, an entry event is generated. A new identity identifier refers to an identifier item that exists in the current list but not in the previous round's list, indicating that a new drone has been placed into the nest. The entry event carries this new identifier information, indicating that an entry action has occurred. If a missing identity identifier is present in the identity identifier list, a departure event is generated. A missing identity identifier refers to an identifier item that exists in the previous round's list but not in the current list, indicating that a drone has been removed from the nest or has departed. If the lists are completely identical, the state is stable, and no events are generated.

[0085] Furthermore, the identification list, as well as the entry and exit events, are reported to the ground station. Upon receiving this information, the ground station can determine the precise number and identities of the drones currently in the nest. If an entry event is detected, the ground station can trigger charging scheduling or script matching processes; if an exit event is detected, the ground station can update the flight log and release corresponding resources. The reported data also includes the received signal strength indication of each tag, used to assist in assessing signal quality and providing early warnings of potential problems.

[0086] This embodiment compares the identity list with the previous identity list to generate an entry or exit event, and reports the identity list and events to the ground station, realizing real-time monitoring and automatic alarm of the nest status. This provides an accurate data source for subsequent automated management, significantly improves the intelligence level of the system, and reduces the need for manual intervention.

[0087] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0088] Please see Figure 2 , Figure 2This is a schematic block diagram of a computer device provided in an embodiment of this application. The computer device 500 can be a terminal or a server, wherein the server can be a standalone server or a server cluster composed of multiple servers.

[0089] The computer device 500 includes a processor 502, a memory, and a network interface 505 connected via a system bus 501. The memory may include a non-volatile storage medium 503 and internal memory 504.

[0090] The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, it causes the processor 502 to perform a method for detecting the presence of a stacked UAV nest.

[0091] The processor 502 provides computing and control capabilities to support the operation of the entire computer device 500.

[0092] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a method for detecting the presence of a stacked UAV nest.

[0093] The network interface 505 is used for network communication with other devices. Those skilled in the art will understand that the above structure is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 500 to which the present application is applied. A specific computer device 500 may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements.

[0094] The processor 502 is used to run a computer program 5032 stored in a memory to implement the steps of a stacked UAV nest in-situ detection method provided in any of the above method embodiments.

[0095] It should be understood that in the embodiments of this application, the processor 502 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0096] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0097] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program. When executed by a processor, the computer program causes the processor to perform the steps of the stacked UAV nest in-situ detection method provided in any of the above method embodiments.

[0098] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), magnetic disk, or optical disk, or any other physical storage medium capable of storing program code. The computer-readable storage medium can be non-volatile or volatile.

[0099] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0100] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0101] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0102] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0103] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0104] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, this invention is also intended to include these modifications and variations as long as they fall within the scope of the claims of this invention and their equivalents.

[0105] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for detecting the presence of a stacked unmanned aerial vehicle (UAV) nest, characterized in that, include: In response to receiving an inventory command, the drone transmits a radio frequency signal at a preset transmission power through a single RFID antenna located at the bottom of the drone nest. The preset transmission power is used to limit the effective reading range of the radio frequency signal to the stacking space inside the drone nest, which is used to vertically stack multiple drones. The single RFID antenna receives response signals returned by RFID tags mounted on each UAV stacked within the nest, based on the radio frequency signal. Based on each of the response signals, the unique identifier corresponding to each of the drones is obtained, and a list of identifiers of all drones in the nest is obtained.

2. The method for detecting the in-situ presence of a stacked UAV nest according to claim 1, characterized in that, The response to receiving an inventory command includes transmitting a radio frequency signal at a preset transmission power via a single RFID antenna located at the bottom of the housing, comprising: The target time slot is determined based on the inventory instruction. The target time slot is the time slot in the preset time-sharing scheduling corresponding to the local nest for performing the inventory operation. The time-sharing scheduling is used to instruct multiple nests to perform inventory in different time slots. Determine whether the current time is within the target time slot; If the current time is within the target time slot, the step of transmitting the radio frequency signal is performed through the single RFID antenna at the preset transmission power; If the current time is not within the target time slot, control the single RFID antenna to enter a silent state.

