Unmanned device cooperative networking method and device based on openharmony

Abstract

The embodiment of the application provides a kind of unmanned equipment cooperative networking method and device based on OpenHarmony, method is the network identification of task identification and random number calculation for target task, call the device discovery interface in OpenHarmony and determine a plurality of unmanned equipment to be networked in combination with task demand, the marshalling mode determined by unmanned equipment using task scene information determines marshalling level and corresponding unmanned equipment to be networked;If for multiple marshalling levels, then based on the private key of the management level in marshalling level, network identification and marshalling access credential of management networked unmanned equipment generate signature message, when each unmanned equipment to be networked receives and signature message is effective, it is declared to join the network identification corresponding OpenHarmony centralized unmanned equipment network;If for one marshalling level, then based on task management system generates task token, when each unmanned equipment to be networked receives and verifies task token effective, it is declared to join OpenHarmony decentralized unmanned equipment network, the logical isolation of different task networks is realized.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, specifically to a method and apparatus for collaborative networking of unmanned equipment based on OpenHarmony. Background Technology

[0002] In the OpenHarmony (open-source distributed operating system) distributed architecture, LNNs (Local Network Nodes) can achieve basic logical connectivity between multiple devices. However, this basic networking capability is not customized for the operational characteristics of unmanned equipment clusters. In real-world applications, large-scale, multi-type unmanned equipment often needs to collaboratively execute complex tasks through dynamic grouping. The open and highly adversarial wireless communication environment easily leads to signal crosstalk and unauthorized cross-group access between different grouped networks. Existing technologies struggle to achieve effective logical isolation between task networks, resulting in significant network security vulnerabilities. Simultaneously, the highly dynamic operating environment places stringent demands on the networking system, requiring support for frequent device online / offline cycles and real-time adjustments to the grouping structure, as well as robust permission mechanisms to prevent unauthorized device access and malicious interference. Currently, mainstream networking solutions under the OpenHarmony distributed architecture suffer from limited grouping modes, insufficient network isolation capabilities, and rigid permission control methods. They cannot simultaneously address multiple core requirements such as dynamic grouping, network logical isolation, and fine-grained access control, making them unsuitable for diverse, highly secure, and highly dynamic collaborative operation scenarios of unmanned equipment. Summary of the Invention

[0003] To address the problems in the existing technology, this application provides a method and apparatus for collaborative networking of unmanned devices based on OpenHarmony, which can achieve logical isolation of different task networks and effectively avoid signal crosstalk and illegal cross-group access problems in open and highly confrontational environments.

[0004] To solve at least one of the above problems, this application provides the following technical solution: Firstly, this application provides a method for collaborative networking of unmanned devices based on OpenHarmony, comprising: determining the unmanned device grouping mode based on the task scenario information of the target task; processing the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier; calling the device discovery interface of the distributed soft bus in OpenHarmony in conjunction with the task requirements of the target task to determine multiple unmanned devices to be networked; determining the grouping level and the unmanned devices to be networked corresponding to the grouping level using the unmanned device grouping mode; if there are multiple grouping levels, signing the message composed of the network identifier and grouping access credential based on the private key of the management unmanned device at the management level in the grouping level, generating a signed message, and sending the signed message to the grouping level through a secure encrypted channel established by the distributed soft bus. In the ordinary layer, when multiple unmanned devices to be networked call the identity authentication module of the distributed soft bus and verify the validity of the signed message using the public key of the unmanned device managing the network, a distributed soft bus state change event is triggered to join the unmanned device network corresponding to the network identifier, forming the OpenHarmony centralized unmanned device network. If it is a grouping layer, a task token is generated based on the task management system of the target task, and the task token and the network identifier are broadcast to each unmanned device to be networked through the multi-protocol fusion link of the distributed soft bus. When each unmanned device to be networked verifies the validity of the task token, it announces its joining of the unmanned device network corresponding to the network identifier based on the communication information of the task token, forming the OpenHarmony decentralized unmanned device network.

[0005] In some embodiments, determining the unmanned device grouping mode based on the task scenario information of the target task involves processing the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier, and calling the device discovery interface of the distributed soft bus in OpenHarmony in conjunction with the task requirements of the target task to determine multiple unmanned devices to be networked. This includes: when the task scenario information of the target task is a rapid grouping scenario, determining the unmanned device grouping mode as a token summoning mode; when the task scenario information of the target task is a strong access grouping scenario or a highly complex task grouping scenario, determining the unmanned device grouping mode as a task configuration mode; and when the task scenario information of the target task is a global collaborative management scenario, determining the unmanned device grouping mode. The system adopts a central node grouping mode. A secure hash algorithm is used to process the task identifier and random number of the target task, generating a network identifier to isolate the logical space of independent tasks. Based on the task requirements of the target task, the set of unmanned equipment types and the number of devices corresponding to each equipment type are determined. The set of equipment types is encapsulated as a filtering condition into the subscription parameters of the device discovery interface of the distributed soft bus in OpenHarmony. Multi-protocol scanning is enabled and device discovery callback events are listened to. The set of unmanned equipment callbacks is parsed from the device discovery callback events. Based on the unmanned equipment broadcast capability, multiple unmanned equipment to be networked are selected from the set of unmanned equipment callbacks that meet the number of devices corresponding to each equipment type.

[0006] In some embodiments, determining the grouping level and the corresponding unmanned devices to be networked using the unmanned device grouping mode includes: when the unmanned device grouping mode is a central node grouping mode, the grouping level includes a management level and a normal level. The management level consists of the management network unmanned device with the strongest device performance among the multiple unmanned devices to be networked, and the normal level consists of the other unmanned devices to be networked besides the management network unmanned device; when the unmanned device grouping mode is a task configuration mode, the grouping level includes a management level and a normal level. The management level consists of a command center, which is used as the management network unmanned device, and the normal level consists of multiple unmanned devices to be networked; when the unmanned device grouping mode is a token summoning mode, the grouping level includes a normal level, and the normal level consists of multiple unmanned devices to be networked.

[0007] In some embodiments, the method further includes: when the unmanned device grouping mode is a central node grouping mode, the management network unmanned device maintains each unmanned device constituting the OpenHarmony centralized unmanned device network in a grouping ledger, and manages each unmanned device in the grouping ledger in real time based on a heartbeat mechanism; the management network unmanned device decomposes the target task into multiple sub-tasks, and distributes each sub-task to each unmanned device based on the device type and device performance of each unmanned device in the grouping ledger, so as to complete the target task collaboratively based on the unmanned devices; when the OpenHarmony centralized unmanned device network... When a faulty unmanned device exists, if the faulty unmanned device is not one of the management network unmanned devices, the management network unmanned device will delete the faulty unmanned device from the grouping ledger. If the faulty unmanned device is one of the management network unmanned devices, and if the OpenHarmony centralized unmanned device network has a first backup unmanned device, the first backup unmanned device will be used as the new management network unmanned device. If it does not exist, a new management network unmanned device will be nominated based on the unmanned devices in the OpenHarmony centralized unmanned device network, and the new management network unmanned device will delete the faulty unmanned device from the grouping ledger.

