UAV network system and managing method of route of UAV network

Abstract

This application provides an unmanned aerial vehicle (UAV) networking system and a routing management method for UAV networking. The UAV networking system includes a first device and multiple second devices, and is applicable to target UAV networking and non-target UAV networking, respectively, including the first device. The routing management method for UAV networking is executed by the first device for target UAV networking and includes: broadcasting a networking request message to multiple second devices; correspondingly receiving multiple first response messages including multiple domain names; determining whether each second device belongs to the target UAV networking or a non-target UAV networking based on the multiple domain names; when a second device belongs to a non-target UAV networking, determining whether the first signal-to-noise ratio (SNR) corresponding to the second device belonging to the non-target UAV networking is greater than a first threshold value; when the first SNR is greater than the first threshold value, setting the domain name and network identifier of the non-target UAV networking to be the same as the domain name and network identifier of the target UAV networking.

Claims

1. A drone networking system, comprising: A first device broadcasts a network request message. The first device comprises a mother drone, multiple daughter drones, and one of a base station. The base station, the multiple daughter drones, and the mother drone form a drone network including the first device. The number of drone networks is multiple, including a target drone network and a non-target drone network. Multiple second devices are wirelessly connected to the first device and generate and transmit multiple first response messages to the first device based on the network request message. Each of the mother drone, the multiple daughter drones, and the base station, except for the first device, is a second device. Each of the multiple first response messages includes a domain name. The first device in the target drone network determines whether each of the multiple second devices belongs to the target drone network or the non-target drone network based on the multiple domain names. When a second device belongs to the non-target drone network, the first device in the target drone network determines whether a first signal-to-noise ratio (SNR) of an uplink channel corresponding to the second device in the non-target drone network is greater than a first threshold value. Specifically, when the first signal-to-noise ratio is greater than the first threshold value, the first device connecting the target drone to the network sets the domain name and network identification code of the non-target drone network to be the same as the domain name and network identification code of the target drone network.

2. The unmanned aerial vehicle (UAV) networking system as described in claim 1, wherein, When the first signal-to-noise ratio is not greater than the first threshold or each of the plurality of the second devices belongs to the target drone network, the first device of the target drone network sends another network request message.

3. The unmanned aerial vehicle (UAV) networking system as described in claim 1, wherein, When the first device connected to the non-target drone is within the signal coverage area of ​​the first device connected to the target drone, the first device connected to the non-target drone receives the network request message from the first device connected to the target drone, and generates and transmits a second response message to the first device connected to the target drone based on the network request message; after receiving the second response message, the first device connected to the target drone determines whether a second signal-to-noise ratio of the uplink channel corresponding to the first device connected to the non-target drone is greater than a first threshold value.

4. The unmanned aerial vehicle (UAV) networking system as described in claim 3, wherein, When the second signal-to-noise ratio is greater than the first threshold, the first device for networking the target drone sets the domain name and network identifier corresponding to the non-target drone network to be the same as the domain name and network identifier of the target drone network; when the second signal-to-noise ratio is not greater than the first threshold, the first device for networking the target drone sends another networking request message.

5. The unmanned aerial vehicle (UAV) networking system as described in claim 1, wherein, When the parent drone connected to the non-target drone receives the network request message directly from the first device connected to the target drone, the parent drone connected to the non-target drone determines whether the noise ratio of a third signal corresponding to the first device connected to the target drone is greater than a second threshold value.

6. The unmanned aerial vehicle (UAV) networking system as described in claim 5, wherein, When the third signal noise ratio is greater than the second threshold, the non-target drone networked parent drone generates and transmits an agreement message to the target drone networked first device; when the third signal noise ratio is not greater than the second threshold, the non-target drone networked parent drone directly receives another network request message from the target drone networked first device.

7. The unmanned aerial vehicle (UAV) networking system as described in claim 1, wherein, When the parent drone connected to the non-target drone indirectly receives the network request message through the second device connected to the target drone, the parent drone connected to the non-target drone determines whether the fourth signal noise ratio corresponding to the second device connected to the target drone is greater than a second threshold value.

8. The unmanned aerial vehicle (UAV) networking system as described in claim 7, wherein, When the fourth signal noise ratio is determined to be greater than the second threshold, the non-target drone networked mother drone generates and transmits an agreement message to the target drone networked second device; when the fourth signal noise ratio is not greater than the second threshold, the non-target drone networked mother drone indirectly receives another network request message through the target drone networked second device.

9. The unmanned aerial vehicle (UAV) networking system as described in claim 1, wherein, In this drone network, the mother drone or the daughter drone receives a network packet directly from a user device or indirectly from a base station, and selects whether to process the network packet based on a user identification code in the network packet.

10. The unmanned aerial vehicle (UAV) networking system as described in claim 1, wherein, In this drone network, the mother drone periodically broadcasts a network topology list to multiple daughter drones and the base station. The multiple daughter drones and the base station each send multiple reply packets to the mother drone. The mother drone selectively updates the network topology list based on the multiple reply packets.

11. The unmanned aerial vehicle (UAV) networking system as described in claim 10, wherein, When the updated network topology list shows that the available battery level of the sub-drone is lower than a first preset battery level, the parent drone controls the sub-drone with the available battery level lower than the first preset battery level to return to a charging station or a drone management platform; when the updated network topology list shows that the available battery level of the sub-drone is not lower than the first preset battery level, the parent drone waits in the next cycle to receive multiple additional reply packets.

12. The unmanned aerial vehicle (UAV) networking system as described in claim 10, wherein, In this drone network, the mother drone checks whether its stored power is lower than a second preset power level. When it is confirmed that the stored power is lower than the second preset power level, the mother drone sends a report message to a drone management platform. The drone management platform sends an agreement message to the mother drone. Based on the agreement message, the mother drone selects one of its multiple daughter drones as an auxiliary mother drone, transfers control to the auxiliary mother drone, and returns to the drone management platform.