3. The method for detecting the in-situ presence of a stacked UAV nest according to claim 1, characterized in that, The preset method for obtaining the transmission power includes: Determine the minimum stable reading power, which is the minimum power required to read the RFID tag on the UAV at the farthest layer from the single RFID antenna within the nest with a first preset success rate; Obtain a power margin, which is used to compensate for the impact of environmental changes on the reading effect; The sum of the minimum stable read power and the power margin is determined as the preset transmit power.

4. The method for detecting the in-situ presence of a stacked UAV nest according to claim 3, characterized in that, Determining the minimum stable read power includes: Use the preset initial power as the target transmission power; An inventory test is performed at the target transmission power of the single RFID antenna to obtain the local nest read success rate and the neighboring nest read success rate. The inventory test includes reading each RFID tag in the nest to obtain the local nest read success rate, and reading RFID tags in adjacent nests to obtain the neighboring nest read success rate. Determine whether the target transmission power simultaneously satisfies the following conditions: the success rate of reading from the local nest is greater than or equal to the preset stable success rate, and the success rate of reading from the neighboring nest is zero. If the target transmission power simultaneously satisfies the following conditions: the success rate of reading from the local nest is greater than or equal to the preset stable success rate, and the success rate of reading from the neighboring nest is zero, then the target transmission power is determined as the minimum stable reading power. If the target transmission power does not simultaneously satisfy the following conditions: the local nest read success rate is greater than or equal to the preset stable success rate, and the neighbor nest read success rate is zero, then the target transmission power is adjusted, and the process proceeds to the step of performing an inventory test under the target transmission power of the single RFID antenna to obtain the local nest read success rate and the neighbor nest read success rate.

5. The method for detecting the in-situ presence of a stacked UAV nest according to claim 3, characterized in that, After transmitting the radio frequency signal at a preset transmission power, the method further includes: Obtain the reading success rate and received signal strength indication of each RFID tag in the nest; If the read success rate is lower than a preset success rate threshold or the received signal strength indicator drops more than a preset reference strength indicator by a preset strength threshold, then the power margin is increased by a preset step. If the success rate of reading each RFID tag in N consecutive inventory runs is 100% and the received signal strength indication is higher than the preset baseline strength indication by more than a preset margin threshold, then the power margin is reduced by the preset step, where N is an integer greater than 1.

6. The method for detecting the in-situ presence of a stacked UAV nest according to claim 1, characterized in that, Based on each of the response signals, a unique identifier corresponding to each UAV is obtained, resulting in a list of identifiers for all in-situ UAVs within the nest, including: Multiple rounds of inventory operations are performed continuously, each round of inventory operation including transmitting a radio frequency signal into the nest through the single RFID antenna and receiving the response signal; The identity identifiers obtained in the multiple rounds of inventory operations are merged to obtain a merged identity identifier set; The merged identity set is deduplicated, and the deduplicated identity set is used as the identity list.

7. The method for detecting the in-situ presence of a stacked UAV nest according to claim 6, characterized in that, After obtaining the list of identities, the method further includes: Obtain the expected identity list of the machine nest obtained in the previous round of inventory; The list of identity identifiers is compared with the list of expected identity identifiers to determine whether there are any missing identity identifiers; If the missing identification exists, a directional interrogation signal is transmitted to the RFID tag corresponding to the missing identification via the single RFID antenna in a directional interrogation manner, and it is determined whether a response signal is received; If no response signal is received after K consecutive transmissions of the directional interrogation signal, it is determined that the drone corresponding to the missing identification is in an abandoned state or that the RFID tag corresponding to the missing identification is abnormal, where K is an integer greater than or equal to 2.

8. The method for detecting the in-situ presence of a stacked UAV nest according to claim 1, characterized in that, After obtaining the list of identities, the method further includes: Obtain the previous round of identity identifier list obtained from the previous round of inventory of the machine nest; Compare the identity identifier list with the previous round of identity identifier list; If a new identity is added to the identity list, an entry event is generated; if a missing identity is found in the identity list, a departure event is generated. The list of identity identifiers, as well as the nest entry event or the nest exit event, are reported to the ground station.

9. A computer device, characterized in that, The computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, can implement the method as described in any one of claims 1-8.

Images