[0008] In some embodiments, the method further includes: when the unmanned device grouping mode is a task configuration mode, the management network unmanned device records each unmanned device constituting the OpenHarmony centralized unmanned device network in a grouping ledger, in which each unmanned device in the grouping ledger elects a central unmanned device and a second backup unmanned device, and the central unmanned device manages and updates the grouping ledger, with the backup unmanned device synchronizing with the central unmanned device in real time; the management network unmanned device divides the target task into multiple sub-tasks, determines the target unmanned devices to execute each sub-task, and distributes each sub-task to the corresponding target unmanned device through the central unmanned device, so as to complete the target task based on the collaborative efforts of each target unmanned device; when the OpenHarmony centralized unmanned device... When a new unmanned device is added to the backup network, the management network unmanned device informs the central unmanned device of the addition information, and the central unmanned device adds the new unmanned device to the orchestration ledger so that the new unmanned device joins the OpenHarmony centralized unmanned device network. When there is a faulty unmanned device in the OpenHarmony centralized unmanned device network, if the faulty unmanned device is the central unmanned device, the second backup unmanned device becomes the new central unmanned device, and a new second backup unmanned device is re-elected so that the faulty unmanned device can be deleted from the orchestration ledger based on the new central unmanned device. If the faulty unmanned device is not the central unmanned device, the central unmanned device deletes the faulty unmanned device from the orchestration ledger.

[0009] In some embodiments, the method further includes: when the unmanned device grouping mode is a token summoning mode, each unmanned device constituting the OpenHarmony decentralized unmanned device network maintains a grouping ledger of the unmanned devices constituting the OpenHarmony decentralized unmanned device network; when a new unmanned device is added to the OpenHarmony decentralized unmanned device network, the new unmanned device broadcasts its addition information and corresponding token on the multicast channel of the OpenHarmony decentralized unmanned device network, each unmanned device in the OpenHarmony decentralized unmanned device network verifies the validity of the new unmanned device token and writes the new unmanned device into its own grouping ledger; when a decommissioned unmanned device exists in the OpenHarmony decentralized unmanned device network, the decommissioned unmanned device broadcasts its decommissioning message on the multicast channel, and each unmanned device in the OpenHarmony decentralized unmanned device network deletes the decommissioned unmanned device from its own grouping ledger.

[0010] In some embodiments, the method further includes: when the tokens of each unmanned device in the OpenHarmony decentralized unmanned device network expire, shutting down the OpenHarmony decentralized unmanned device network and releasing the resources occupied by the OpenHarmony decentralized unmanned device network in executing the target task; each unmanned device in the OpenHarmony decentralized unmanned device network periodically and actively updates its heartbeat packet through the multi-protocol fusion link of the distributed soft bus to notify each unmanned device of its normal operating status; unmanned devices that have not updated their heartbeat packets for more than the preset time are considered faulty unmanned devices; when any unmanned device identifies a faulty unmanned device, it broadcasts a message to delete the faulty unmanned device through the multicast channel, so that non-faulty unmanned devices in the OpenHarmony decentralized unmanned device network will delete the faulty unmanned device. The device is removed from the marshalling ledger. A preset renewal period is reserved for the faulty unmanned device. If, upon confirmation of the faulty unmanned device, the preset renewal period has expired and the faulty unmanned device has not requested to rejoin the OpenHarmony decentralized unmanned device network, then the faulty unmanned device is permanently denied access to the OpenHarmony decentralized unmanned device network. If the preset renewal period has not expired and the faulty unmanned device requests to rejoin the OpenHarmony decentralized unmanned device network, then the token of the faulty unmanned device is verified a second time. After successful verification, the faulty unmanned device is rejoined to the OpenHarmony decentralized unmanned device network, and a message to add the faulty unmanned device is broadcast through the multicast channel, so that non-faulty unmanned devices in the OpenHarmony decentralized unmanned device network add the faulty unmanned device to the marshalling ledger.

[0011] Secondly, this application provides an unmanned equipment collaborative networking device based on OpenHarmony, comprising: a confirmation unit, configured to determine the unmanned equipment grouping mode based on the task scenario information of the target task, process the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier, call the device discovery interface of the distributed soft bus in OpenHarmony to determine multiple unmanned equipment to be networked in combination with the task requirements of the target task, and determine the grouping level and the unmanned equipment to be networked corresponding to the grouping level using the unmanned equipment grouping mode; and a networking unit, configured to, if there are multiple grouping levels, sign the message composed of the network identifier and the grouping access credential based on the private key of the management unmanned equipment at the management level in the grouping level, generate a signed message, and send the signed message to the grouping unit through a secure encrypted channel established by the distributed soft bus. In the hierarchical structure, multiple unmanned devices at the ordinary level are to be networked. When each unmanned device at the ordinary level calls the identity authentication module of the distributed soft bus and verifies the validity of the signed message using the public key of the management unmanned device, it triggers a state change event of the distributed soft bus to join the unmanned device network corresponding to the network identifier, thus forming the OpenHarmony centralized unmanned device network. The networking unit is also used, if it is a grouping level, to generate a task token based on the task management system of the target task, and broadcast the task token and the network identifier to each unmanned device to be networked through the multi-protocol fusion link of the distributed soft bus. When each unmanned device to be networked verifies the validity of the task token, it announces its joining of the unmanned device network corresponding to the network identifier based on the communication information of the task token, thus forming the OpenHarmony decentralized unmanned device network.

[0012] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the OpenHarmony-based unmanned equipment cooperative networking method.

[0013] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the OpenHarmony-based unmanned equipment cooperative networking method.

[0014] Fifthly, this application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the OpenHarmony-based unmanned equipment cooperative networking method.

[0015] As can be seen from the above technical solution, this application provides a method and device for collaborative networking of unmanned equipment based on OpenHarmony. This solution improves the networking scheme on the basis of the OpenHarmony distributed architecture, breaking through the limitation of the original local network node (LNN) which only supports basic device connectivity and cannot adapt to unmanned equipment cluster operations. It matches the corresponding grouping mode according to the task scenario, and generates a unique network identifier by combining task identifiers with random numbers, realizing logical isolation of different task networks and effectively avoiding signal crosstalk and illegal cross-group access problems in open, highly adversarial environments. Simultaneously, it distinguishes the grouping network form according to the grouping hierarchy. The multi-level architecture uses asymmetric encrypted signatures and secure encrypted channels to complete identity verification, constructing a strict access control system to meet high-security operation requirements; the single-level architecture relies on task tokens and multi-protocol fusion links to enable rapid device network access, adapting to highly dynamic scenarios with frequent device online / offline and dynamic grouping adjustments. It solves the problems of traditional networking grouping modes being singular, having weak isolation capabilities, and rigid permission control, taking into account dynamic grouping, network isolation, and fine-grained access control, and fully adapting to diverse, highly secure, and highly dynamic unmanned equipment collaborative operation scenarios. Attached Figure Description

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

[0017] Figure 1 This is a flowchart illustrating the OpenHarmony-based unmanned equipment cooperative networking method in the embodiments of this application; Figure 2 This is a structural diagram of the OpenHarmony-based unmanned equipment collaborative networking device in the embodiments of this application. Detailed Implementation

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

[0019] The acquisition, storage, use, and processing of data in this application comply with relevant laws and regulations.

[0020] Considering the problems existing in the prior art, this application provides a method and device for collaborative networking of unmanned devices based on OpenHarmony. This solution improves the networking scheme based on the OpenHarmony distributed architecture, overcoming the limitations of the original Local Network Node (LNN) which only supports basic device connectivity and cannot adapt to unmanned device cluster operations. This solution matches the corresponding grouping mode according to the task scenario, and generates a unique network identifier by combining task identifiers with random numbers, achieving logical isolation between different task networks and effectively avoiding signal crosstalk and illegal cross-group access problems in open, highly adversarial environments. Simultaneously, it differentiates the grouping network structure according to the grouping hierarchy. The multi-level architecture uses asymmetric encrypted signatures and secure encrypted channels to complete identity verification, constructing a strict access control system to meet high-security operation requirements; the single-level architecture relies on task tokens and multi-protocol fusion links to enable rapid device network access, adapting to highly dynamic scenarios with frequent device online / offline and dynamic grouping adjustments. This solution solves the problems of traditional networking grouping modes being singular, having weak isolation capabilities, and rigid access control, while taking into account dynamic grouping, network isolation, and fine-grained access control, fully adapting to diverse, highly secure, and highly dynamic unmanned device collaborative operation scenarios.