13. The unmanned aerial vehicle (UAV) networking system as described in claim 12, wherein, When the consent message is not received from the drone management platform, the parent drone transmits the feedback message to the drone management platform again. When the consent message is not received from the drone management platform and the number of times the parent drone transmits the feedback message accumulates to more than a preset number, the parent drone selects one of the multiple child drones as the auxiliary parent drone according to the updated network topology list, transfers the control to the auxiliary parent drone, and returns to the drone management platform.

14. A routing management method for unmanned aerial vehicle (UAV) networking, applicable to a UAV networking system, the UAV networking system including a first device and a plurality of second devices, the first device being one of a mother UAV, a plurality of daughter UAVs, and a base station and broadcasting a networking request message, the base station, the plurality of daughter UAVs, and the mother UAV forming a UAV network including the first device; the number of UAV networks is plurality, the plurality of UAV networks including a target UAV network and a non-target UAV network; each of the mother UAV, the plurality of daughter UAVs, and the base station except the first device is a second device, the routing management method for the UAV network is executed through the first device of the target UAV network and includes: Broadcast a network request message to multiple second devices; receive multiple first response messages from the multiple second devices respectively, wherein each of the multiple first response messages includes a domain name; determine, based on the multiple domain names, whether each of the multiple second devices belongs to the target drone network or the non-target drone network; when a second device belongs to the non-target drone network, determine whether a first signal-to-noise ratio (SNR) of an uplink channel corresponding to the second device belonging to the non-target drone network is greater than a first threshold value; when the first SNR is greater than the first threshold value, set the domain name and a network identifier of the non-target drone network to be the same as the domain name and a network identifier of the target drone network.

15. The routing management method for UAV networking as described in claim 14 further includes: When the first signal-to-noise ratio is not greater than the first threshold or when each of the plurality of the second devices is connected to the target drone network, another network request message is sent.

16. The routing management method for UAV networking as described in claim 14 further includes: When the first device connected to the non-target drone network is within the signal coverage area of ​​the first device connected to the target drone network, the first device connected to the non-target drone network performs the following steps: receiving a network request message from the first device connected to the target drone network, and generating and transmitting a second response message to the first device connected to the target drone network according to the network request message; after receiving the second response message, the first device connected to the target drone network performs the following steps: determining whether a second signal-to-noise ratio (SNR) of the uplink channel corresponding to the first device connected to the non-target drone network is greater than a first threshold; when the second SNR is greater than the first threshold, setting the domain name and network identifier corresponding to the non-target drone network to be the same as the domain name and network identifier of the target drone network; when the second SNR is not greater than the first threshold, sending another network request message.

17. The routing management method for UAV networking as described in claim 14 further includes: When the target drone receives the network request message directly from the first device connected to the network, the non-target drone connected to the network performs the following steps: determining whether a third signal noise ratio corresponding to the first device connected to the network is greater than a second threshold; when the third signal noise ratio is greater than the second threshold, generating and transmitting an agreement message to the first device connected to the network; when the third signal noise ratio is not greater than the second threshold, directly receiving another network request message from the first device connected to the network.

18. The routing management method for UAV networking as described in claim 14 further includes: When the first device connected to the target drone indirectly receives the network request message through the second device connected to the target drone, the parent drone not connected to the target drone performs the following steps: determining whether a fourth signal noise ratio corresponding to the second device connected to the target drone is greater than a second threshold; when the fourth signal noise ratio is greater than the second threshold, generating and transmitting an agreement message to the second device connected to the target drone; when the fourth signal noise ratio is not greater than the second threshold, indirectly receiving another network request message through the second device connected to the target drone.

19. The routing management method for unmanned aerial vehicle (UAV) networking as described in claim 14 further includes: In this drone network, the mother drone or the daughter drone performs the following steps: receiving a network packet directly from a user device or indirectly from the base station, and selecting whether to process the network packet based on a user identification code of the network packet.

20. The routing management method for unmanned aerial vehicle (UAV) networking as described in claim 14 further includes: In this drone network, the mother drone performs the following steps: periodically broadcasts a network topology list to multiple child drones and the base station; receives multiple reply packets from the multiple child drones and the base station; And based on multiple of these response packets, selectively update the network topology list.

21. The routing management method for UAV networking as described in claim 20 further includes: When the updated network topology list shows that the available battery level of the sub-drone is lower than a first preset battery level, the parent drone controls the sub-drone with the available battery level lower than the first preset battery level to return to a charging station or a drone management platform; when the updated network topology list shows that the available battery level of the sub-drone is not lower than the first preset battery level, the parent drone waits in the next cycle to receive multiple additional reply packets.

22. The routing management method for unmanned aerial vehicle (UAV) networking as described in claim 20 further includes: In this drone network, the mother drone performs the following steps: confirming whether its stored power is lower than a second preset power level; when the stored power is confirmed to be lower than the second preset power level, transmitting a report message to a drone management platform; receiving a consent message from the drone management platform; and, based on the consent message, selecting one of the multiple daughter drones as an auxiliary mother drone, transferring control to the auxiliary mother drone, and returning to the drone management platform.

23. The routing management method for UAV networking as described in claim 22 further includes: In this drone network, the mother drone performs the following steps: When it does not receive the consent message from the drone management platform, it retransmits the feedback message to the drone management platform; When it does not receive the consent message from the drone management platform and the number of times the feedback message is transmitted accumulates to more than a preset number, it selects one of the multiple child drones as the auxiliary mother drone according to the updated network topology list, transfers the control to the auxiliary mother drone, and returns to the drone management platform.

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