[0021] To achieve logical isolation between networks of different tasks, this application provides an embodiment of an unmanned equipment cooperative networking method based on OpenHarmony, see [link to embodiment]. Figure 1 The OpenHarmony-based unmanned equipment cooperative networking method specifically includes the following: Step S110: Determine the unmanned equipment grouping mode based on the task scenario information of the target task; process the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier; call the device discovery interface of the distributed soft bus in OpenHarmony and determine multiple unmanned equipment to be networked in combination with the task requirements of the target task; and determine the grouping level and the unmanned equipment to be networked corresponding to the grouping level using the unmanned equipment grouping mode.

[0022] OpenHarmony refers to an open-source distributed operating system designed for multiple terminal devices, natively equipped with distributed soft bus, device discovery, security authentication, and multi-protocol communication capabilities. Unmanned devices refer to intelligent terminals that require no human intervention, such as drones, unmanned vehicles, and inspection robots. Collaborative networking refers to multiple unmanned devices forming a collaborative network based on unified rules, completing device discovery, authentication, link establishment, and group division. The preset identifier generation function is a pre-configured algorithm function that takes a task identifier and a random number as input and outputs a unique network identifier. This network identifier is used to distinguish and isolate independent networks of different tasks. The task identifier is a unique identifier for the target task, used for tracing the target task. The random number is temporary random data used in conjunction with the task identifier to generate the network identifier, improving the uniqueness and security of the network identifier. Unmanned devices to be networked are those that meet the task requirements of the target task and are used to collaboratively form a network to execute the target task. The target task is a task that requires multiple unmanned devices to complete collaboratively. Task requirements include the types of unmanned devices required to execute the target task and the number of devices corresponding to each type. The distributed soft bus refers to the core distributed communication component of OpenHarmony, providing basic capabilities such as device discovery, secure channels, authentication, multi-protocol fusion transmission, and event monitoring. It serves as the core carrier for communication and interaction between devices. The device discovery interface refers to the standard interface provided by the distributed soft bus in OpenHarmony, used for local area network (LAN) and near-field scanning to detect nearby online devices. Task scenario information refers to attribute data describing the execution scenario of a target task. For example, the attribute data of the execution scenario may include task timeliness, task security level, task complexity, task management mode, and operating environment. Unmanned device grouping mode refers to the method of forming a network of multiple unmanned devices to collaboratively execute a target task. Grouping hierarchy refers to the logical hierarchy within the network, mainly divided into management hierarchy and ordinary hierarchy, with different permissions and functions at different levels.

[0023] Specifically, in the aforementioned step S110, the determination of the unmanned device grouping mode based on the task scenario information of the target task involves processing the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier, and calling the device discovery interface of the distributed soft bus in OpenHarmony in conjunction with the task requirements of the target task to determine multiple unmanned devices to be networked. This includes: when the task scenario information of the target task is a rapid grouping scenario, determining the unmanned device grouping mode as a token summoning mode; when the task scenario information of the target task is a strong access grouping scenario or a highly complex task grouping scenario, determining the unmanned device grouping mode as a task configuration mode; and when the task scenario information of the target task is a global collaborative management scenario, determining the unmanned device grouping mode as a task configuration mode. The grouping mode is a central node grouping mode; a secure hash algorithm is used to process the task identifier and random number of the target task to generate a network identifier for isolating the logical space of independent tasks. Based on the task requirements of the target task, the set of unmanned equipment types and the number of devices corresponding to each equipment type are determined. The set of equipment types is encapsulated as a filtering condition into the subscription parameters of the device discovery interface of the distributed soft bus in OpenHarmony. Multi-protocol scanning is enabled and device discovery callback events are listened to. The set of unmanned equipment callbacks is parsed from the device discovery callback events. Based on the unmanned equipment broadcast capability, multiple unmanned equipment to be networked are selected from the set of unmanned equipment callbacks that meet the number of devices corresponding to each equipment type.

[0024] Among them, the central node grouping mode refers to the networking mode for global collaborative management scenarios, which autonomously selects high-performance nodes from candidate devices as the management core to build a centralized network with a two-level architecture. The task configuration mode is a networking mode adapted to strong access permissions and highly complex tasks, using an external command center as the sole management node, with a well-organized architecture and strict access control. The token summoning mode is a networking mode adapted to rapid grouping scenarios, without a dedicated management node, only a single ordinary level, with all devices having equal status, belonging to a decentralized architecture. The unmanned device callback set refers to the set of unmanned devices that meet the device type criteria found by the monitoring device. Multiple unmanned devices to be networked refer to the number of unmanned devices selected from the unmanned device callback set that have the strongest performance for each device type. The number of devices corresponds one-to-one with the device type; for example, if there are 3 search and rescue unmanned devices, then the 3 strongest search and rescue unmanned devices are selected from the unmanned device callback set. The secure hash algorithm can use SHA-256.

[0025] For example, if the target task is a full-area inspection of the factory, and the task scenario is a global collaborative management scenario for the full-area inspection, a total of 12 unmanned devices to be networked are selected. A central node grouping mode is adopted, and by comparing indicators such as computing power, communication, and stability, the unmanned device A with the best overall performance is selected as the management network unmanned device and placed in the management level; the remaining 11 unmanned devices are placed in the ordinary level, thus forming a two-level grouping architecture, with the high-performance UAV uniformly managing the entire network of devices. If the target task is mapping a classified area, and the task scenario is a high-authority, high-complexity scenario involving mapping a classified area, the corresponding task configuration mode is adopted. A preset remote command center is used as a fixed management network unmanned device, forming the management level; the 8 mapping unmanned vehicles and 2 mapping UAVs selected in the early stage are all placed in the ordinary level. All network permissions and task instructions are uniformly issued by the management network unmanned device, strictly controlling the behavior of each unmanned device. If the target mission is temporary emergency search and rescue, and the mission scenario information is a rapid grouping scenario for responding to temporary emergency search and rescue missions, then a token summoning mode is adopted. The nine selected search and rescue unmanned devices are divided into a single ordinary level, without an independent management level. All unmanned devices are equal in status and rely on mission tokens to complete network access authentication, quickly forming a decentralized collaborative network.

[0026] For example, by processing the task identifier and random number of the target task using a secure hash algorithm, a network identifier for isolating the logical space of independent tasks can be generated, which can be represented as: , in, A globally unique task identifier; For generated random numbers; This is the final generated network identifier.

[0027] Therefore, by matching corresponding grouping modes according to different task scenarios, it can flexibly adapt to diverse operational needs such as rapid networking, high-security management and control, and overall coordination. Employing a secure hash algorithm, network identifiers are generated by combining task identifiers and random numbers. On the one hand, network identifiers enable logical isolation between different task networks, effectively preventing network crosstalk; on the other hand, the introduction of random numbers further enhances the randomness and unpredictability of network identifiers. Even if external parties obtain the task identifier and identifier generation rules, they cannot reverse-engineer a valid network identifier, ensuring the global uniqueness of network identifiers and effectively preventing unauthorized access to the network by non-grouped devices. Simultaneously, relying on the OpenHarmony distributed soft bus configuration filtering conditions, combined with multi-protocol scanning and multi-level filtering rules, it can accurately and efficiently filter out devices that meet the task requirements for networking. The entire process is highly automated, further enhancing the security and operational stability of the networking system while improving networking efficiency and device matching.

[0028] Specifically, in step S110 above, determining the grouping level and the corresponding unmanned devices to be networked using the unmanned device grouping mode includes: when the unmanned device grouping mode is a central node grouping mode, the grouping level includes a management level and a normal level. The management level consists of the management network unmanned device with the strongest performance among the unmanned devices to be networked, and the normal level consists of other unmanned devices to be networked besides the management network unmanned device. When the unmanned device grouping mode is a task configuration mode, the grouping level includes a management level and a normal level. The management level consists of a command center, which is used as the management network unmanned device, and the normal level consists of multiple unmanned devices to be networked. When the unmanned device grouping mode is a token summoning mode, the grouping level includes a normal level, and the normal level consists of multiple unmanned devices to be networked.

[0029] In this context, the management level refers to the core equipment level within the network responsible for task scheduling and managing unmanned devices in the ordinary level, possessing the highest operational authority within the network. "Strongest equipment performance" refers to the optimal overall performance among multiple devices to be networked, considering comprehensive computing power, communication speed, battery life, operational stability, and load capacity. Management network unmanned devices belong to the management level and undertake core control functions such as network management and task distribution. The ordinary level refers to the equipment level within the network that only executes operational tasks, obeys the management level's scheduling, and lacks overall network control authority. The command center is a dedicated control node independent of the on-site operational unmanned devices, serving as a fixed management network unmanned device in this model, uniformly responsible for network configuration and task distribution.

[0030] Therefore, by setting corresponding hierarchical grouping structures for different task scenarios, the central node grouping mode selects high-performance devices as management nodes, fully utilizing on-site equipment resources to achieve autonomous network control and adapting to large-scale global collaborative operations. In task configuration mode, relying on an independent command center as a fixed management layer, it achieves standardized and regulated control of high-authority, highly complex tasks, improving network security and the orderly execution of tasks. In token-summoning mode, a single-level peer-to-peer architecture is adopted, greatly simplifying the network process, shortening grouping time, and meeting the needs of rapid emergency operations. This invention, through flexible grouping methods with multiple modes and levels, achieves precise matching between the network architecture and task scenarios, balancing network flexibility, control security, and task adaptability, effectively improving the overall adaptability and operational reliability of unmanned equipment collaborative networking.

[0031] Step S120: If there are multiple grouping levels, the message consisting of the network identifier and grouping access credential is signed based on the private key of the management network unmanned device at the management level in the grouping level, generating a signed message. The signed message is then sent to multiple unmanned devices to be networked at the ordinary level in the grouping level through a secure encrypted channel established by the distributed soft bus. When each unmanned device to be networked at the ordinary level calls the identity authentication module of the distributed soft bus and verifies the validity of the signed message with the public key of the management network unmanned device, a distributed soft bus state change event is triggered to join the unmanned device network corresponding to the network identifier, forming the OpenHarmony centralized unmanned device network.

[0032] In this context, "management network unmanned equipment" refers to unmanned equipment within a group that is at the management level and has management authority over unmanned equipment at the ordinary level. The private key and public key are an asymmetric key pair. The private key is held exclusively by the management network unmanned equipment and used for message signing; the public key is publicly available and used by other devices to verify the signature of the management network unmanned equipment, thus preventing identity forgery. The group access credential is the access credential for the OpenHarmony centralized unmanned equipment network, used in conjunction with the network identifier to verify the unmanned equipment's access permission to join the OpenHarmony centralized unmanned equipment network. The signed message refers to the structured data unit transmitted between unmanned equipment; the signed message is a message encrypted and signed with the private key, used for tamper prevention and identity verification. The secure encrypted channel refers to the encrypted communication link established by the distributed soft bus, ensuring that data transmission is not eavesdropped on or tampered with. The identity authentication module refers to the security module built into the distributed soft bus, which verifies the legitimacy of the unmanned equipment's identity based on public keys, tokens, etc. State change events refer to OpenHarmony system events, such as unmanned equipment joining the network, going offline, or experiencing a fault, triggered to coordinate and complete the network entry action. A centralized unmanned device network refers to a network architecture with a core management node, which controls the OpenHarmony centralized unmanned device network. The management node is responsible for managing the unmanned devices in the network.

[0033] In step S130, if it is a grouping level, a task token is generated based on the task management system of the target task, and the task token and the network identifier are broadcast to each of the unmanned devices to be networked through the multi-protocol fusion link of the distributed soft bus. When each of the unmanned devices to be networked verifies that the task token is valid, it announces that it has joined the unmanned device network corresponding to the network identifier based on the communication information of the task token, thus forming the OpenHarmony decentralized unmanned device network.

[0034] Among them, the task token refers to a temporary access credential generated by the task management system, containing the task validity period, communication information for the grouped channel, and permission information, used for network access verification in the decentralized network. The multi-protocol fusion link refers to a unified transmission link formed by integrating multiple communication protocols such as Wi-Fi, Bluetooth, and LoRa into a distributed soft bus, adapting to device communication at different distances and in different scenarios. The OpenHarmony decentralized unmanned device network refers to a network architecture without a dedicated management node, where all unmanned devices have equal status and operate in a distributed, autonomous manner.

[0035] In some embodiments, the method further includes: when the unmanned device grouping mode is a central node grouping mode, the management network unmanned device maintains each unmanned device constituting the OpenHarmony centralized unmanned device network in a grouping ledger, and manages each unmanned device in the grouping ledger in real time based on a heartbeat mechanism; the management network unmanned device decomposes the target task into multiple sub-tasks, and distributes each sub-task to each unmanned device based on the device type and device performance of each unmanned device in the grouping ledger, so as to complete the target task collaboratively based on the unmanned devices; when the OpenHarmony centralized unmanned device network... When a faulty unmanned device exists, if the faulty unmanned device is not one of the management network unmanned devices, the management network unmanned device will delete the faulty unmanned device from the grouping ledger. If the faulty unmanned device is one of the management network unmanned devices, and if the OpenHarmony centralized unmanned device network has a first backup unmanned device, the first backup unmanned device will be used as the new management network unmanned device. If it does not exist, a new management network unmanned device will be nominated based on the unmanned devices in the OpenHarmony centralized unmanned device network, and the new management network unmanned device will delete the faulty unmanned device from the grouping ledger.

[0036] The grouping ledger is a distributed ledger that stores information, status, and permissions of all unmanned devices within the network in key-value pairs. It is used for device management, status tracking, and node maintenance. Permissions include the ability to execute tasks and the ability to modify the grouping ledger. The heartbeat mechanism is a monitoring mechanism where devices periodically send heartbeat data packets. Managing the network of unmanned devices relies on this mechanism to perceive the online status and operating conditions of each device in real time. Subtasks are subdivided work units obtained by breaking down a target task, and can be allocated as needed based on the capabilities of the unmanned devices. Device type refers to the functional category of the unmanned device, such as inspection, surveying, or search and rescue, and is one of the bases for subtask allocation. Device performance refers to the comprehensive indicators of the unmanned device, such as computing power, communication capabilities, load capacity, and endurance, used to match subtasks of corresponding difficulty and load. When allocating subtasks, suitable subtasks are assigned to unmanned devices based on their device type, and a suitable number of subtasks are assigned to unmanned devices based on their device performance. That is, for unmanned devices of the same device type, those with higher performance are assigned more suitable subtasks. Faulty unmanned equipment refers to unmanned equipment that is unable to participate in networking and operations due to issues such as offline status, communication abnormalities, or functional failures. First-standby unmanned equipment refers to pre-deployed redundant nodes that serve as backups for the networked unmanned equipment, used to quickly take over control and management functions when the networked unmanned equipment fails.

[0037] Therefore, this solution utilizes an orchestration ledger to uniformly record information, status, and permissions of all network devices. Combined with a heartbeat mechanism, it achieves real-time, 24 / 7 monitoring of device status, resulting in a clear ledger and easy status traceability. By breaking down and distributing sub-tasks based on device type and performance, it ensures proper personnel allocation, fully leveraging the capabilities of each device and improving overall operational efficiency. A tiered handling logic is implemented for faulty devices. Ordinary faulty devices can be quickly removed from the ledger to prevent invalid nodes from consuming network resources. When a core management node fails, backup devices are prioritized for seamless takeover. If no backup device is available, a new management node is elected from across the network, and the orchestration ledger is updated simultaneously. This comprehensive operation and fault tolerance mechanism effectively avoids network paralysis caused by single points of failure, ensuring the continuous and stable operation of the centralized unmanned device network and guaranteeing uninterrupted progress of target tasks.

[0038] In some embodiments, the method further includes: when the unmanned device grouping mode is a task configuration mode, the management network unmanned device records each unmanned device constituting the OpenHarmony centralized unmanned device network in a grouping ledger, in which each unmanned device in the grouping ledger elects a central unmanned device and a second backup unmanned device, and the central unmanned device manages and updates the grouping ledger, with the backup unmanned device synchronizing with the central unmanned device in real time; the management network unmanned device divides the target task into multiple sub-tasks, determines the target unmanned devices to execute each sub-task, and distributes each sub-task to the corresponding target unmanned device through the central unmanned device, so as to complete the target task based on the collaborative efforts of each target unmanned device; when the OpenHarmony centralized unmanned device... When a new unmanned device is added to the backup network, the management network unmanned device informs the central unmanned device of the addition information, and the central unmanned device adds the new unmanned device to the orchestration ledger so that the new unmanned device joins the OpenHarmony centralized unmanned device network. When there is a faulty unmanned device in the OpenHarmony centralized unmanned device network, if the faulty unmanned device is the central unmanned device, the second backup unmanned device becomes the new central unmanned device, and a new second backup unmanned device is re-elected so that the faulty unmanned device can be deleted from the orchestration ledger based on the new central unmanned device. If the faulty unmanned device is not the central unmanned device, the central unmanned device deletes the faulty unmanned device from the orchestration ledger.

[0039] The central unmanned device refers to the ledger maintenance and task relay node jointly elected by the network's unmanned devices, dedicated to the daily management, updating, and sub-task forwarding of the grouped ledger. The second backup unmanned device is a backup node of the central unmanned device, synchronizing ledger data in real time and used to quickly take over operations in the event of a failure of the central unmanned device. The target unmanned device refers to the unmanned device within the network designated to undertake the corresponding sub-task.

[0040] Therefore, this embodiment constructs a hierarchical control system under the task configuration mode. The top-level management network of unmanned equipment coordinates the overall business, and the central unmanned equipment, which is elected, is dedicated to maintaining the grouping ledger and relaying and distributing tasks. It works with backup unmanned equipment to achieve real-time data synchronization. The division of labor is clear and the operation and maintenance are highly efficient. New equipment is added to the network through a hierarchical notification and registration process, with standardized access procedures and controllable permissions. Differentiated handling logic is set for faulty equipment. Ordinary faulty equipment can be directly removed from the ledger. When the central node fails, the backup node seamlessly takes over and a new backup node is selected to continuously ensure the normal operation of ledger management and task distribution. The entire mechanism takes into account the rigor of control, data consistency and fault tolerance, which can fully meet the operational requirements of high-security and high-complexity tasks and ensure the long-term stability and orderly collaborative operation of the centralized network.

[0041] In some embodiments, the method further includes: when the unmanned device grouping mode is a token summoning mode, each unmanned device constituting the OpenHarmony decentralized unmanned device network maintains a grouping ledger of the unmanned devices constituting the OpenHarmony decentralized unmanned device network; when a new unmanned device is added to the OpenHarmony decentralized unmanned device network, the new unmanned device broadcasts its addition information and corresponding token on the multicast channel of the OpenHarmony decentralized unmanned device network, each unmanned device in the OpenHarmony decentralized unmanned device network verifies the validity of the new unmanned device token and writes the new unmanned device into its own grouping ledger; when a decommissioned unmanned device exists in the OpenHarmony decentralized unmanned device network, the decommissioned unmanned device broadcasts its decommissioning message on the multicast channel, and each unmanned device in the OpenHarmony decentralized unmanned device network deletes the decommissioned unmanned device from its own grouping ledger.

[0042] Among them, the multicast channel refers to a one-to-many communication link within the network, used to simultaneously broadcast a single message to all unmanned devices within the network.

[0043] Therefore, the token-based invitation mode employs a method where all devices on the network independently maintain their own grouped ledgers locally. This inherently possesses multi-copy redundancy, making ledger data less prone to loss and improving data reliability. New devices broadcast their identity information and tokens via multicast channels, and after unified verification across the network, they complete synchronized registration in the ledger. The device onboarding process is simple and efficient, meeting the needs of rapid grouping. When a device voluntarily exits, it simultaneously broadcasts an offline message, and the ledger content is updated uniformly across the network, ensuring real-time consistency of ledger data across all nodes. The entire mechanism requires no central node scheduling, enabling flexible networking and rapid deployment. While achieving distributed autonomous management, it relies on token verification to ensure network access security, fully meeting the networking requirements for temporary emergency and rapid collaborative tasks.

[0044] In some embodiments, the method further includes: when the tokens of each unmanned device in the OpenHarmony decentralized unmanned device network expire, shutting down the OpenHarmony decentralized unmanned device network and releasing the resources occupied by the OpenHarmony decentralized unmanned device network in executing the target task; each unmanned device in the OpenHarmony decentralized unmanned device network periodically and actively updates its heartbeat packet through the multi-protocol fusion link of the distributed soft bus to notify each unmanned device of its normal operating status; unmanned devices that have not updated their heartbeat packets for more than the preset time are considered faulty unmanned devices; when any unmanned device identifies a faulty unmanned device, it broadcasts a message to delete the faulty unmanned device through the multicast channel, so that non-faulty unmanned devices in the OpenHarmony decentralized unmanned device network will delete the faulty unmanned device. The device is removed from the marshalling ledger. A preset renewal period is reserved for the faulty unmanned device. If, upon confirmation of the faulty unmanned device, the preset renewal period has expired and the faulty unmanned device has not requested to rejoin the OpenHarmony decentralized unmanned device network, then the faulty unmanned device is permanently denied access to the OpenHarmony decentralized unmanned device network. If the preset renewal period has not expired and the faulty unmanned device requests to rejoin the OpenHarmony decentralized unmanned device network, then the token of the faulty unmanned device is verified a second time. After successful verification, the faulty unmanned device is rejoined to the OpenHarmony decentralized unmanned device network, and a message to add the faulty unmanned device is broadcast through the multicast channel, so that non-faulty unmanned devices in the OpenHarmony decentralized unmanned device network add the faulty unmanned device to the marshalling ledger.

[0045] Among these, the token validity period refers to the time range within which the task token is legally valid, serving as the basis for managing the network operation cycle. Resource release refers to the recovery of communication, computing, and link resources occupied during network operation, avoiding resource idleness and waste. Multi-protocol converged link refers to the unified transmission link formed by integrating multiple communication protocols through the OpenHarmony distributed soft bus, supporting data interaction between devices. Heartbeat packets are status messages periodically sent by devices to inform the entire network that they are online and operating normally. Preset duration refers to a pre-set time threshold, serving as the standard for judging unmanned equipment failure. Preset renewal duration refers to the recovery window period set for faulty unmanned equipment, distinguishing between temporary failures and permanent malfunctions.

[0046] Therefore, this solution relies on token validity periods to manage the network lifecycle. Upon expiration, the network is automatically shut down and system resources are released, achieving reasonable resource recycling and utilization. Periodic heartbeat detection monitors device status in real time, enabling timely identification of faulty devices and synchronous updates to the entire network's orchestration ledger via multicast channels, ensuring data consistency. A renewal window is set for faulty devices, distinguishing between temporary disconnections and permanent failures to avoid mistakenly removing healthy devices, while allowing devices that recover within the window to rejoin the network after a second token verification, enhancing network self-healing capabilities. Devices that fail to recover within the timeout period are permanently denied access, promptly cleaning up invalid nodes. This entire operation and maintenance mechanism balances fault tolerance, security, and resource utilization, adapting to the characteristics of decentralized network autonomous operation, ensuring stable and efficient network operation under temporary task scenarios.

[0047] In summary, this solution improves the networking scheme based on the OpenHarmony distributed architecture, overcoming the limitations of the original Local Network Node (LNN) which only supports basic device connectivity and cannot adapt to unmanned equipment cluster operations. This solution matches the corresponding grouping mode according to the task scenario, generating a unique network identifier by combining task identifiers with random numbers to achieve logical isolation between different task networks, effectively avoiding signal crosstalk and unauthorized cross-group access issues in open, highly adversarial environments. Simultaneously, it differentiates the grouping network structure according to the grouping hierarchy. The multi-level architecture uses asymmetric encrypted signatures and secure encrypted channels for identity verification, constructing a strict access control system to meet high-security operation requirements; the single-level architecture relies on task tokens and multi-protocol fusion links to enable rapid device network access, adapting to highly dynamic scenarios with frequent device online / offline and dynamic grouping adjustments. This solution solves the problems of traditional networking grouping modes being singular, having weak isolation capabilities, and rigid access control, balancing dynamic grouping, network isolation, and fine-grained access control, and fully adapting to diverse, highly secure, and highly dynamic unmanned equipment collaborative operation scenarios.

[0048] To achieve logical isolation between different task networks, this application provides an embodiment of an OpenHarmony-based unmanned equipment cooperative networking device for implementing all or part of the aforementioned OpenHarmony-based unmanned equipment cooperative networking method. See [link to embodiment]. Figure 2 The OpenHarmony-based unmanned equipment collaborative networking device specifically includes the following components: The confirmation unit 10 is used to determine the unmanned equipment grouping mode based on the task scenario information of the target task, process the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier, call the device discovery interface of the distributed soft bus in OpenHarmony and combine it with the task requirements of the target task to determine multiple unmanned equipment to be networked, and use the unmanned equipment grouping mode to determine the grouping level and the unmanned equipment to be networked corresponding to the grouping level. The networking unit 20 is used, if there are multiple grouping levels, to sign a message consisting of a network identifier and a grouping access credential based on the private key of the management network unmanned device at the management level in the grouping level, generate a signed message, and send the signed message to multiple unmanned devices to be networked at the ordinary level in the grouping level through a secure encrypted channel established by the distributed soft bus. When each unmanned device to be networked at the ordinary level calls the identity authentication module of the distributed soft bus and verifies the validity of the signed message in conjunction with the public key of the management network unmanned device, it triggers a state change event of the distributed soft bus to join the unmanned device network corresponding to the network identifier, thus forming the OpenHarmony centralized unmanned device network. The networking unit 20 is further configured to, if it is a grouping level, generate a task token based on the task management system of the target task, and broadcast the task token and the network identifier to each of the unmanned devices to be networked through the multi-protocol fusion link of the distributed soft bus. When each of the unmanned devices to be networked verifies that the task token is valid, it announces its joining of the unmanned device network corresponding to the network identifier based on the communication information of the task token, thus forming the OpenHarmony decentralized unmanned device network.

[0049] As described above, the OpenHarmony-based unmanned equipment collaborative networking device provided in this application improves the networking scheme based on the OpenHarmony distributed architecture, overcoming the limitations of the original Local Network Node (LNN) which only supports basic device connectivity and cannot adapt to unmanned equipment cluster operations. This scheme matches the corresponding grouping mode according to the task scenario, generates a unique network identifier by combining task identifiers with random numbers, and achieves logical isolation between different task networks, effectively avoiding signal crosstalk and illegal cross-group access issues in open, highly adversarial environments. Simultaneously, it differentiates the grouping network structure according to the grouping hierarchy. The multi-level architecture uses asymmetric encrypted signatures and secure encrypted channels to complete identity verification, constructing a strict access control system to meet high-security operation requirements; the single-level architecture relies on task tokens and multi-protocol fusion links to enable rapid device network access, adapting to highly dynamic scenarios with frequent device online / offline and dynamic grouping adjustments. This scheme solves the problems of traditional networking grouping modes being singular, having weak isolation capabilities, and rigid permission control, while taking into account dynamic grouping, network isolation, and fine-grained access control, fully adapting to diverse, highly secure, and highly dynamic unmanned equipment collaborative operation scenarios.

[0050] To further illustrate this solution, this application also provides a specific application example of implementing the OpenHarmony-based unmanned equipment cooperative networking method using the aforementioned OpenHarmony-based unmanned equipment cooperative networking device, which specifically includes the following: In some embodiments, when the device is used to determine the unmanned device grouping mode based on the task scenario information of the target task, process the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier, and call the device discovery interface of the distributed soft bus in OpenHarmony to determine multiple unmanned devices to be networked in combination with the task requirements of the target task, specifically it is used to: determine the unmanned device grouping mode as a token summoning mode when the task scenario information of the target task is a rapid grouping scenario; determine the unmanned device grouping mode as a task configuration mode when the task scenario information of the target task is a strong access grouping scenario or a highly complex task grouping scenario; and determine the unmanned device grouping mode as a task configuration mode when the task scenario information of the target task is a global collaborative management scenario. The device grouping mode is a central node grouping mode; a secure hash algorithm is used to process the task identifier and random number of the target task to generate a network identifier for isolating the logical space of independent tasks. Based on the task requirements of the target task, the set of device types of unmanned devices required to complete the target task and the number of devices corresponding to each device type are determined. The set of device types is encapsulated as a filtering condition into the subscription parameters of the device discovery interface of the distributed soft bus in OpenHarmony. Multi-protocol scanning is enabled and device discovery callback events are listened to. The set of unmanned device callbacks is parsed from the device discovery callback events. Based on the unmanned device broadcast capability, multiple unmanned devices to be networked are selected from the set of unmanned device callbacks that meet the number of devices corresponding to each device type.

[0051] In some embodiments, when the device is used to determine the grouping level and the unmanned devices to be networked corresponding to the grouping level using the unmanned device grouping mode, it is specifically used as follows: when the unmanned device grouping mode is a central node grouping mode, the grouping level includes a management level and a normal level. The management level is composed of the management network unmanned device with the strongest device performance among the multiple unmanned devices to be networked, and the normal level is composed of other unmanned devices to be networked besides the management network unmanned device. When the unmanned device grouping mode is a task configuration mode, the grouping level includes a management level and a normal level. The management level is composed of a command center, which is used as the management network unmanned device, and the normal level is composed of multiple unmanned devices to be networked. When the unmanned device grouping mode is a token summoning mode, the grouping level includes a normal level, and the normal level is composed of multiple unmanned devices to be networked.

[0052] In some embodiments, the apparatus is further configured to: when the unmanned device grouping mode is a central node grouping mode, the management network unmanned device maintains each unmanned device constituting the OpenHarmony centralized unmanned device network in a grouping ledger, and manages each unmanned device in the grouping ledger in real time based on a heartbeat mechanism; the management network unmanned device decomposes the target task into multiple sub-tasks, and distributes each sub-task to each unmanned device based on the device type and device performance of each unmanned device in the grouping ledger, so as to complete the target task collaboratively based on the unmanned devices; when the OpenHarmony centralized unmanned device network... When a faulty unmanned device exists, if the faulty unmanned device is not one of the management network unmanned devices, the management network unmanned device will delete the faulty unmanned device from the grouping ledger. If the faulty unmanned device is one of the management network unmanned devices, and if the OpenHarmony centralized unmanned device network has a first backup unmanned device, the first backup unmanned device will be used as the new management network unmanned device. If it does not exist, a new management network unmanned device will be nominated based on the unmanned devices in the OpenHarmony centralized unmanned device network, and the new management network unmanned device will delete the faulty unmanned device from the grouping ledger.

[0053] In some embodiments, the apparatus is further configured to: when the unmanned device grouping mode is a task configuration mode, the management network unmanned device records each unmanned device constituting the OpenHarmony centralized unmanned device network in a grouping ledger, in which each unmanned device in the grouping ledger elects a central unmanned device and a second backup unmanned device, and the central unmanned device manages and updates the grouping ledger, with the backup unmanned device synchronizing with the central unmanned device in real time; the management network unmanned device divides the target task into multiple sub-tasks, determines the target unmanned devices to execute each sub-task, and distributes each sub-task to the corresponding target unmanned device through the central unmanned device, so as to complete the target task based on the collaborative efforts of each target unmanned device; when the OpenHarmony centralized unmanned device... When a new unmanned device is added to the backup network, the management network unmanned device informs the central unmanned device of the addition information, and the central unmanned device adds the new unmanned device to the orchestration ledger so that the new unmanned device joins the OpenHarmony centralized unmanned device network. When there is a faulty unmanned device in the OpenHarmony centralized unmanned device network, if the faulty unmanned device is the central unmanned device, the second backup unmanned device becomes the new central unmanned device, and a new second backup unmanned device is re-elected so that the faulty unmanned device can be deleted from the orchestration ledger based on the new central unmanned device. If the faulty unmanned device is not the central unmanned device, the central unmanned device deletes the faulty unmanned device from the orchestration ledger.

[0054] In some embodiments, the apparatus is further configured to: when the unmanned device grouping mode is a token summoning mode, each unmanned device constituting the OpenHarmony decentralized unmanned device network maintains a grouping ledger of the unmanned devices constituting the OpenHarmony decentralized unmanned device network; when a new unmanned device is added to the OpenHarmony decentralized unmanned device network, the new unmanned device broadcasts its addition information and corresponding token on the multicast channel of the OpenHarmony decentralized unmanned device network, each unmanned device in the OpenHarmony decentralized unmanned device network verifies the validity of the new unmanned device token and writes the new unmanned device into its own grouping ledger; when a decommissioned unmanned device exists in the OpenHarmony decentralized unmanned device network, the decommissioned unmanned device broadcasts its decommissioning message on the multicast channel, and each unmanned device in the OpenHarmony decentralized unmanned device network deletes the decommissioned unmanned device from its own grouping ledger.

[0055] In some embodiments, the apparatus is further configured to: shut down the OpenHarmony decentralized unmanned device network and release the resources occupied by the OpenHarmony decentralized unmanned device network for executing the target task when the tokens of each unmanned device in the OpenHarmony decentralized unmanned device network expire; each unmanned device in the OpenHarmony decentralized unmanned device network periodically and actively updates its heartbeat packet through the multi-protocol fusion link of the distributed soft bus to notify the unmanned device of its normal operating status; unmanned devices that have not updated their heartbeat packets for more than the preset time are considered faulty unmanned devices; when any unmanned device identifies a faulty unmanned device, it broadcasts a message to delete the faulty unmanned device through the multicast channel, so that non-faulty unmanned devices in the OpenHarmony decentralized unmanned device network will delete the faulty unmanned device. The device is removed from the marshalling ledger. A preset renewal period is reserved for the faulty unmanned device. If, upon confirmation of the faulty unmanned device, the preset renewal period has expired and the faulty unmanned device has not requested to rejoin the OpenHarmony decentralized unmanned device network, then the faulty unmanned device is permanently denied access to the OpenHarmony decentralized unmanned device network. If the preset renewal period has not expired and the faulty unmanned device requests to rejoin the OpenHarmony decentralized unmanned device network, then the token of the faulty unmanned device is verified a second time. After successful verification, the faulty unmanned device is rejoined to the OpenHarmony decentralized unmanned device network, and a message to add the faulty unmanned device is broadcast through the multicast channel, so that non-faulty unmanned devices in the OpenHarmony decentralized unmanned device network add the faulty unmanned device to the marshalling ledger.

[0056] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the OpenHarmony-based unmanned equipment cooperative networking method.

[0057] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described OpenHarmony-based unmanned equipment cooperative networking method.

[0058] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described OpenHarmony-based unmanned equipment cooperative networking method.

[0059] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0060] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0061] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0062] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0063] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for cooperative networking of unmanned devices based on OpenHarmony, characterized in that, The method includes: Based on the task scenario information of the target task, the unmanned equipment grouping mode is determined. The task identifier and random number of the target task are processed by the preset identifier generation function to generate the network identifier. The device discovery interface of the distributed soft bus in OpenHarmony is called to determine multiple unmanned equipment to be networked in combination with the task requirements of the target task. The grouping mode of the unmanned equipment is used to determine the grouping level and the unmanned equipment to be networked corresponding to the grouping level. If there are multiple grouping levels, the message consisting of the network identifier and grouping access credential is signed based on the private key of the management network unmanned device at the management level in the grouping level, generating a signed message. The signed message is then sent to multiple network-to-be unmanned devices at the ordinary level in the grouping level through a secure encrypted channel established by the distributed soft bus. When each network-to-be unmanned device at the ordinary level calls the identity authentication module of the distributed soft bus and verifies the validity of the signed message with the public key of the management network unmanned device, a distributed soft bus state change event is triggered to join the unmanned device network corresponding to the network identifier, thus forming the OpenHarmony centralized unmanned device network. If it is a grouping level, the task management system generates a task token based on the target task, and broadcasts the task token and the network identifier to each of the unmanned devices to be networked through the multi-protocol fusion link of the distributed soft bus. When each of the unmanned devices to be networked verifies that the task token is valid, it announces that it has joined the unmanned device network corresponding to the network identifier based on the communication information of the task token, thus forming the OpenHarmony decentralized unmanned device network.

2. The unmanned equipment cooperative networking method based on OpenHarmony according to claim 1, characterized in that, The process of determining the unmanned equipment grouping mode based on the task scenario information of the target task involves processing the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier. Then, by calling the device discovery interface of the distributed soft bus in OpenHarmony and combining it with the task requirements of the target task, multiple unmanned equipment to be networked are identified, including: When the target task's scenario information is a rapid grouping scenario, the unmanned equipment grouping mode is determined to be the token summoning mode. When the target task's scenario information is a strong access grouping scenario or a highly complex task grouping scenario, the unmanned equipment grouping mode is determined to be the task configuration mode. When the target task's scenario information is a global collaborative management scenario, the unmanned equipment grouping mode is determined to be the central node grouping mode. The task identifier and random number of the target task are processed using a secure hash algorithm to generate a network identifier for isolating the logical space of independent tasks. Based on the task requirements of the target task, the set of device types of unmanned devices required to complete the target task and the number of devices corresponding to each device type are determined. The set of device types is encapsulated as a filtering condition into the subscription parameters of the device discovery interface of the distributed soft bus in OpenHarmony. Multi-protocol scanning is enabled and device discovery callback events are listened to. The set of unmanned device callbacks is parsed from the device discovery callback events. Based on the unmanned device broadcast capability, multiple unmanned devices that meet the number of devices corresponding to each device type are selected from the set of unmanned device callbacks to be networked.

3. The unmanned equipment cooperative networking method based on OpenHarmony according to claim 1, characterized in that, The step of determining the grouping level and the corresponding unmanned equipment to be networked using the unmanned equipment grouping mode includes: When the unmanned equipment grouping mode is the central node grouping mode, the grouping level includes a management level and a normal level. The management level is composed of the management network unmanned equipment with the strongest equipment performance among the multiple unmanned equipment to be networked, and the normal level is composed of other unmanned equipment to be networked besides the management network unmanned equipment. When the unmanned equipment grouping mode is the task configuration mode, the grouping level includes a management level and a normal level. The management level consists of a command center, which manages the networked unmanned equipment. The normal level consists of multiple unmanned equipment to be networked. When the unmanned equipment grouping mode is the token summoning mode, the grouping level includes a normal level, and the normal level is composed of multiple unmanned equipment to be networked.

4. The unmanned equipment cooperative networking method based on OpenHarmony according to claim 1, characterized in that, The method further includes: When the unmanned device grouping mode is the central node grouping mode, the management network unmanned device maintains each unmanned device that makes up the OpenHarmony centralized unmanned device network in the grouping ledger, and manages each unmanned device in the grouping ledger in real time based on the heartbeat mechanism. The management network unmanned device decomposes the target task into multiple sub-tasks, and distributes each sub-task to each unmanned device based on the device type and device performance of each unmanned device in the grouping ledger, so as to complete the target task based on the collaboration of each unmanned device. When a faulty unmanned device exists in the OpenHarmony centralized unmanned device network, if the faulty unmanned device is not a management network unmanned device, the management network unmanned device will delete the faulty unmanned device from the grouping ledger. If the faulty unmanned device is a management network unmanned device, and if a first backup unmanned device exists in the OpenHarmony centralized unmanned device network, the first backup unmanned device will be used as the new management network unmanned device. If no backup unmanned device exists, a new management network unmanned device will be nominated based on the unmanned devices in the OpenHarmony centralized unmanned device network, and the new management network unmanned device will delete the faulty unmanned device from the grouping ledger.

5. The unmanned equipment cooperative networking method based on OpenHarmony according to claim 1, characterized in that, The method further includes: When the unmanned device grouping mode is task configuration mode, the management network unmanned device will write each unmanned device that makes up the OpenHarmony centralized unmanned device network in the grouping ledger. Each unmanned device in the grouping ledger will elect a central unmanned device and a second backup unmanned device. The central unmanned device will manage and update the grouping ledger. The backup unmanned device will synchronize with the central unmanned device in real time. The management network of unmanned devices divides the target task into multiple sub-tasks, identifies the target unmanned devices that will execute each sub-task, and distributes each sub-task to the corresponding target unmanned device through the central unmanned device, so as to complete the target task collaboratively based on the collaboration of each target unmanned device; When a new unmanned device is added to the OpenHarmony centralized unmanned device network, the management network unmanned device informs the central unmanned device of the addition information, and the central unmanned device adds the new unmanned device to the marshalling ledger so that the new unmanned device joins the OpenHarmony centralized unmanned device network. When a faulty unmanned device exists in the OpenHarmony centralized unmanned device network, if the faulty unmanned device is the central unmanned device, the second backup unmanned device becomes the new central unmanned device, and a new second backup unmanned device is re-elected. Based on the new central unmanned device, the faulty unmanned device is deleted from the marshalling ledger. If the faulty unmanned device is not the central unmanned device, the central unmanned device deletes the faulty unmanned device from the marshalling ledger.

6. The unmanned equipment cooperative networking method based on OpenHarmony according to claim 1, characterized in that, The method further includes: When the unmanned device grouping mode is the token summoning mode, each unmanned device that makes up the OpenHarmony decentralized unmanned device network maintains a grouping ledger of the unmanned devices that make up the OpenHarmony decentralized unmanned device network. When a new unmanned device is added to the OpenHarmony decentralized unmanned device network, the new unmanned device broadcasts its addition information and corresponding token to the multicast channel of the OpenHarmony decentralized unmanned device network. Each unmanned device in the OpenHarmony decentralized unmanned device network verifies the validity of the new unmanned device token and writes the new unmanned device into its own marshalling ledger. When a decommissioned unmanned device exists in the OpenHarmony decentralized unmanned device network, the decommissioned unmanned device broadcasts a decommissioning message on the multicast channel, and each unmanned device in the OpenHarmony decentralized unmanned device network deletes the decommissioned unmanned device from its own marshalling ledger.

7. The unmanned equipment cooperative networking method based on OpenHarmony according to claim 6, characterized in that, The method further includes: When the tokens of each unmanned device in the OpenHarmony decentralized unmanned device network expire, the OpenHarmony decentralized unmanned device network is shut down, and the resources occupied by the OpenHarmony decentralized unmanned device network in executing the target task are released. In the OpenHarmony decentralized unmanned device network, each unmanned device periodically and proactively updates its heartbeat packet through the multi-protocol fusion link of the distributed soft bus to notify each unmanned device of its normal operating status. Unmanned devices that have not updated their heartbeat packets for more than a preset time are considered faulty unmanned devices. When any unmanned device identifies a faulty unmanned device, it broadcasts a message to delete the faulty unmanned device through the multicast channel, so that non-faulty unmanned devices in the OpenHarmony decentralized unmanned device network delete the faulty unmanned device from the marshalling ledger. A preset renewal period is reserved for the faulty unmanned device. When the faulty unmanned device is confirmed, if the preset renewal period is exceeded and the faulty unmanned device does not request to rejoin the OpenHarmony decentralized unmanned device network, then the faulty unmanned device is permanently denied access to the OpenHarmony decentralized unmanned device network. If the preset renewal period is not exceeded and the faulty unmanned device requests to rejoin the OpenHarmony decentralized unmanned device network, then the token of the faulty unmanned device is verified a second time. After the verification is successful, the faulty unmanned device is rejoined to the OpenHarmony decentralized unmanned device network, and a message to add the faulty unmanned device is broadcast through the multicast channel, so that non-faulty unmanned devices in the OpenHarmony decentralized unmanned device network add the faulty unmanned device to the marshalling ledger.

8. A collaborative networking device for unmanned equipment based on OpenHarmony, characterized in that, The device includes: The confirmation unit is used to determine the unmanned equipment grouping mode based on the task scenario information of the target task, process the task identifier and random number of the target task using a preset identifier generation function to generate a network identifier, call the device discovery interface of the distributed soft bus in OpenHarmony and combine it with the task requirements of the target task to determine multiple unmanned equipment to be networked, and use the unmanned equipment grouping mode to determine the grouping level and the unmanned equipment to be networked corresponding to the grouping level. The networking unit, if there are multiple grouping levels, signs a message consisting of a network identifier and a grouping access credential based on the private key of the management network unmanned device at the management level in the grouping level, generates a signed message, and sends the signed message to multiple unmanned devices to be networked at the ordinary level in the grouping level through a secure encrypted channel established by the distributed soft bus. When each unmanned device to be networked at the ordinary level calls the identity authentication module of the distributed soft bus and verifies the validity of the signed message with the public key of the management network unmanned device, it triggers a state change event of the distributed soft bus to join the unmanned device network corresponding to the network identifier, thus forming the OpenHarmony centralized unmanned device network. The networking unit is further configured to, if it is a grouping level, generate a task token based on the task management system of the target task, and broadcast the task token and the network identifier to each of the unmanned devices to be networked through the multi-protocol fusion link of the distributed soft bus. When each of the unmanned devices to be networked verifies that the task token is valid, it announces its joining of the unmanned device network corresponding to the network identifier based on the communication information of the task token, thus forming the OpenHarmony decentralized unmanned device network.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the OpenHarmony-based unmanned equipment cooperative networking method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the OpenHarmony-based unmanned equipment cooperative networking method as described in any one of claims 1 to 7.

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